fconvert.c

hoap2 robot source code

#include <stdio.h>
#include <string.h>
#include <stdlib.h>

#include "convert.h"

#define COMMENT ';'
#define SEPARATOR " ,\t\n"
#define ENDLINE '\n'

#define DATACONTINUE 1
#define LASTDATA 0
#define NOMOREDATA -1

#define INPUTFILE "in.dat"
#define OUTPUTFILE "out.dat"

#define DATANUM 20
//#define DATANUM 5 

char* ctype[4] = {
  "DegToPulse",
  "RadToPulse",
  "PulseToDeg",
  "PulseToRad",
};

union data{
  int idata;
  double ddata;
//  long double ddata;
};

void usage();
int getdata(FILE* fdi, FILE* fdo, int datatype, union data* x);
int convertline(FILE* fdi, FILE* fdo, int cnvtype);

int main(int argc, char *argv[])
{
	FILE* fdi;
	FILE* fdo;
	char *infilename;
	char *outfilename;

	int tp;
	int ret = 1;

	switch(argc) {
	case 2:
	  infilename = INPUTFILE;
	  outfilename = OUTPUTFILE;
	  break;
	case 3:
	  infilename = argv[2];
	  outfilename = OUTPUTFILE;
	case 4:
	  infilename = argv[2];
	  outfilename = argv[3];
	  break;
	default:
	  usage();
	  return -1;
	}
	tp = atoi(argv[1]);
	if(tp > 4 || tp < 1) {
	  usage();
	  return -1;
	}
	///hide radian convert
	if(tp == 2 || tp == 4) {
		usage();
		return -1;
	}
	printf("program fileconvert.\n");
	printf(" convert %s: %s -> %s\n", \
	       ctype[tp-1], infilename, outfilename);
	if((fdi = fopen(infilename, "r")) == NULL) {
		perror("open readfile");
		return -1;
	}
	
	if((fdo = fopen(outfilename, "w")) == NULL) {
		perror("open writefile");
		return -1;
	}
	
       	while(ret > 0) {
       		ret = convertline(fdi, fdo, tp);
		//		printf("one line get\n");
       	}

	fclose(fdi);
	fclose(fdo);
	return 0;
}

int getdata(FILE* fdi, FILE* fdo, int datatype, union data* x)
{
  char c = 0;
  int i = 0;
  char s[128] = {0};
  char* chk = NULL;

  while((chk == NULL)||(i == 0)){
    c = getc(fdi);
    if(c == -1) break;
    if(c == COMMENT) {
      if(fdo > 0) fprintf(fdo, "%c", c);
      do {
	c = getc(fdi);
	if(fdo > 0) fprintf(fdo, "%c", c);
	if(c == -1) return NOMOREDATA;
      }while(c != '\n');
    } else {
      if((chk = strchr(SEPARATOR, c)) == NULL) {
//		printf("%c", c);
	s[i] = c;
	i++;
      }
    }
  }
  if(i > 0) {
    if(datatype == 0) {
      x->idata = atoi(s);
      //      printf("int %d", x->idata);
    } else {
	sscanf(s, "%lf", &(x->ddata));
//      x->ddata = atof(s);
      //      printf("double %e", x->ddata);
    }
    if(c == -1) return LASTDATA;
  }
  if(c == -1) return NOMOREDATA;
  return DATACONTINUE;
}

int convertline(FILE* fdi, FILE* fdo, int cnvtype)
{
  int datanum = 0;
  int ret = 1;
  union data x;
  int datatype; //0:int, 1:double
  int ix;
  double dx;

  while(ret > 0) {
    datatype = 0;
//    if(datanum != 0 && cnvtype < 2) {
    if(cnvtype < 2) {
      datatype = 1;
    }
    ret = getdata(fdi, fdo, datatype, &x);
    //    printf("one data get\n");
    if(ret == NOMOREDATA) return ret; //no data
    if(datanum == 0) { //time
      fprintf(fdo, "%d, 2",(int)x.ddata); 
      printf("%d ms:\n", (int)x.ddata); 
    }else{  //data
      switch(cnvtype) {
	case 1:
	  ix = DegToPulse(x.ddata, datanum);
	  fprintf(fdo, "%d", ix);
	  printf(" original :%4.8lf", x.ddata);
	  printf(" converted :%d\n", ix);
	  break;	  
	case 2:
	  ix = RadToPulse(x.ddata, datanum);
	  fprintf(fdo, "%d", ix);
	  printf(" original :%e", x.ddata);
	  printf(" converted :%d\n", ix);
	  break;
	case 3:
	  dx = PulseToDeg(x.idata, datanum);
	  fprintf(fdo, "%4.8lf", dx);
	  printf(" original :%d", x.idata);
	  printf(" converted :%4.8lf\n", dx);
	  break;
	case 4:
	  dx = PulseToRad(x.idata, datanum);
	  fprintf(fdo, "%e", dx);
	  printf(" original :%d", x.idata);
	  printf(" converted :%e\n", dx);
	  break;
	default:
	  printf(" converttype error\n");
      }
    }
    datanum++;
    if(datanum > DATANUM) {
      fprintf(fdo, ", R ,R ,R\n");
      return ret;
    } else {
      fprintf(fdo, ", ");
    }
  }
  return ret;
}


void usage()
{
	printf("usage: fconvert CONVERTTYPE INPUTFILE OUTPUTFILE\n");
	printf("                COMVERTTYPE 1  Degree to Pulse\n");
//	printf("                            2  Radian to Pulse\n");
        printf("                            3  Pulse to Degree\n");
//	printf("                            4  Pulse to Radian\n");
        printf("                INPUTFILE  (default is \"%s\")\n", INPUTFILE);
        printf("                OUTPUTFILE (default is \"%s\")\n", OUTPUTFILE);
}