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//! `rxp` data streams.
use std::ffi::CString;
use std::ptr;
use libc::{int32_t, uint64_t};
use Result;
use error::Error;
use scanifc::{attributes, last_error, point3dstream_handle, scanifc_point3dstream_open,
scanifc_point3dstream_add_demultiplexer, scanifc_point3dstream_set_rangegate,
scanifc_point3dstream_read, xyz32};
const DEFAULT_POINT_ITERATOR_WANT: u32 = 1000;
/// A 3D pointcloud data stream.
#[derive(Debug)]
#[allow(missing_copy_implementations)]
pub struct Stream {
handle: point3dstream_handle,
eof: bool,
sync_to_pps: bool,
}
impl Stream {
/// Opens a data stream.
///
/// # Examples
///
/// ```
/// use rivlib::stream::Stream;
/// let stream = Stream::open("data/130501_232206_cut.rxp", true).unwrap();
/// ```
pub fn open<T: Into<Vec<u8>>>(uri: T, sync_to_pps: bool) -> Result<Stream> {
let uri = try!(CString::new(uri)).into_raw();
let mut h3ds: point3dstream_handle = ptr::null_mut();
unsafe {
let retval = scanifc_point3dstream_open(uri, sync_to_pps as i32, &mut h3ds);
let _ = CString::from_raw(uri);
if retval != 0 {
return Err(Error::Scanifc(retval, last_error()));
}
}
Ok(Stream {
handle: h3ds,
eof: false,
sync_to_pps: sync_to_pps,
})
}
/// Adds a demultiplexer to the data stream.
///
/// The demultiplexer will write selected packages from the rxpstream to a file.
///
/// # Examples
///
/// ```
/// use rivlib::Stream;
/// let mut stream = Stream::open("data/130501_232206_cut.rxp", true).unwrap();
/// stream.add_demultiplexer("/dev/null", "beam_geometry", "all");
/// ```
pub fn add_demultiplexer(&mut self,
filename: &str,
selections: &str,
classes: &str)
-> Result<()> {
let filename = try!(CString::new(filename)).into_raw();
let selections = try!(CString::new(selections)).into_raw();
let classes = try!(CString::new(classes)).into_raw();
unsafe {
let retval = scanifc_point3dstream_add_demultiplexer(self.handle,
filename,
selections,
classes);
let _ = CString::from_raw(filename);
let _ = CString::from_raw(selections);
let _ = CString::from_raw(classes);
if retval != 0 {
return Err(Error::Scanifc(retval, last_error()));
}
}
Ok(())
}
/// Override the default rangegate of the sensor.
///
/// # Examples
///
/// ```
/// use rivlib::stream::Stream;
/// let mut stream = Stream::open("data/130501_232206_cut.rxp", true).unwrap();
/// stream.set_rangegate(1, 0.0, 1.0);
/// ```
pub fn set_rangegate(&mut self, zone: u16, near: f32, far: f32) -> Result<()> {
scanifc_try!(scanifc_point3dstream_set_rangegate(self.handle, zone, near, far));
Ok(())
}
/// Reads some points from this stream.
///
/// Returns an optional vector of points, or `None` if the end of the stream has been reached.
///
/// # Examples
///
/// ```
/// use rivlib::stream::Stream;
/// let mut stream = Stream::open("data/130501_232206_cut.rxp", true).unwrap();
/// let points = stream.read(10).unwrap();
/// ```
pub fn read(&mut self, want: u32) -> Result<Option<Vec<Point>>> {
if self.eof {
return Ok(None);
}
let mut pxyz32: Vec<xyz32> = Vec::with_capacity(want as usize);
let mut pattributes: Vec<attributes> = Vec::with_capacity(want as usize);
let mut ptime: Vec<uint64_t> = Vec::with_capacity(want as usize);
let mut got = 0u32;
let mut end_of_frame: int32_t = 0;
scanifc_try!(scanifc_point3dstream_read(self.handle,
want,
pxyz32.as_mut_ptr(),
pattributes.as_mut_ptr(),
ptime.as_mut_ptr(),
&mut got,
&mut end_of_frame));
if got == 0 && end_of_frame == 0 {
self.eof = true;
return Ok(None);
}
unsafe {
pxyz32.set_len(got as usize);
pattributes.set_len(got as usize);
ptime.set_len(got as usize);
}
let points: Vec<_> = pxyz32.iter()
.zip(pattributes.iter())
.zip(ptime.iter())
.map(|((p, a), t)| {
Point {
x: p.x,
y: p.y,
z: p.z,
amplitude: a.amplitude,
reflectance: a.reflectance,
deviation: a.deviation,
echo_type: EchoType::from_u16(a.flags & 4),
reserved: (a.flags >> 2) & 1 == 1,
waveform_available: (a.flags >> 3) & 1 == 1,
pseudo_echo: (a.flags >> 4) & 1 == 1,
calculated_target: (a.flags >> 5) & 1 == 1,
new_pps: (a.flags >> 6) & 1 == 1,
pps: (a.flags >> 7) & 1 == 1,
facet: Facet(((a.flags >> 8) & 3) as u8),
reserved2: (a.flags >> 10) as u8,
time: *t,
}
})
.collect();
Ok(Some(points))
}
/// Returns true if this stream is synced to pps.
///
/// # Examples
///
/// ```
/// use rivlib::stream::Stream;
/// let stream = Stream::open("data/130501_232206_cut.rxp", false).unwrap();
/// assert!(!stream.sync_to_pps());
pub fn sync_to_pps(&self) -> bool {
self.sync_to_pps
}
}
impl IntoIterator for Stream {
type Item = Point;
type IntoIter = PointIterator;
fn into_iter(self) -> Self::IntoIter {
PointIterator {
stream: self,
points: Vec::new(),
want: DEFAULT_POINT_ITERATOR_WANT,
}
}
}
/// An iterater over a stream's points.
#[derive(Debug)]
pub struct PointIterator {
stream: Stream,
points: Vec<Point>,
want: u32,
}
impl Iterator for PointIterator {
type Item = Point;
fn next(&mut self) -> Option<Self::Item> {
if self.points.is_empty() {
match self.stream.read(self.want).unwrap() {
Some(points) => self.points = points,
None => return None,
}
}
self.points.pop()
}
}
/// A 3D point.
#[derive(Clone, Copy, Debug)]
pub struct Point {
/// The x value of the point.
pub x: f32,
/// The y value of the point.
pub y: f32,
/// The z value of the point.
pub z: f32,
/// Relative amplitude in [dB].
pub amplitude: f32,
/// Relative reflectance in [dB].
pub reflectance: f32,
/// A measure of pulse shape distortion.
pub deviation: u16,
/// What kind of echo is this point?
pub echo_type: EchoType,
/// Reserved.
pub reserved: bool,
/// Is there a waveform available for this point?
pub waveform_available: bool,
/// Is this point a pseudo echo with fixed range 0.1m?
pub pseudo_echo: bool,
/// Is this point a sw calculated target?
pub calculated_target: bool,
/// Is this PPS not older than 1.5 sec?
pub new_pps: bool,
/// Is this time in the PPS timeframe?
pub pps: bool,
/// The facet number.
pub facet: Facet,
/// Some more reserved bits
pub reserved2: u8,
/// The time of this point.
pub time: u64,
}
/// A type of echo.
#[derive(Clone, Copy, Debug, PartialEq)]
pub enum EchoType {
/// Single echo.
Single,
/// First echo.
First,
/// Interior echo.
Interior,
/// Last echo.
Last,
}
impl EchoType {
/// Maps a u16 onto an `EchoType`.
///
/// # Examples
///
/// ```
/// use rivlib::stream::EchoType;
/// assert_eq!(EchoType::Single, EchoType::from_u16(0));
/// ```
pub fn from_u16(n: u16) -> EchoType {
match n {
0 => EchoType::Single,
1 => EchoType::First,
2 => EchoType::Interior,
3 => EchoType::Last,
_ => unreachable!(),
}
}
}
/// The facet of this point
#[derive(Clone, Copy, Debug)]
pub struct Facet(u8);
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn read_to_eof() {
let mut stream = Stream::open("data/130501_232206_cut.rxp", true).unwrap();
let points = stream.read(177208).unwrap().unwrap();
assert_eq!(177208, points.len());
let points = stream.read(1).unwrap();
assert!(points.is_none());
}
}