void Device::print_readings(unsigned int num, std::string filename)
{
//char temp[128];
std::stringstream ss;
if(num == readings.size())
ss << " Printing all the " << num << " readings:" << std::endl;
else
ss << " Printing the latest " << num << " readings:" << std::endl;
if(filename.empty())
printf("%s", ss.str().c_str());
else
log(ss.str(), filename, true, false);
std::map<time_t,int>::iterator it = readings.end();
for(int i = 1; i < num+1; i++) {
char buff[20];
time_t time = 0;
if(it != readings.begin())
time = (--it)->first;
else
continue;
format_time(time, buff);
ss.str(std::string()); // clear the stream
ss << " " << buff << "\t" << get_reading(time) << std::endl;
if(filename.empty())
printf("%s", ss.str().c_str());
else
log(ss.str(), filename, true, false);
}
}
/*
update the state of the sensor
*/
void AP_CollisionAvoidance_PulsedLightLRF::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
update_status();
} else {
set_status(CollisionAvoidance::CollisionAvoidance_NoData);
}
}
/*
update the state of the sensor
*/
void AP_RangeFinder_MaxsonarI2CXL::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
update_status();
} else {
set_status(RangeFinder::RangeFinder_NoData);
}
}
/*
update the state of the sensor
*/
void AP_RangeFinder_MaxsonarSerialLV::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - last_reading_ms > 500) {
set_status(RangeFinder::RangeFinder_NoData);
}
}
/*
update the state of the sensor
*/
void AP_RangeFinder_LightWareSerial::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
set_status(RangeFinder::RangeFinder_NoData);
}
}
/*
detect if a Maxbotix rangefinder is connected. We'll detect by
trying to take a reading on I2C. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder &_ranger, uint8_t instance)
{
if (!start_reading()) {
return false;
}
// give time for the sensor to process the request
hal.scheduler->delay(50);
uint16_t reading_cm;
return get_reading(reading_cm);
}
/*
detect if a PulsedLight rangefinder is connected. We'll detect by
trying to take a reading on I2C. If we get a result the sensor is
there.
*/
bool AP_CollisionAvoidance_PulsedLightLRF::detect(CollisionAvoidance &_ranger, uint8_t instance)
{
if (!start_reading()) {
return false;
}
// give time for the sensor to process the request
hal.scheduler->delay(50);
uint16_t reading_cm;
return get_reading(reading_cm);
}
/*
update the state of the sensor
*/
void AP_RangeFinder_Benewake::update(void)
{
bool signal_ok;
if (get_reading(state.distance_cm, signal_ok)) {
// update range_valid state based on distance measured
last_reading_ms = AP_HAL::millis();
if (signal_ok) {
update_status();
} else {
// if signal is weak set status to out-of-range
set_status(RangeFinder::RangeFinder_OutOfRangeHigh);
}
} else if (AP_HAL::millis() - last_reading_ms > 200) {
set_status(RangeFinder::RangeFinder_NoData);
}
}
/*
update the state of the sensor
*/
void AP_RangeFinder_BLPing::update(void)
{
if (uart == nullptr) {
return;
}
const uint32_t now = AP_HAL::millis();
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = now;
update_status();
} else if (now - state.last_reading_ms > BLPING_TIMEOUT_MS) {
set_status(RangeFinder::RangeFinder_NoData);
// initialise sensor if no distances recently
if (now - last_init_ms > BLPING_INIT_RATE_MS) {
last_init_ms = now;
init_sensor();
}
}
}
static int32_t get_lux(void)
{
return alscode2lux(get_reading());
}
int main(int argc, char *argv[])
{
char packet[] = {0x00, 0x00, 0x00};
float temp, hum;
int error_count = 0;
int count = 1;
GError *error = NULL;
GOptionContext *context;
context = g_option_context_new ("- collect temperature and humidity readings");
g_option_context_add_main_entries (context, entries, NULL);
if (!g_option_context_parse (context, &argc, &argv, &error))
{
g_print ("option parsing failed: %s\n", error->message);
exit (1);
}
g_option_context_free(context);
set_debug(debug);
hid_device *handle;
gboolean found = search_for_device();
if(!found) {
g_printerr("Sensor not found, aborting.\n");
exit(-1);
}
// Open the device using the VID and PID
handle = open_lascar();
if(handle == NULL) {
g_printerr("Error opening sensor.\n");
exit(-1);
}
SoupSession *session = NULL;
int channel;
gchar *channel_name;
gchar *room;
GString *uri, *body;
/* parse config file */
GKeyFile *gkf = g_key_file_new();
g_key_file_load_from_data_dirs(gkf,"templogger.conf",NULL,G_KEY_FILE_NONE,&error);
if(error!=NULL) {
g_printerr("Can't load configuration file, not uploading to server.\n");
g_key_file_free(gkf);
}
else {
gchar *url = g_key_file_get_string(gkf,"influx","url",NULL);
channel = g_key_file_get_integer(gkf,"channel","channel_num",NULL);
channel_name = g_key_file_get_string(gkf,"channel","channel_name",NULL);
room = g_key_file_get_string(gkf,"channel","room",NULL);
int port = g_key_file_get_integer(gkf,"influx","port",NULL);
gchar *db = g_key_file_get_string(gkf,"influx","database",NULL);
gchar *username = g_key_file_get_string(gkf,"influx","username",NULL);
gchar *password = g_key_file_get_string(gkf,"influx","password",NULL);
g_key_file_free(gkf);
/* open session */
session = soup_session_new();
uri = g_string_new("http://");
g_string_append_printf(uri,"%s:%d/write?db=%s&u=%s&p=%s",url,port,db,username,password);
g_message(uri->str);
body = g_string_new("");
g_print("Uploading as channel %d, name %s, room %s",channel, channel_name, room);
}
FILE *logfile = NULL;
if(log_local) {
logfile = fopen("log.txt","a");
}
const int upload_freq = floor(UPLOAD_TIME/SLEEP_TIME);
while(1) {
int ret = get_reading(handle, packet, &temp, &hum, TRUE);
if(ret >= 0) {
gint64 t = 1000*g_get_real_time();
if(log_local) {
fprintf(logfile,"%" G_GINT64_FORMAT "\t%.1f\t%.1f\n",t, temp, hum);
fflush(logfile);
}
if(debug)
g_print("%" G_GINT64_FORMAT "\t%.1f\t%.1f\n",t, temp, hum);
if(session && (count % upload_freq == 0)) {
SoupRequestHTTP *request = soup_session_request_http(session,"POST",uri->str,NULL);
SoupMessage *message = soup_request_http_get_message(request);
g_string_append_printf(body,"temp,channel=%d,channel_name=%s,room=%s",channel,channel_name,room);
g_string_append_printf(body," value=%.1f %" G_GINT64_FORMAT,temp,t);
g_string_append_printf(body,"\n");
g_string_append_printf(body,"hum,channel=%d,channel_name=%s,room=%s",channel,channel_name,room);
g_string_append_printf(body," value=%.1f %" G_GINT64_FORMAT,hum,t);
g_string_append_printf(body,"\n");
if(debug)
g_message(body->str);
if(!testing) {
soup_message_set_request(message,"application/binary",SOUP_MEMORY_COPY,body->str,body->len);
guint session_status = soup_session_send_message(session,message);
if(session_status == 204) { /* message was received */
//g_print("received status %d\n",session_status);
g_string_erase(body,0,-1); /* clear the string */
}
else {
g_print("no connection to server");
}
/* otherwise, keep it and attempt to resend next time */
}
g_object_unref(message);
}
count ++;
/* reset the error count on successful read */
error_count = 0;
} else if(error_count > MAX_ERRORS) {
g_printerr("Too many errors to continue\n");
exit(-1);
} else {
error_count++;
}
if(testing && count>60)
break;
g_usleep(SLEEP_TIME*1000000);
}
if(session) {
g_string_free(uri,TRUE);
g_string_free(body,TRUE);
g_object_unref(session);
}
hid_close(handle);
hid_exit();
return 0;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_PulsedLightLRF::update(void)
{
state.healthy = get_reading(state.distance_cm);
}