void Analyzer_Position_Estimate_Divergence::evaluate_estimate(
const std::string name,
AnalyzerVehicle::Position position,
AnalyzerVehicle::Position estimate)
{
if (estimate.lat_modtime() == 0) {
// No estimate for this yet
return;
}
double delta = estimate.horizontal_distance_to(position);
bool failing = (delta > delta_warn());
// ::fprintf(stderr, "%s: delta=%f delta_warn=%f: %s\n", name.c_str(), delta, delta_warn(), failing ? "FAILING" : "");
if (_result.count(name) == 0 ||
_result[name] == NULL) {
// no current problem
if (failing) {
open_result(name, delta);
}
} else {
// problem currently underway
if (failing) {
update_result(name, delta);
} else {
close_result(name);
}
}
}
bool sql_connecter::exe_query(const string &sql)
{
if(mysql_query(_mysql_conn, sql.c_str()) != 0){
cout<<mysql_error(_mysql_conn)<<endl;
return false;
}
//从MYSQL句柄中提取出查询结果
_res = mysql_store_result(_mysql_conn);
int row_num = mysql_num_rows(_res);//查询结果集行数
cout<<"共查询到："<<row_num<<"行。"<<endl;
int field_num = mysql_num_fields(_res);//查询结果集列数
cout<<"共有："<<field_num<<"列。"<<endl;
MYSQL_FIELD *fd = NULL;//打印列名
for(; fd=mysql_fetch_field(_res);){
cout<<fd->name<<"\t";
}
cout<<endl;
for(int index=0; index < row_num; ++index){//外层控制打印多少行的信息
MYSQL_ROW _row = mysql_fetch_row(_res);//获取结果集的一行信息
if(_row){//如果获取的信息不为空
int start = 0;
for(; start < field_num; ++start){
cout<<_row[start]<<'\t';//依次打印一行中的每一列的信息
}
cout<<endl;
}
}
cout<<endl;
close_result();
return true;
}
void Analyzer_Sensor_Health::end_of_log(uint32_t packet_count UNUSED)
{
std::map<const std::string, bool> sensors_health = _vehicle->sensors_health();
bool have = false;
for (std::map<const std::string, bool>::const_iterator it = sensors_health.begin();
it != sensors_health.end();
++it) {
// ::fprintf(stderr, "would evaluate (%s)\n", (*it).first.c_str());
std::string name = (*it).first;
if (_results[name] != NULL) {
close_result(name);
}
have = true;
}
if (!have) {
Analyzer_Result_Summary *summary = new Analyzer_Result_Summary();
summary->set_status(analyzer_status_warn);
summary->set_reason("Sensor health never updated");
summary->add_source(_data_sources.get("SENSORS_HEALTH"));
add_result(summary);
}
}
void Analyzer_Attitude_Estimate_Divergence::evaluate_estimate(
std::string name,
AnalyzerVehicle::Attitude attitude,
AnalyzerVehicle::Attitude estimate)
{
if (estimate.roll_modtime() == 0) {
// No estimate for this yet
return;
}
double delta_roll = fabs(angle_delta(estimate.roll(), attitude.roll()));
double delta_pitch = fabs(angle_delta(estimate.pitch(), attitude.pitch()));
// double delta_yaw = estimate.yaw() - attitude.yaw();
double delta = delta_roll > delta_pitch ? delta_roll : delta_pitch;
bool failing = (delta >= delta_warn());
if (_result[name] == NULL) {
if (failing) {
open_result(name, delta);
}
} else {
if (failing) {
update_result(name, delta);
} else {
close_result(name);
}
}
}
sql_connecter::~sql_connecter()
{
if(this->_mysql_conn != NULL){//只有连接成功才进行关闭操作
close_connect();
}
//结果集使用完毕必须free负责会造成内存泄露
close_result();
}
void lily_pg_result_close(lily_vm_state *vm, uint16_t argc, uint16_t *code)
{
lily_value *to_close_reg = vm->vm_regs[code[1]];
lily_pg_result *to_close = (lily_pg_result *)to_close_reg->value.generic;
close_result(to_close_reg);
to_close->row_count = 0;
}
void Analyzer_Estimate_Divergence::end_of_log(const uint32_t packet_count UNUSED)
{
auto next = _result.begin();
while (next != _result.end()) {
auto current = next;
next++;
if ((*current).second != NULL) {
close_result((*current).first);
}
}
}
void Analyzer_Sensor_Health::evaluate()
{
std::map<const std::string, bool> sensors_health = _vehicle->sensors_health();
for (std::map<const std::string, bool>::const_iterator it = sensors_health.begin();
it != sensors_health.end();
++it) {
std::string name = (*it).first;
// ::fprintf(stderr, "would evaluate (%s)\n", name.c_str());
if ((*it).second) {
if (_results[name] != NULL) {
close_result(name);
}
} else {
if (_results[name] == NULL) {
open_result(name);
}
}
}
}
int sql_connecter::exe_update(const string &sql)
{
int eft_num = -1;
_res = mysql_store_result(_mysql_conn);
close_result();
if( (eft_num = mysql_query(_mysql_conn, sql.c_str())) != 0){
// cout<<"update error!\n"<<endl;
cout<<"<p> database error:"<<mysql_error(_mysql_conn)<<"</p>"<<endl;
return eft_num;
}
_res = mysql_store_result(_mysql_conn);
eft_num = mysql_affected_rows(_mysql_conn);//get affected rows
if(_res != NULL){//if null, not query sql
mysql_free_result(_res);
}
//cout<<"update success affected "<<eft_num<<" rows.\n"<<endl;
return eft_num;
}
void Analyzer_Velocity_Estimate_Divergence::evaluate_estimate(
const std::string name,
AnalyzerVehicle::Velocity &velocity,
AnalyzerVehicle::Velocity &estimate)
{
if (estimate.velocity_modtime() == 0) {
// No estimate for this yet
return;
}
// make sure we're comparing apples with apples:
double velocity_size;
if (estimate.is_2d()) {
velocity_size = velocity.size_2d();
} else {
velocity_size = velocity.size();
}
double delta = estimate.size() - velocity_size;
// ::fprintf(stderr, "delta: %f\n", delta);
bool failing = (delta > delta_warn());
// ::fprintf(stderr, "%s: delta=%f delta_warn=%f: %s\n", name.c_str(), delta, delta_warn(), failing ? "FAILING" : "");
if (_result.count(name) == 0 ||
_result[name] == NULL) {
// no current problem
if (failing) {
open_result(name, delta);
}
} else {
// problem currently underway
if (failing) {
update_result(name, delta);
} else {
close_result(name);
}
}
}
void destroy_result(lily_value *v)
{
close_result(v);
lily_free(v->value.generic);
}