Diff: HTTPScriptLIDAR.cpp

Revision:

0:893a1e710078

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPScriptLIDAR.cpp	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,65 @@
+/*
+ * HTTPScriptLIDAR.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <deque>
+#include "HTTPScriptLIDAR.h"
+
+using namespace std;
+
+inline string int2String(int i) {
+    
+    char buffer[32];
+    sprintf(buffer, "%d", i);
+    
+    return string(buffer);
+}
+
+inline string float2String(float f) {
+    
+    char buffer[32];
+    sprintf(buffer, "%.3f", f);
+    
+    return string(buffer);
+}
+
+/**
+ * Create and initialize this http script.
+ * @param lidar a reference to the lidar to read scans from.
+ */
+HTTPScriptLIDAR::HTTPScriptLIDAR(LIDAR& lidar) : lidar(lidar) {}
+
+HTTPScriptLIDAR::~HTTPScriptLIDAR() {}
+
+/**
+ * This method gets called by the http server, when an object of this class is
+ * registered with the server, and the corresponding script is called
+ * by an http client.
+ */
+string HTTPScriptLIDAR::call(vector<string> names, vector<string> values) {
+    
+    string response;
+    
+    deque<Point> scan = lidar.getScan();
+    deque<Point> beacons = lidar.getBeacons();
+    
+    response += "  <lidar>\r\n";
+    response += "    <scan>\r\n";
+    response += "      <size><int>"+int2String(scan.size())+"</int></size>\r\n";
+    for (unsigned short i = 0; i < scan.size(); i++) {
+        response += "      <point><x><float>"+float2String(scan[i].x)+"</float></x><y><float>"+float2String(scan[i].y)+"</float></y></point>\r\n";
+    }
+    response += "    </scan>\r\n";
+    response += "    <beacons>\r\n";
+    response += "      <size><int>"+int2String(beacons.size())+"</int></size>\r\n";
+    for (unsigned short i = 0; i < beacons.size(); i++) {
+        response += "      <point><x><float>"+float2String(beacons[i].x)+"</float></x><y><float>"+float2String(beacons[i].y)+"</float></y></point>\r\n";
+    }
+    response += "    </beacons>\r\n";
+    response += "  </lidar>\r\n";
+    
+    return response;
+}
+