\u4ee5\u524d\u4f5c\u3063\u305f\uff0cRefBox \u3068\u901a\u4fe1\u3059\u308bView2 \u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f4\u65b0\u3057\u3066View2 \u306eFunction Block \u306b\u3057\u307e\u3059\uff0e<\/p>\n
\u30d5\u30a1\u30a4\u30eb\u69cb\u6210\u3068\u3057\u3066\u306f\uff0cllsf-refbox\/bin\/llsf-view2-var.sh \u306b\u5909\u6570\u306e\u4e2d\u8eab\u3092\u51fa\u529b\u3059\u308b\u3068\u3068\u3082\u306b\uff0cview2send.txt \u306benum \u7684\u306a\u6570\u5b57\u3067\u51fa\u529b\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u524d\u8005\u306f\uff0cview2_HOGEHOGE\uff0c\u5f8c\u8005\u306fsendData.HOGEHOGE \u306b\u4fdd\u5b58\uff0e<\/p>\n
\u307e\u305a\u306f\uff0c\u305d\u306e\u9803\u3068\u306ediff\u3092\u78ba\u8a8d\uff0e<\/p>\n
\r\nwataru@ubuntu:~\/lab\/btr2018\/llsf-refbox\/src$ diff tools\/llsf-fake-robot.cpp tools.view2\/llsf-fake-robot.cpp \r\n43,44d42\r\n< #include <utils\/system\/console_colors.h>\r\n< #include <utils\/misc\/string_split.h>\r\n54d51\r\n< #include <msgs\/RingInfo.pb.h>\r\n167,179c164,166\r\n< std::list<std::string> rings;\r\n< for (int j = 0; j < o.ring_colors_size(); ++j) {\r\n< \trings.push_back(llsf_msgs::RingColor_Name(o.ring_colors(j)));;\r\n< }\r\n< \r\n< printf(" %u (%s): %s%u%s\/%s%u%s\/%u of %s|%s|%s from %02u:%02u to %02u:%02u at gate %u\\n", o.id(),\r\n< \t llsf_msgs::Order::Complexity_Name(o.complexity()).c_str(),\r\n< \t c_cyan, o.quantity_delivered_cyan(), c_normal,\r\n< \t c_purple, o.quantity_delivered_magenta(), c_normal,\r\n< \t o.quantity_requested(),\r\n< \t llsf_msgs::BaseColor_Name(o.base_color()).c_str(),\r\n< \t str_join(rings, "-").c_str(),\r\n< \t llsf_msgs::CapColor_Name(o.cap_color()).c_str(),\r\n---\r\n> printf(" %u: %u\/%u of %s from %02u:%02u to %02u:%02u at gate %s\\n", o.id(),\r\n> \t o.quantity_delivered(), o.quantity_requested(),\r\n> \t llsf_msgs::Order::ProductType_Name(o.product()).c_str(),\r\n181c168\r\n< \t o.delivery_gate());\r\n---\r\n> \t llsf_msgs::Order::DeliveryGate_Name(o.delivery_gate()).c_str());\r\n204,207c191,194\r\n< for (int i = 0; i < ei->zones_size(); ++i) {\r\n< const ExplorationZone &zm = ei->zones(i);\r\n< printf(" Zone %s of team %s\\n",\r\n< \t Zone_Name(zm.zone()).c_str(), Team_Name(zm.team_color()).c_str());\r\n---\r\n> for (int i = 0; i < ei->machines_size(); ++i) {\r\n> const ExplorationMachine &em = ei->machines(i);\r\n> printf(" Machine %s at (%f, %f, %f)\\n", em.name().c_str(),\r\n> \t em.pose().x(), em.pose().y(), em.pose().ori());\r\n217c204\r\n< printf(" %-3s|%2s|%s (%s) @ (%f, %f, %f)\\n",\r\n---\r\n> printf(" %-3s|%2s|%s @ (%f, %f, %f)\\n",\r\n220d206\r\n< \t\t\t\t\t\t m.state().c_str(),\r\n262,273d247\r\n< \r\n< std::shared_ptr<RingInfo> rgi;\r\n< if ((rgi = std::dynamic_pointer_cast<RingInfo>(msg))) {\r\n< printf("RingInfo received:\\n");\r\n< for (int i = 0; i < rgi->rings_size(); ++i) {\r\n< const Ring &r = rgi->rings(i);\r\n< printf(" %s %u\\n",\r\n< \t\t\t\t\t\t RingColor_Name(r.ring_color()).c_str(),\r\n< \t\t\t\t\t\t r.raw_material());\r\n< }\r\n< }\r\n< \r\n364d337\r\n< message_register.add_message_type<RingInfo>();\r\nwataru@ubuntu:~\/lab\/btr2018\/llsf-refbox\/src$ diff tools\/llsf-fake-robot.cpp tools.view2\/llsf-fake-robot.cpp \r\n43,44d42\r\n< #include <utils\/system\/console_colors.h>\r\n< #include <utils\/misc\/string_split.h>\r\n54d51\r\n< #include <msgs\/RingInfo.pb.h>\r\n167,179c164,166\r\n< std::list<std::string> rings;\r\n< for (int j = 0; j < o.ring_colors_size(); ++j) {\r\n< \trings.push_back(llsf_msgs::RingColor_Name(o.ring_colors(j)));;\r\n< }\r\n< \r\n< printf(" %u (%s): %s%u%s\/%s%u%s\/%u of %s|%s|%s from %02u:%02u to %02u:%02u at gate %u\\n", o.id(),\r\n< \t llsf_msgs::Order::Complexity_Name(o.complexity()).c_str(),\r\n< \t c_cyan, o.quantity_delivered_cyan(), c_normal,\r\n< \t c_purple, o.quantity_delivered_magenta(), c_normal,\r\n< \t o.quantity_requested(),\r\n< \t llsf_msgs::BaseColor_Name(o.base_color()).c_str(),\r\n< \t str_join(rings, "-").c_str(),\r\n< \t llsf_msgs::CapColor_Name(o.cap_color()).c_str(),\r\n---\r\n> printf(" %u: %u\/%u of %s from %02u:%02u to %02u:%02u at gate %s\\n", o.id(),\r\n> \t o.quantity_delivered(), o.quantity_requested(),\r\n> \t llsf_msgs::Order::ProductType_Name(o.product()).c_str(),\r\n181c168\r\n< \t o.delivery_gate());\r\n---\r\n> \t llsf_msgs::Order::DeliveryGate_Name(o.delivery_gate()).c_str());\r\n204,207c191,194\r\n< for (int i = 0; i < ei->zones_size(); ++i) {\r\n< const ExplorationZone &zm = ei->zones(i);\r\n< printf(" Zone %s of team %s\\n",\r\n< \t Zone_Name(zm.zone()).c_str(), Team_Name(zm.team_color()).c_str());\r\n---\r\n> for (int i = 0; i < ei->machines_size(); ++i) {\r\n> const ExplorationMachine &em = ei->machines(i);\r\n> printf(" Machine %s at (%f, %f, %f)\\n", em.name().c_str(),\r\n> \t em.pose().x(), em.pose().y(), em.pose().ori());\r\n217c204\r\n< printf(" %-3s|%2s|%s (%s) @ (%f, %f, %f)\\n",\r\n---\r\n> printf(" %-3s|%2s|%s @ (%f, %f, %f)\\n",\r\n220d206\r\n< \t\t\t\t\t\t m.state().c_str(),\r\n262,273d247\r\n< \r\n< std::shared_ptr<RingInfo> rgi;\r\n< if ((rgi = std::dynamic_pointer_cast<RingInfo>(msg))) {\r\n< printf("RingInfo received:\\n");\r\n< for (int i = 0; i < rgi->rings_size(); ++i) {\r\n< const Ring &r = rgi->rings(i);\r\n< printf(" %s %u\\n",\r\n< \t\t\t\t\t\t RingColor_Name(r.ring_color()).c_str(),\r\n< \t\t\t\t\t\t r.raw_material());\r\n< }\r\n< }\r\n< \r\n364d337\r\n< message_register.add_message_type<RingInfo>();\r\n<\/pre>\n\r\nwataru@ubuntu:~\/lab\/btr2018\/llsf-refbox\/src$ diff tools\/llsf-report-machine.cpp tools.view2\/llsf-report-machine.cpp \r\n7d6\r\n< * 2017 Tobias Neumann\r\n50d48\r\n< #include <boost\/lexical_cast.hpp>\r\n58,68c56,58\r\n< bool send_rotation_ = false;\r\n< unsigned int machine_rotation_;\r\n< bool send_zone_ = false;\r\n< llsf_msgs::Zone machine_zone_;\r\n< std::string team_name_;\r\n< Team team_color_;\r\n< ProtobufBroadcastPeer *peer_public_ = NULL;\r\n< ProtobufBroadcastPeer *peer_team_ = NULL;\r\n< bool crypto_setup_ = false;\r\n< \r\n< llsfrb::Configuration *config_;\r\n---\r\n> std::string machine_type_;\r\n> Team team_;\r\n> ProtobufBroadcastPeer *peer_ = NULL;\r\n96,138d85\r\n< std::shared_ptr<GameState> gs;\r\n< if ((gs = std::dynamic_pointer_cast<GameState>(msg))) {\r\n< int hour = gs->game_time().sec() \/ 3600;\r\n< int min = (gs->game_time().sec() - hour * 3600) \/ 60;\r\n< int sec = gs->game_time().sec() - hour * 3600 - min * 60;\r\n< \r\n< #if __WORDSIZE == 64\r\n< printf("GameState received: %02i:%02i:%02i.%02ld %s %s %u:%u points, %s vs. %s\\n",\r\n< #else\r\n< printf("GameState received: %02i:%02i:%02i.%02lld %s %s %u:%u points, %s vs. %s\\n",\r\n< #endif\r\n< \t hour, min, sec, gs->game_time().nsec() \/ 1000000,\r\n< \t llsf_msgs::GameState::Phase_Name(gs->phase()).c_str(),\r\n< \t llsf_msgs::GameState::State_Name(gs->state()).c_str(),\r\n< \t gs->points_cyan(), gs->points_magenta(),\r\n< \t gs->team_cyan().c_str(), gs->team_magenta().c_str());\r\n< \r\n< if (team_name_ == gs->team_cyan() || team_name_ == gs->team_magenta()) {\r\n< if (team_name_ == gs->team_cyan() && team_color_ != CYAN) {\r\n< \tprintf("WARNING: sending as magenta, but our team is announced as cyan by refbox!\\n");\r\n< } else if (team_name_ == gs->team_magenta() && team_color_ != MAGENTA) {\r\n< \tprintf("WARNING: sending as cyan, but our team is announced as magenta by refbox!\\n");\r\n< }\r\n< if (! crypto_setup_) {\r\n< \tcrypto_setup_ = true;\r\n< \r\n< \tstd::string crypto_key = "", cipher = "aes-128-cbc";\r\n< \ttry {\r\n< \t crypto_key = config_->get_string(("\/llsfrb\/game\/crypto-keys\/" + team_name_).c_str());\r\n< \t printf("Set crypto key to %s (cipher %s)\\n", crypto_key.c_str(), cipher.c_str());\r\n< \t peer_team_->setup_crypto(crypto_key, cipher);\r\n< \t} catch (Exception &e) {\r\n< \t printf("No encryption key configured for team, not enabling crypto");\r\n< \t}\r\n< }\r\n< } else if (crypto_setup_) {\r\n< printf("Our team is not set, training game? Disabling crypto.\\n");\r\n< crypto_setup_ = false;\r\n< peer_team_->setup_crypto("", "");\r\n< }\r\n< }\r\n< \r\n< \r\n142,144c89\r\n< printf("Announcing machine: Zone: %s rotation %u\\n",\r\n< send_zone_ ? Zone_Name(machine_zone_).c_str() : "*NO*",\r\n< send_rotation_ ? machine_rotation_ : -1);\r\n---\r\n> printf("Announcing machine type\\n");\r\n146c91\r\n< report.set_team_color(team_color_);\r\n---\r\n> report.set_team_color(team_);\r\n149,151c94,95\r\n< if (send_rotation_) entry->set_rotation(machine_rotation_);\r\n< if (send_zone_) entry->set_zone(machine_zone_);\r\n< peer_team_->send(report);\r\n---\r\n> entry->set_type(machine_type_);\r\n> peer_->send(report);\r\n157,158c101,102\r\n< if (mrinfo->team_color() == team_color_) {\r\n< printf("Reported machines (%s):", llsf_msgs::Team_Name(team_color_).c_str());\r\n---\r\n> if (mrinfo->team_color() == team_) {\r\n> printf("Reported machines (%s):", llsf_msgs::Team_Name(team_).c_str());\r\n170c114\r\n< ArgumentParser argp(argc, argv, "T:r:z:");\r\n---\r\n> ArgumentParser argp(argc, argv, "T:");\r\n172,179c116,120\r\n< if (argp.num_items() != 2 || (! argp.has_arg("t") && ! argp.has_arg("z"))) {\r\n< \t printf("Usage: %s [-T team] [-t <type>] [-z <zone>] <team-name> <machine-name>\\n"\r\n< \t "\\n"\r\n< \t "-T team\t Select team to send for, CYAN (default) or MAGENTA\\n"\r\n< \t\t "-r rotation Rotation to report for machine\\n"\r\n< \t\t "-z zone Zone to report for machine\\n\\n"\r\n< \t "You must supply at least one of type and zone, or both.\\n",\r\n< \t argv[0]);\r\n---\r\n> if (argp.num_items() != 2) {\r\n> printf("Usage: %s [-T team] <machine-name> <machine-type>\\n"\r\n> \t "\\n"\r\n> \t "-T team\tSelect team to send for, CYAN (default) or MAGENTA\\n",\r\n> \t argv[0]);\r\n183,184c124,125\r\n< team_name_ = argp.items()[0];\r\n< machine_name_ = argp.items()[1];\r\n---\r\n> machine_name_ = argp.items()[0];\r\n> machine_type_ = argp.items()[1];\r\n186,197c127,128\r\n< if (argp.has_arg("r")) {\r\n< machine_rotation_ = boost::lexical_cast<unsigned int>(argp.arg("r"));\r\n< send_rotation_ = true;\r\n< }\r\n< \r\n< if (argp.has_arg("z")) {\r\n< \t if (! llsf_msgs::Zone_Parse(argp.arg("z"), &machine_zone_)) {\r\n< \t\t printf("Invalid zone\\n");\r\n< \t\t exit(2);\r\n< \t }\r\n< \t send_zone_ = true;\r\n< }\r\n---\r\n> llsfrb::Configuration *config = new llsfrb::YamlConfiguration(CONFDIR);\r\n> config->load("config.yaml");\r\n198a130,139\r\n> if (config->exists("\/llsfrb\/comm\/peer-send-port") &&\r\n> config->exists("\/llsfrb\/comm\/peer-recv-port") )\r\n> {\r\n> peer_ = new ProtobufBroadcastPeer(config->get_string("\/llsfrb\/comm\/peer-host"),\r\n> \t\t\t\t config->get_uint("\/llsfrb\/comm\/peer-recv-port"),\r\n> \t\t\t\t config->get_uint("\/llsfrb\/comm\/peer-send-port"));\r\n> } else {\r\n> peer_ = new ProtobufBroadcastPeer(config->get_string("\/llsfrb\/comm\/peer-host"),\r\n> \t\t\t\t config->get_uint("\/llsfrb\/comm\/peer-port"));\r\n> }\r\n200c141\r\n< team_color_ = CYAN;\r\n---\r\n> team_ = CYAN;\r\n204c145\r\n< team_color_ = CYAN;\r\n---\r\n> team_ = CYAN;\r\n206c147\r\n< team_color_ = MAGENTA;\r\n---\r\n> team_ = MAGENTA;\r\n212,224c153\r\n< config_ = new llsfrb::YamlConfiguration(CONFDIR);\r\n< config_->load("config.yaml");\r\n< \r\n< if (config_->exists("\/llsfrb\/comm\/public-peer\/send-port") &&\r\n< config_->exists("\/llsfrb\/comm\/public-peer\/recv-port") )\r\n< {\r\n< peer_public_ = new ProtobufBroadcastPeer(config_->get_string("\/llsfrb\/comm\/public-peer\/host"),\r\n< \t\t\t\t\t config_->get_uint("\/llsfrb\/comm\/public-peer\/recv-port"),\r\n< \t\t\t\t\t config_->get_uint("\/llsfrb\/comm\/public-peer\/send-port"));\r\n< } else {\r\n< peer_public_ = new ProtobufBroadcastPeer(config_->get_string("\/llsfrb\/comm\/public-peer\/host"),\r\n< \t\t\t\t\t config_->get_uint("\/llsfrb\/comm\/public-peer\/port"));\r\n< }\r\n---\r\n> boost::asio::io_service io_service;\r\n226c155\r\n< MessageRegister & message_register = peer_public_->message_register();\r\n---\r\n> MessageRegister & message_register = peer_->message_register();\r\n232,250d160\r\n< std::string cfg_prefix =\r\n< std::string("\/llsfrb\/comm\/") +\r\n< ((team_color_ == CYAN) ? "cyan" : "magenta") + "-peer\/";\r\n< \r\n< if (config_->exists((cfg_prefix + "send-port").c_str()) &&\r\n< config_->exists((cfg_prefix + "recv-port").c_str()) )\r\n< {\r\n< peer_team_ = new ProtobufBroadcastPeer(config_->get_string((cfg_prefix + "host").c_str()),\r\n< \t\t\t\t\t config_->get_uint((cfg_prefix + "recv-port").c_str()),\r\n< \t\t\t\t\t config_->get_uint((cfg_prefix + "send-port").c_str()),\r\n< \t\t\t\t\t &message_register \/*, crypto_key, cipher*\/);\r\n< } else {\r\n< peer_team_ = new ProtobufBroadcastPeer(config_->get_string((cfg_prefix + "host").c_str()),\r\n< \t\t\t\t\t config_->get_uint((cfg_prefix + "port").c_str()),\r\n< \t\t\t\t\t &message_register\/*, crypto_key, cipher*\/);\r\n< }\r\n< \r\n< boost::asio::io_service io_service;\r\n< \r\n253,259c163,165\r\n< peer_public_->signal_received().connect(handle_message);\r\n< peer_public_->signal_recv_error().connect(handle_recv_error);\r\n< peer_public_->signal_send_error().connect(handle_send_error);\r\n< \r\n< peer_team_->signal_received().connect(handle_message);\r\n< peer_team_->signal_recv_error().connect(handle_recv_error);\r\n< peer_team_->signal_send_error().connect(handle_send_error);\r\n---\r\n> peer_->signal_received().connect(handle_message);\r\n> peer_->signal_recv_error().connect(handle_recv_error);\r\n> peer_->signal_send_error().connect(handle_send_error);\r\n274,276c180,181\r\n< delete peer_public_;\r\n< delete peer_team_;\r\n< delete config_;\r\n---\r\n> delete peer_;\r\n> delete config;\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"\u4ee5\u524d\u4f5c\u3063\u305f\uff0cRefBox \u3068\u901a\u4fe1\u3059\u308bView2 \u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f4\u65b0\u3057\u3066View2 …<\/p>\n