int main()
{
int i,j;
int nofstrip = n();
double **tt = lsf(0.3, 1.3, 0., 50, 5, 1000., 9.);
//FILE* f = fopen("corr.txt","w+");
for(i=0; i<4; i++){
//for(j=0; j<256; j++){
printf("%f %f %f\n",tt[i][0],tt[i][1],tt[i][0]/tt[i][1]);
}
//fprintf("\n");
//}
//fclose(f);
return 0;
}
int
main(int32_t argc, char** argv)
{
if (argc < 2)
{
std::cerr << "Usage: " << argv[0] << " <abbrev of imc message 1>,<abbrev of imc message 2>,..,"
<< "<abbrev of imc message n> Data.lsf[.gz] .. Data.lsf[.gz]"
<< std::endl;
std::cerr << argv[0] << " accepts multiple IMC messages comma separated and "
<< "multiple Data.lsf files space separated." << std::endl;
std::cerr << "This program does not sort the input Data.lsf files." << std::endl;
return 1;
}
ByteBuffer buffer;
std::ofstream lsf("FilteredData.lsf", std::ios::binary);
IMC::Message* msg;
uint32_t accum = 0;
bool done_first = false;
std::set<uint32_t> ids;
std::vector<std::string> msgs;
Utils::String::split(argv[1], ",", msgs);
for (unsigned k = 0; k < msgs.size(); ++k)
{
uint32_t got = IMC::Factory::getIdFromAbbrev(Utils::String::trim(msgs[k]));
ids.insert(got);
}
for (uint32_t j = 2; j < (uint32_t)argc; ++j)
{
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(argv[j]);
if (method == METHOD_UNKNOWN)
is = new std::ifstream(argv[j], std::ios::binary);
else
is = new Compression::FileInput(argv[j], method);
uint32_t i = 0;
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (!done_first)
{
// place an empty estimatedstate message in the log
IMC::EstimatedState state;
state.setTimeStamp(msg->getTimeStamp());
IMC::Packet::serialize(&state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
done_first = true;
}
std::set<uint32_t>::const_iterator it;
it = ids.find(msg->getId());
if (it != ids.end())
{
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
++i;
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return -1;
}
std::cerr << i << " messages in " << argv[j] << std::endl;
accum += i;
delete is;
}
lsf.close();
std::cerr << "Total of " << accum << " " << argv[1] << " messages." << std::endl;
return 0;
}
int
main(int32_t argc, char** argv)
{
if (argc != 2)
{
std::cerr << "Usage: " << argv[0] << " Data.lsf[.gz]"
<< std::endl;
return 1;
}
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(argv[1]);
if (method == METHOD_UNKNOWN)
is = new std::ifstream(argv[1], std::ios::binary);
else
is = new Compression::FileInput(argv[1], method);
ByteBuffer buffer;
std::ofstream lsf("SurfaceData.lsf", std::ios::binary);
IMC::Message* msg;
unsigned i = 0;
IMC::EstimatedState state;
IMC::Packet::serialize(&state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
double timestamp = -1.0;
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_GPSFIX)
{
IMC::GpsFix* fix = static_cast<IMC::GpsFix*>(msg);
if ((fix->hacc <= MIN_HACC) &&
(fix->validity & IMC::GpsFix::GFV_VALID_POS) &&
(fix->getTimeStamp() >= timestamp))
{
timestamp = fix->getTimeStamp();
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
++i;
}
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return -1;
}
lsf.close();
delete is;
std::cerr << "Got " << i << " GpsFix messages." << std::endl;
return 0;
}
int
main(int32_t argc, char** argv)
{
if (argc <= 1)
{
std::cerr << "Usage: " << argv[0] << " <path_to_log/Data.lsf[.gz]>"
<< std::endl;
return 1;
}
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(argv[1]);
if (method == METHOD_UNKNOWN)
is = new std::ifstream(argv[1], std::ios::binary);
else
is = new Compression::FileInput(argv[1], method);
IMC::Message* msg = NULL;
std::ofstream lsf("Data.lsf", std::ios::binary);
DUNE::Utils::ByteBuffer buffer;
float bottom_follow_depth = -1.0;
float vertical_ref = -1.0;
// Control parcel for debug
IMC::ControlParcel parcel;
// Last EstimatedState
IMC::EstimatedState last_state;
bool got_state = false;
// Coarse altitude control
DUNE::Control::CoarseAltitude::Arguments args;
createCA(&args);
DUNE::Control::CoarseAltitude ca(&args);
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
{
IMC::EstimatedState* state = dynamic_cast<IMC::EstimatedState*>(msg);
if (!got_state)
{
last_state = *state;
got_state = true;
}
else
{
IMC::Packet::serialize(state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
buffer.resetBuffer();
if (bottom_follow_depth > 0.0)
{
bottom_follow_depth = state->depth + (state->alt - vertical_ref);
parcel.p = bottom_follow_depth;
parcel.i = ca.update(state->getTimeStamp() - last_state.getTimeStamp(),
state->depth, bottom_follow_depth);
parcel.d = state->depth - bottom_follow_depth;
// parcel.a = state->depth - parcel.i;
parcel.a = ca.getCorridor();
parcel.setTimeStamp(state->getTimeStamp());
IMC::Packet::serialize(&parcel, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
buffer.resetBuffer();
}
last_state = *state;
}
}
else if (msg->getId() == DUNE_IMC_DESIREDZ)
{
IMC::DesiredZ* ptr = dynamic_cast<IMC::DesiredZ*>(msg);
if (ptr->z_units == IMC::Z_ALTITUDE)
{
vertical_ref = ptr->value;
bottom_follow_depth = last_state.depth;
}
IMC::Packet::serialize(ptr, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
buffer.resetBuffer();
}
else if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
{
IMC::LoggingControl* ptr = dynamic_cast<IMC::LoggingControl*>(msg);
IMC::Packet::serialize(ptr, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
buffer.resetBuffer();
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
lsf.close();
delete is;
return 0;
}
