Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -4,11 +4,10 @@
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#include "../Importers/ImportURDFDemo/urdfStringSplit.h"
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static bool readLine(FILE* file, btAlignedObjectArray<char>& line)
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{
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int c = 0;
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for (c=fgetc(file);(c != EOF && c != '\n');c=fgetc(file))
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for (c = fgetc(file); (c != EOF && c != '\n'); c = fgetc(file))
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{
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line.push_back(c);
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}
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@@ -16,13 +15,11 @@ static bool readLine(FILE* file, btAlignedObjectArray<char>& line)
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return (c == EOF);
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}
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int readMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>& structNames, std::string& structTypes, btAlignedObjectArray<MinitaurLogRecord>& logRecords, bool verbose)
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{
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int retVal = 0;
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FILE* f = fopen(fileName,"rb");
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FILE* f = fopen(fileName, "rb");
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if (f)
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{
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if (verbose)
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@@ -30,36 +27,36 @@ int readMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>&
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printf("Opened file %s\n", fileName);
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}
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btAlignedObjectArray<char> line0Buf;
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bool eof = readLine(f,line0Buf);
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bool eof = readLine(f, line0Buf);
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btAlignedObjectArray<char> line1Buf;
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eof |= readLine(f,line1Buf);
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eof |= readLine(f, line1Buf);
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std::string line0 = &line0Buf[0];
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structTypes = &line1Buf[0];
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btAlignedObjectArray<std::string> separators;
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separators.push_back(",");
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urdfStringSplit(structNames,line0,separators);
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urdfStringSplit(structNames, line0, separators);
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if (verbose)
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{
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printf("Num Fields = %d\n",structNames.size());
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printf("Num Fields = %d\n", structNames.size());
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}
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btAssert(structTypes.size() == structNames.size());
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if (structTypes.size() != structNames.size())
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{
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retVal = eCorruptHeader;
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}
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int numStructsRead = 0;
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int numStructsRead = 0;
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if (structTypes.size() == structNames.size())
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{
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while (!eof)
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{
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unsigned char blaat[1024];
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size_t s = fread(blaat,2,1,f);
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if (s!=1)
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size_t s = fread(blaat, 2, 1, f);
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if (s != 1)
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{
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eof=true;
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eof = true;
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retVal = eInvalidAABBAlignCheck;
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break;
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}
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@@ -73,125 +70,120 @@ int readMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>&
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if (verbose)
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{
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printf("Reading structure %d\n",numStructsRead);
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printf("Reading structure %d\n", numStructsRead);
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}
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MinitaurLogRecord record;
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for (int i=0;i<structNames.size();i++)
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for (int i = 0; i < structNames.size(); i++)
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{
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switch (structTypes[i])
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{
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case 'I':
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{
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size_t s = fread(blaat,sizeof(int),1,f);
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if (s != 1)
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case 'I':
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{
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eof = true;
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retVal = eCorruptValue;
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size_t s = fread(blaat, sizeof(int), 1, f);
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if (s != 1)
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{
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eof = true;
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retVal = eCorruptValue;
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break;
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}
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int v = (int)*(unsigned int*)blaat;
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if (s == 1)
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{
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if (verbose)
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{
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printf("%s = %d\n", structNames[i].c_str(), v);
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}
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record.m_values.push_back(v);
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}
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break;
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}
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int v = (int) *(unsigned int*)blaat;
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if (s==1)
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case 'i':
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{
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size_t s = fread(blaat, sizeof(int), 1, f);
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if (s != 1)
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{
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eof = true;
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retVal = eCorruptValue;
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break;
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}
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int v = *(int*)blaat;
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if (s == 1)
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{
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if (verbose)
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{
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printf("%s = %d\n", structNames[i].c_str(), v);
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}
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record.m_values.push_back(v);
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}
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break;
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}
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case 'f':
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{
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float v;
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size_t s = fread(&v, sizeof(float), 1, f);
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if (s != 1)
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{
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eof = true;
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break;
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}
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if (s == 1)
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{
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if (verbose)
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{
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printf("%s = %f\n", structNames[i].c_str(), v);
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}
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record.m_values.push_back(v);
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}
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break;
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}
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case 'B':
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{
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char v;
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size_t s = fread(&v, sizeof(char), 1, f);
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if (s != 1)
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{
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eof = true;
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break;
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}
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if (s == 1)
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{
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if (verbose)
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{
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printf("%s = %d\n", structNames[i].c_str(), v);
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}
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record.m_values.push_back(v);
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}
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break;
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}
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default:
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{
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if (verbose)
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{
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printf("%s = %d\n",structNames[i].c_str(),v);
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printf("Unknown type\n");
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}
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record.m_values.push_back(v);
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retVal = eUnknownType;
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btAssert(0);
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}
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break;
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}
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case 'i':
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{
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size_t s = fread(blaat,sizeof(int),1,f);
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if (s != 1)
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{
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eof = true;
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retVal = eCorruptValue;
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break;
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}
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int v = *(int*)blaat;
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if (s==1)
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{
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if (verbose)
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{
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printf("%s = %d\n",structNames[i].c_str(),v);
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}
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record.m_values.push_back(v);
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}
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break;
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}
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case 'f':
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{
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float v;
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size_t s = fread(&v,sizeof(float),1,f);
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if (s != 1)
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{
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eof = true;
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break;
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}
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if (s==1)
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{
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if (verbose)
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{
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printf("%s = %f\n",structNames[i].c_str(),v);
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}
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record.m_values.push_back(v);
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}
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break;
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}
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case 'B':
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{
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char v;
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size_t s = fread(&v,sizeof(char),1,f);
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if (s != 1)
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{
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eof = true;
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break;
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}
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if (s==1)
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{
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if (verbose)
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{
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printf("%s = %d\n",structNames[i].c_str(),v);
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}
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record.m_values.push_back(v);
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}
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break;
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}
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default:
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{
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if (verbose)
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{
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printf("Unknown type\n");
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}
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retVal = eUnknownType;
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btAssert(0);
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}
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}
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}
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logRecords.push_back(record);
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numStructsRead++;
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}
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if (verbose)
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{
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printf("numStructsRead = %d\n",numStructsRead);
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printf("numStructsRead = %d\n", numStructsRead);
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}
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if (retVal==0)
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if (retVal == 0)
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{
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retVal = numStructsRead;
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}
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}
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//read header and
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} else
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//read header and
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}
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else
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{
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if (verbose)
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{
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@@ -202,28 +194,25 @@ int readMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>&
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return retVal;
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}
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FILE* createMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>& structNames, std::string& structTypes)
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{
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FILE* f = fopen(fileName,"wb");
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FILE* f = fopen(fileName, "wb");
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if (f)
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{
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for (int i=0;i<structNames.size();i++)
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for (int i = 0; i < structNames.size(); i++)
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{
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int len = strlen(structNames[i].c_str());
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fwrite(structNames[i].c_str(),len,1,f);
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if (i<structNames.size()-1)
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fwrite(structNames[i].c_str(), len, 1, f);
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if (i < structNames.size() - 1)
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{
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fwrite(",",1,1,f);
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fwrite(",", 1, 1, f);
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}
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}
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int sz = sizeof("\n");
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fwrite("\n",sz-1,1,f);
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fwrite(structTypes.c_str(),strlen(structTypes.c_str()),1,f);
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fwrite("\n",sz-1,1,f);
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fwrite("\n", sz - 1, 1, f);
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fwrite(structTypes.c_str(), strlen(structTypes.c_str()), 1, f);
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fwrite("\n", sz - 1, 1, f);
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}
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return f;
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}
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@@ -232,34 +221,33 @@ void appendMinitaurLogData(FILE* f, std::string& structTypes, const MinitaurLogR
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{
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if (f)
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{
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unsigned char buf[2] = {0xaa,0xbb};
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fwrite(buf,2,1,f);
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unsigned char buf[2] = {0xaa, 0xbb};
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fwrite(buf, 2, 1, f);
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if (structTypes.length() == logData.m_values.size())
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{
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for (int i=0;i<logData.m_values.size();i++)
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for (int i = 0; i < logData.m_values.size(); i++)
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{
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switch(structTypes[i])
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switch (structTypes[i])
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{
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case 'i':
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case 'I':
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{
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fwrite(&logData.m_values[i].m_intVal,sizeof(int),1,f);
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break;
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}
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case 'f':
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{
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fwrite(&logData.m_values[i].m_floatVal,sizeof(float),1,f);
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break;
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}
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case 'B':
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{
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fwrite(&logData.m_values[i].m_charVal,sizeof(char),1,f);
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break;
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}
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default:
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{
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}
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case 'i':
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case 'I':
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{
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fwrite(&logData.m_values[i].m_intVal, sizeof(int), 1, f);
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break;
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}
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case 'f':
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{
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fwrite(&logData.m_values[i].m_floatVal, sizeof(float), 1, f);
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break;
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}
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case 'B':
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{
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fwrite(&logData.m_values[i].m_charVal, sizeof(char), 1, f);
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break;
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}
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default:
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{
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}
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}
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}
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}
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