Marco Oehler / Mbed OS Lab5

ROME 2 Lab5

HTTPScriptLIDAR.cpp@1:5201940a41c1, 2020-06-12 (annotated)

Committer:
oehlemar
Date:
Fri Jun 12 08:19:42 2020 +0000
Revision:
1:5201940a41c1
Parent:
0:893a1e710078 
asdf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oehlemar 0:893a1e710078 1 /*
oehlemar 0:893a1e710078 2 * HTTPScriptLIDAR.cpp
oehlemar 0:893a1e710078 3 * Copyright (c) 2020, ZHAW
oehlemar 0:893a1e710078 4 * All rights reserved.
oehlemar 0:893a1e710078 5 */
oehlemar 0:893a1e710078 6
oehlemar 0:893a1e710078 7 #include <deque>
oehlemar 0:893a1e710078 8 #include "HTTPScriptLIDAR.h"
oehlemar 0:893a1e710078 9
oehlemar 0:893a1e710078 10 using namespace std;
oehlemar 0:893a1e710078 11
oehlemar 0:893a1e710078 12 inline string int2String(int i) {
oehlemar 0:893a1e710078 13
oehlemar 0:893a1e710078 14 char buffer[32];
oehlemar 0:893a1e710078 15 sprintf(buffer, "%d", i);
oehlemar 0:893a1e710078 16
oehlemar 0:893a1e710078 17 return string(buffer);
oehlemar 0:893a1e710078 18 }
oehlemar 0:893a1e710078 19
oehlemar 0:893a1e710078 20 inline string float2String(float f) {
oehlemar 0:893a1e710078 21
oehlemar 0:893a1e710078 22 char buffer[32];
oehlemar 0:893a1e710078 23 sprintf(buffer, "%.3f", f);
oehlemar 0:893a1e710078 24
oehlemar 0:893a1e710078 25 return string(buffer);
oehlemar 0:893a1e710078 26 }
oehlemar 0:893a1e710078 27
oehlemar 0:893a1e710078 28 /**
oehlemar 0:893a1e710078 29 * Create and initialize this http script.
oehlemar 0:893a1e710078 30 * @param lidar a reference to the lidar to read scans from.
oehlemar 0:893a1e710078 31 */
oehlemar 0:893a1e710078 32 HTTPScriptLIDAR::HTTPScriptLIDAR(LIDAR& lidar) : lidar(lidar) {}
oehlemar 0:893a1e710078 33
oehlemar 0:893a1e710078 34 HTTPScriptLIDAR::~HTTPScriptLIDAR() {}
oehlemar 0:893a1e710078 35
oehlemar 0:893a1e710078 36 /**
oehlemar 0:893a1e710078 37 * This method gets called by the http server, when an object of this class is
oehlemar 0:893a1e710078 38 * registered with the server, and the corresponding script is called
oehlemar 0:893a1e710078 39 * by an http client.
oehlemar 0:893a1e710078 40 */
oehlemar 0:893a1e710078 41 string HTTPScriptLIDAR::call(vector<string> names, vector<string> values) {
oehlemar 0:893a1e710078 42
oehlemar 0:893a1e710078 43 string response;
oehlemar 0:893a1e710078 44
oehlemar 0:893a1e710078 45 deque<Point> scan = lidar.getScan();
oehlemar 0:893a1e710078 46 deque<Point> beacons = lidar.getBeacons();
oehlemar 0:893a1e710078 47
oehlemar 0:893a1e710078 48 response += " <lidar>\r\n";
oehlemar 0:893a1e710078 49 response += " <scan>\r\n";
oehlemar 0:893a1e710078 50 response += " <size><int>"+int2String(scan.size())+"</int></size>\r\n";
oehlemar 0:893a1e710078 51 for (unsigned short i = 0; i < scan.size(); i++) {
oehlemar 0:893a1e710078 52 response += " <point><x><float>"+float2String(scan[i].x)+"</float></x><y><float>"+float2String(scan[i].y)+"</float></y></point>\r\n";
oehlemar 0:893a1e710078 53 }
oehlemar 0:893a1e710078 54 response += " </scan>\r\n";
oehlemar 0:893a1e710078 55 response += " <beacons>\r\n";
oehlemar 0:893a1e710078 56 response += " <size><int>"+int2String(beacons.size())+"</int></size>\r\n";
oehlemar 0:893a1e710078 57 for (unsigned short i = 0; i < beacons.size(); i++) {
oehlemar 0:893a1e710078 58 response += " <point><x><float>"+float2String(beacons[i].x)+"</float></x><y><float>"+float2String(beacons[i].y)+"</float></y></point>\r\n";
oehlemar 0:893a1e710078 59 }
oehlemar 0:893a1e710078 60 response += " </beacons>\r\n";
oehlemar 0:893a1e710078 61 response += " </lidar>\r\n";
oehlemar 0:893a1e710078 62
oehlemar 0:893a1e710078 63 return response;
oehlemar 0:893a1e710078 64 }
oehlemar 0:893a1e710078 65