//private byte[] nextPacket = null;
/// <summary>
/// Create reader object
/// </summary>
/// <param name="type">Type of the sensor</param>
/// <param name="returnMode">Define return type for VLP-16, this variable is neglected for HDL-32E</param>
/// <param name="indexFile">Index file path</param>
/// <param name="pointFile">Point file path</param>
private VelodyneReader(VelodyneSensorType type, ReturnMode returnMode, String indexFile, String pointFile)
{
this.IndexFile = indexFile;
this.PointFile = pointFile;
this.Sensor = type;
Indeces = new List <IndexData>();
if (!File.Exists(indexFile))
{
throw new FileNotFoundException("Index file does not exist!");
}
if (!File.Exists(pointFile))
{
throw new FileNotFoundException("Point file does not exist!");
}
if (type == VelodyneSensorType.HDL32E)
{
PacketInterpreter = new PacketInterpreterHDL32E();
}
else if (type == VelodyneSensorType.VLP16)
{
PacketInterpreter = new PacketInterpreterVLP16(returnMode);
}
else
{
throw new NotImplementedException();
}
}
public void Return(ReturnMode mode)
{
CommandResult result;
lock (this) {
check_alive();
result = servant.Return(mode);
if (result == null)
{
return;
}
}
result.Wait();
}
/// <summary>
/// Open Velodyne reader object
/// </summary>
/// <param name="type">Type of the sensor</param>
/// <param name="returnMode">Define return type for VLP-16, this variable is neglected for HDL-32E</param>
/// <param name="indexFile">Index file path</param>
/// <param name="pointFile">Point file path</param>
/// <returns></returns>
public static VelodyneReader Open(VelodyneSensorType type, ReturnMode returnMode, String indexFile, String pointFile)
{
VelodyneReader obj = new VelodyneReader(type, returnMode, indexFile, pointFile);
FileInfo fi = new FileInfo(indexFile);
long fileSize = fi.Length;
obj.Indeces.Clear();
byte[] idxData = File.ReadAllBytes(obj.IndexFile);
MemoryStream mem = new MemoryStream(idxData);
long idx = 0;
using (BinaryReader reader = new BinaryReader(mem))
{
while (reader.BaseStream.Position != reader.BaseStream.Length)
{
long internalTimeTicks = reader.ReadInt64();
DateTime internalTime = new DateTime(internalTimeTicks);
long packetTimeStampTicks = reader.ReadInt64();
DateTime packetTimeStamp = new DateTime(packetTimeStampTicks);
long position = reader.ReadInt64();
byte[] nmeBytes = reader.ReadBytes(IndexData.NMEA_LENGTH);
String nmea = Encoding.ASCII.GetString(nmeBytes);
obj.Indeces.Add(new IndexData(packetTimeStamp, internalTime, position, nmea));
idx++;
if (idx % 500 == 0)
{
ProgressReportEventArgs args = new ProgressReportEventArgs((((double)reader.BaseStream.Position / (double)fileSize) * 100.0), reader.BaseStream.Position, packetTimeStamp.ToUniversalTime());
OnReportProgress(args);
}
}
}
obj.pointReader = new BinaryReader(File.Open(obj.PointFile, FileMode.Open));
return(obj);
}
public override CommandResult Return(ReturnMode mode)
{
throw new InvalidOperationException();
}
protected override bool DoResolve(ScriptingContext context)
{
if (context.Interpreter.IsInteractive && !unconfirmed) {
if (context.Interpreter.Query ("Make the current stack frame return?")) {
return true;
} else {
Console.WriteLine ("Not confirmed.");
return false;
}
}
if (Native && Invocation)
throw new ScriptingException ("Cannot use both -native and -invocation");
if (Native)
mode = ReturnMode.Native;
else if (Invocation)
mode = ReturnMode.Invocation;
else
mode = ReturnMode.Managed;
return true;
}
public PacketInterpreterVLP16(ReturnMode returnMode)
{
ReturnMode = returnMode;
}
/// <summary>
/// Initializes a new instance of the <see cref="T:System.Object"/> class.
/// </summary>
/// <param name="item">The item.</param>
/// <param name="returnMode">The return mode.</param>
internal ObjectDisposer(T item, ReturnMode returnMode)
{
this.item = item;
this.returnMode = returnMode;
}
public abstract CommandResult Return(ReturnMode mode);
public void Return(ReturnMode mode)
{
CommandResult result;
lock (this) {
check_alive ();
result = servant.Return (mode);
if (result == null)
return;
}
result.Wait ();
}
public override CommandResult Return(ReturnMode mode)
{
return (CommandResult) SendCommand (delegate {
if (!engine_stopped) {
Report.Debug (DebugFlags.Wait,
"{0} not stopped", this);
throw new TargetException (TargetError.NotStopped);
}
if (current_frame == null)
throw new TargetException (TargetError.NoStack);
process.UpdateSymbolTable (inferior);
if (!process.IsManagedApplication) {
if (mode == ReturnMode.Managed)
mode = ReturnMode.Native;
else if (mode == ReturnMode.Invocation)
throw new TargetException (TargetError.InvalidReturn, "Not a managed application.");
}
CommandResult result = new ThreadCommandResult (thread);
Backtrace bt = new Backtrace (current_frame);
if (mode == ReturnMode.Invocation) {
var cframe = inferior.GetCallbackFrame (current_frame.StackPointer, false);
if (cframe == null)
throw new TargetException (TargetError.NoInvocation);
if (MonoDebuggerInfo.HasAbortRuntimeInvoke) {
OperationRuntimeInvoke rti = rti_stack.Peek ();
if (rti.ID != cframe.ID)
throw new TargetException (TargetError.NoInvocation);
return StartOperation (new OperationAbortRuntimeInvoke (this, result));
}
bt.GetBacktrace (this, inferior, Backtrace.Mode.Native, cframe.StackPointer, -1);
for (int i = 0; i < bt.Count; i++) {
if ((bt.Frames [i].Type == FrameType.Normal) && bt.Frames [i].IsManaged)
continue;
else if ((bt.Frames [i].Type == FrameType.RuntimeInvoke) && (i + 1 == bt.Count))
break;
throw new TargetException (TargetError.InvalidReturn,
"Cannot abort an invocation which contains non-managed frames.");
}
} else {
bt.GetBacktrace (this, inferior, Backtrace.Mode.Native,
TargetAddress.Null, 2);
}
if (bt.Count < 2)
throw new TargetException (TargetError.NoStack);
StackFrame parent_frame = bt.Frames [1];
if (parent_frame == null)
return null;
Report.Debug (DebugFlags.SSE, "{0} return: {1} {2} {3}", this, mode, current_frame.Type,
parent_frame.Type);
if (mode == ReturnMode.Native) {
if ((current_frame.Type == FrameType.Signal) || (parent_frame.Type == FrameType.Signal) ||
(current_frame.Type == FrameType.Callback) || (parent_frame.Type == FrameType.Callback))
throw new TargetException (TargetError.InvalidReturn,
"Cannot return from a signal handler or mdb-internal callback.");
if ((current_frame.Type != FrameType.Normal) || (parent_frame.Type != FrameType.Normal))
throw new TargetException (TargetError.InvalidReturn);
} else if (mode == ReturnMode.Managed) {
bool ok = true;
if (current_frame.Type == FrameType.Normal) {
if (!current_frame.IsManaged)
ok = false;
} else {
if (current_frame.Type == FrameType.RuntimeInvoke)
throw new TargetException (TargetError.InvalidReturn,
"Cannot return from an invocation.");
ok = false;
}
if (parent_frame.Type == FrameType.Normal) {
if (!parent_frame.IsManaged)
ok = false;
} else {
if (parent_frame.Type == FrameType.RuntimeInvoke)
throw new TargetException (TargetError.InvalidReturn,
"Cannot return from an invocation.");
ok = false;
}
if (!ok)
throw new TargetException (TargetError.InvalidReturn,
"Cannot return from a non-managed frame.");
}
if (mode == ReturnMode.Native) {
inferior.SetRegisters (parent_frame.Registers);
frame_changed (inferior.CurrentFrame, null);
TargetEventArgs args = new TargetEventArgs (
TargetEventType.TargetStopped, 0, current_frame);
process.Debugger.OnTargetEvent (thread, args);
return null;
}
return StartOperation (new OperationReturn (this, bt, mode, result));
});
}
public OperationReturn(SingleSteppingEngine sse, Backtrace bt, ReturnMode mode, CommandResult result)
: base(sse, result)
{
this.Backtrace = bt;
this.Mode = mode;
}
internal void _EmitAssignReturnMode(ReturnMode returnMode)
{
EmitLoadArg(ParamReturnModeIndex);
EmitLdcI4((int) returnMode);
Il.Emit(OpCodes.Stind_I4);
}
private void _testReturnMode(string id, ReturnMode mode, PValue retVal)
{
var fctx = target.Functions[id].CreateFunctionContext(engine);
engine.Process(fctx);
Assert.AreEqual(fctx.ReturnMode, mode,
"Return mode for function " + id + " does not match.");
Assert.IsTrue((bool) retVal.Equality(fctx, fctx.ReturnValue).Value,
"Return value for function " + id + " does not match.");
}
public override CommandResult Return(ReturnMode mode)
{
throw new InvalidOperationException ();
}
public abstract CommandResult Return(ReturnMode mode);
