void Logging::periodicLog(unsigned long interval_ms)
{
while (ros::ok())
{
sleepMS(interval_ms);
log();
}
}
QString Win_WindowManager::waitForTopLevelWindowImpl(unsigned /* count */, Q_PID pid, int timeOutMS, QString *errorMessage)
{
QTime elapsed;
elapsed.start();
// First, wait until the application is up
if (WaitForInputIdle(pid->hProcess, timeOutMS) != 0) {
*errorMessage = QString::fromLatin1("WaitForInputIdle time out after %1ms").arg(timeOutMS);
return QString();
}
// Try to locate top level app window. App still might be in splash screen or initialization
// phase.
const int remainingMilliSeconds = qMax(timeOutMS - elapsed.elapsed(), 500);
const int attempts = 10;
const int intervalMilliSeconds = remainingMilliSeconds / attempts;
for (int a = 0; a < attempts; a++) {
FindProcessWindowEnumContext context(pid->dwProcessId);
EnumWindows(findProcessWindowEnumWindowProc, reinterpret_cast<LPARAM>(&context));
if (context.window)
return QLatin1String("0x") + QString::number(reinterpret_cast<quintptr>(context.window), 16);
sleepMS(intervalMilliSeconds);
}
*errorMessage = QString::fromLatin1("Unable to find toplevel of process %1 after %2ms.").arg(pid->dwProcessId).arg(timeOutMS);
return QString();
}
int main(int argc, char *argv[])
{
// Try to change the value of `OPERATION_DELAY` and see how the behavior of this program changes.
#ifndef NDEBUG
const int OPERATION_DELAY(200);
#else
int OPERATION_DELAY;
if (argc < 2) {
OPERATION_DELAY = 200;
} else {
try {
OPERATION_DELAY = std::stoi(argv[1]);
} catch (...) {
OPERATION_DELAY = 200;
}
}
#endif
std::unique_ptr<serial::Serial> serialPtr = nullptr;
try {
serialPtr = std::unique_ptr<serial::Serial>(new serial::Serial(GetDevicePort(), 576000));
} catch (const std::exception &e) {
RETURN_ON_FAILURE();
}
serial::Serial &serialPort = *serialPtr;
std::function<void (std::uint8_t b0, std::uint8_t b1)> sendTwoBytesCommand =
[&](std::uint8_t b0, std::uint8_t b1)
{
std::uint8_t command[] = {b0, b1};
if (serialPort.isOpen()) {
serialPort.write(command, 2);
}
};
std::function<void ()> start = std::bind(sendTwoBytesCommand, 0xAA, 0xAA);
std::function<void ()> stop = std::bind(sendTwoBytesCommand, 0xBB, 0xBB);
std::function<void ()> getVer = std::bind(sendTwoBytesCommand, 0xCC, 0xCC);
std::function<void ()> reopen = [&]()
{
serialPort.close();
serialPort.open();
if (serialPort.isOpen()) {
std::uint8_t version[3] = {0};
try {
// Send a command to get the version of our device
getVer();
// Receive version information
std::size_t len = serialPort.read(version, ARRAYSIZE(version));
if (len != ARRAYSIZE(version) || version[0] != 0x50) {
serialPort.close();
}
} catch (...) {
serialPort.close();
}
}
};
while (true) {
try {
if (!serialPort.isOpen()) {
putchar('.');
reopen();
// *** Important
sleepMS(OPERATION_DELAY);
} else {
getVer();
std::uint8_t version[3];
std::size_t len = serialPort.read(version, ARRAYSIZE(version));
if (len == ARRAYSIZE(version) && version[0] == 0x50) {
std::printf("%#02x %#02x %#02x\n", version[0], version[1], version[2]);
}
// *** Important
sleepMS(OPERATION_DELAY);
}
} catch (...) {
serialPort.close();
}
}
PAUSE();
return 0;
}
void Logging::logUcPacketsSummary(unsigned long interval_ms)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
#ifndef PERFORMANCE_LOGGING_UC_LINK_SUMMARY
return;
#endif
while (ros::ok())
{
sleepMS(interval_ms);
string entry = getIntAsString(getMillisecondsTime()) + ",";
{
boost::unique_lock<boost::mutex> lock(Logging::mtx_logging);
uint32_properties["num_total_frames_sent"] = 0;
uint32_properties["num_total_frames_received"] = 0;
}
/* num_unique_data_frames_sent */
entry += getIntAsString(getProperty("num_unique_data_frames_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_unique_data_frames_sent"));
/* getProperty("num_unique_data_frames_forwarded*/
entry += getIntAsString(getProperty("num_unique_data_frames_forwarded")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_unique_data_frames_forwarded"));
/* num_data_frames_resent*/
entry += getIntAsString(getProperty("num_data_frames_resent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_data_frames_resent"));
/* num_data_frames_reforwarded*/
entry += getIntAsString(getProperty("num_data_frames_reforwarded")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_data_frames_reforwarded"));
/* num_data_frames_relayed*/
entry += getIntAsString(getProperty("num_data_frames_relayed")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_data_frames_relayed"));
/*num_acknowledgments_sent */
entry += getIntAsString(getProperty("num_acknowledgments_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_acknowledgments_sent"));
/* getProperty("num_acknowledgments_relayed*/
entry += getIntAsString(getProperty("num_acknowledgments_relayed")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_acknowledgments_relayed"));
/* num_rreq_sent*/
entry += getIntAsString(getProperty("num_rreq_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_rreq_sent"));
/* num_rrep_sent*/
entry += getIntAsString(getProperty("num_rrep_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_rrep_sent"));
/*num_beacons_sent */
entry += getIntAsString(getProperty("num_beacons_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_beacons_sent"));
/*num_relay_selection_sent */
entry += getIntAsString(getProperty("num_relay_selection_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_relay_selection_sent"));
/*num_relay_detection_sent */
entry += getIntAsString(getProperty("num_relay_detection_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_relay_detection_sent"));
/*num_total_frames_sent */
entry += getIntAsString(getProperty("num_total_frames_sent")) + ",";
// num_total_frames_received = 0;
/*num_unique_data_frames_received_directly */
entry += getIntAsString(getProperty("num_unique_data_frames_received_directly")) + ",";
/*num_unique_data_frames_received_relay */
increaseProperty("num_total_frames_received", getProperty("num_unique_data_frames_received_relay"));
entry += getIntAsString(getProperty("num_unique_data_frames_received_relay")) + ",";
/*num_data_frames_received_directly */
increaseProperty("num_total_frames_received", getProperty("num_data_frames_received_directly"));
entry += getIntAsString(getProperty("num_data_frames_received_directly")) + ",";
/*num_data_frames_received_relay */
increaseProperty("num_total_frames_received", getProperty("num_data_frames_received_relay"));
entry += getIntAsString(getProperty("num_data_frames_received_relay")) + ",";
/*num_acknowledgments_received_directly */
increaseProperty("num_total_frames_received", getProperty("num_acknowledgments_received_directly"));
entry += getIntAsString(getProperty("num_acknowledgments_received_directly")) + ",";
/*num_acknowledgments_received_relay */
increaseProperty("num_total_frames_received", getProperty("num_acknowledgments_received_relay"));
entry += getIntAsString(getProperty("num_acknowledgments_received_relay")) + ",";
/*num_rreq_received */
increaseProperty("num_total_frames_received", getProperty("num_rreq_received"));
entry += getIntAsString(getProperty("num_rreq_received")) + ",";
/*num_rrep_received */
increaseProperty("num_total_frames_received", getProperty("num_rrep_received"));
entry += getIntAsString(getProperty("num_rrep_received")) + ",";
/*num_relay_selection_received */
increaseProperty("num_total_frames_received", getProperty("num_relay_selection_received"));
entry += getIntAsString(getProperty("num_relay_selection_received")) + ",";
/*num_relay_detection_received */
increaseProperty("num_total_frames_received", getProperty("num_relay_detection_received"));
entry += getIntAsString(getProperty("num_relay_detection_received")) + ",";
/*num_duplicate_frames_received */
increaseProperty("num_total_frames_received", getProperty("num_duplicate_frames_received"));
entry += getIntAsString(getProperty("num_duplicate_frames_received")) + ",";
/*num_beacons_received */
increaseProperty("num_total_frames_received", getProperty("num_beacons_received"));
entry += getIntAsString(getProperty("num_beacons_received")) + ",";
/*um_total_frames_received */
entry += getIntAsString(getProperty("num_total_frames_received")) + ",";
/*num_total_bytes_sent */
entry += getIntAsString(getProperty("num_total_bytes_sent")) + ",";
/*num_total_bytes_received */
entry += getIntAsString(getProperty("num_total_bytes_received")) + ",";
entries_uc_frames.push_back(entry);
}
}
void Logging::logMemoryConsumptionPackets(unsigned long interval_ms, boost::mutex* mtx_pack, list<Packet>* packets, boost::mutex* mtx_cached_mc, list<Packet>* cached_mc, boost::mutex* mtx_unack_link_frames, list<stc_frame>* unack_link_frames, boost::mutex* mtx_unack_cr_frames, list<ack_cr_info>* unack_cr_frames)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
while (ros::ok())
{
sleepMS(interval_ms);
string entry = getIntAsString(getMillisecondsTime()) + ",";
std::size_t size_uc_pack = 0, size_mc_pack = 0, size_cached_mc_packets = 0, size_unack_l_f = 0, size_unack_cr_f = 0;
{ /* size_cached_multicast_packets complete */
boost::unique_lock<boost::mutex> lock_g(*mtx_cached_mc);
for (list<Packet>::iterator i = cached_mc->begin(); i != cached_mc->end(); i++)
{
size_cached_mc_packets += (*i).getSize();
}
entry += getIntAsString(size_cached_mc_packets) + ",";
}
{ /* size_multicast_packets_incomplete + size_unicast_packets_incomplete */
boost::unique_lock<boost::mutex> lock_g(*mtx_pack);
for (list<Packet>::iterator i = packets->begin(); i != packets->end(); i++)
{
if ((*i).isMcFrame())
size_mc_pack += (*i).getSize();
else
size_uc_pack += (*i).getSize();
}
entry += getIntAsString(size_mc_pack) + ",";
entry += getIntAsString(size_uc_pack) + ",";
}
{ /* size unack link frames */
boost::unique_lock<boost::mutex> lock_g(*mtx_unack_link_frames);
for (list<stc_frame>::iterator i = unack_link_frames->begin(); i != unack_link_frames->end(); i++)
size_unack_l_f += sizeof (*i);
entry += getIntAsString(size_unack_l_f) + ",";
}
{ /* size unack cr frames */
boost::unique_lock<boost::mutex> lock_g(*mtx_unack_cr_frames);
for (list<ack_cr_info>::iterator i = unack_cr_frames->begin(); i != unack_cr_frames->end(); i++)
size_unack_cr_f += sizeof (*i);
entry += getIntAsString(size_unack_cr_f) + ",";
}
entry += getIntAsString(getProperty("running_unicast_link_threads")) + ",";
entry += getIntAsString(getProperty("running_multicast_threads")) + ",";
entry += getIntAsString(getProperty("running_unicast_cr_threads")) + ",";
entry += getIntAsString(getProperty("running_unicast_transport_threads")) + ",";
entries_mem_consumption.push_back(entry);
}
}
void Logging::logMcPacketsSummary(unsigned long interval_ms)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
#ifndef PERFORMANCE_LOGGING_MC_LINK_SUMMARY
return;
#endif
while (ros::ok())
{
sleepMS(interval_ms);
string entry = getIntAsString(getMillisecondsTime()) + ",";
/*num_mc_unique_data_frames_sent */
entry += getIntAsString(getProperty("num_mc_unique_data_frames_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_unique_data_frames_sent"));
/* num_mc_unique_data_frames_forwarded*/
entry += getIntAsString(getProperty("num_mc_unique_data_frames_forwarded")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_unique_data_frames_forwarded"));
/* num_mc_data_frames_resent*/
entry += getIntAsString(getProperty("num_mc_data_frames_resent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_data_frames_resent"));
/* num_mc_data_frames_reforwarded*/
entry += getIntAsString(getProperty("num_mc_data_frames_reforwarded")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_data_frames_reforwarded"));
/* num_mc_data_frames_relayed*/
entry += getIntAsString(getProperty("num_mc_data_frames_relayed")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_data_frames_relayed"));
/*num_mc_acknowledgments_sent */
entry += getIntAsString(getProperty("num_mc_acknowledgments_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_acknowledgments_sent"));
/* num_mc_acknowledgments_relayed*/
entry += getIntAsString(getProperty("num_mc_acknowledgments_relayed")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_acknowledgments_relayed"));
/* num_mc_rreq_sent*/
entry += getIntAsString(getProperty("num_mc_rreq_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_rreq_sent"));
/* num_mc_rrep_sent*/
entry += getIntAsString(getProperty("num_mc_rrep_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_rrep_sent"));
/*num_mc_ract_sent */
entry += getIntAsString(getProperty("num_mc_ract_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_ract_sent"));
/*num_mc_relay_selection_sent */
entry += getIntAsString(getProperty("num_mc_relay_selection_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_relay_selection_sent"));
/*num_mc_total_frames_sent */
entry += getIntAsString(getProperty("num_mc_total_frames_sent")) + ",";
/*num_mc_unique_data_frames_received_directly */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_unique_data_frames_received_directly"));
entry += getIntAsString(getProperty("num_mc_unique_data_frames_received_directly")) + ",";
/*num_mc_unique_data_frames_received_relay */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_unique_data_frames_received_relay"));
entry += getIntAsString(getProperty("num_mc_unique_data_frames_received_relay")) + ",";
/*num_mc_data_frames_received_directly */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_data_frames_received_directly"));
entry += getIntAsString(getProperty("num_mc_data_frames_received_directly")) + ",";
/*num_mc_data_frames_received_relay */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_data_frames_received_relay"));
entry += getIntAsString(getProperty("num_mc_data_frames_received_relay")) + ",";
/*num_mc_acknowledgments_received_directly */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_acknowledgments_received_directly"));
entry += getIntAsString(getProperty("num_mc_acknowledgments_received_directly")) + ",";
/*num_mc_acknowledgments_received_relay */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_acknowledgments_received_relay"));
entry += getIntAsString(getProperty("num_mc_acknowledgments_received_relay")) + ",";
/*num_mc_rreq_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_rreq_received"));
entry += getIntAsString(getProperty("num_mc_rreq_received")) + ",";
/*num_mc_rrep_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_rrep_received"));
entry += getIntAsString(getProperty("num_mc_rrep_received")) + ",";
/*num_mc_ract_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_ract_received"));
entry += getIntAsString(getProperty("num_mc_ract_received")) + ",";
/*num_mc_relay_selection_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_relay_selection_received"));
entry += getIntAsString(getProperty("num_mc_relay_selection_received")) + ",";
/*num_mc_duplicate_frames_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_duplicate_frames_received"));
entry += getIntAsString(getProperty("num_mc_duplicate_frames_received")) + ",";
/*num_mc_total_frames_received */
entry += getIntAsString(getProperty("num_mc_total_frames_received")) + ",";
/*num_mc_total_frames_received */
entry += getIntAsString(getProperty("num_mc_total_bytes_sent")) + ",";
/*num_mc_total_frames_received */
entry += getIntAsString(getProperty("num_mc_total_bytes_received")) + ",";
entries_mc_frames.push_back(entry);
}
}
void *Audio::Play2DProcess(void *data)
{
App *app = App::GetCurrent();
Play2DStruct *structData = (Play2DStruct *)data;
Audio *audio = structData->audio;
Thread *thread = structData->thread;
delete structData;
ALuint source;
ALfloat timeS = GetBufferLength(audio->m_buffer);
alGenSources(1, &source);
if(alGetError() != AL_NO_ERROR)
{
error("[Error] alGenSources: Unable to generate an audio source.\n");
if(thread)
{
thread->End();
Thread::Exit(NULL);
}
return 0;
}
ALfloat listenerPosition [] = { 0.f, 0.f, 0.f };
ALfloat listenerVelocity [] = { 0.f, 0.f, 0.f };
ALfloat listenerOrientation [] = { 0.f, 0.f, -1.f, 0.f, 1.f, 0.f };
alListenerfv(AL_POSITION, listenerPosition);
alListenerfv(AL_VELOCITY, listenerVelocity);
alListenerfv(AL_ORIENTATION, listenerOrientation);
ALfloat sourcePosition [] = { 0.f, 0.f, 0.f };
ALfloat sourceVelocity [] = { 0.f, 0.f, 0.f };
alSourcei(source, AL_BUFFER, audio->m_buffer);
alSourcef(source, AL_PITCH, 1.0f);
alSourcef(source, AL_GAIN, 1.0f);
alSourcefv(source, AL_POSITION, sourcePosition);
alSourcefv(source, AL_VELOCITY, sourceVelocity);
alSourcei(source, AL_LOOPING, AL_FALSE);
alSourcePlay(source);
if(alGetError() != AL_NO_ERROR)
{
error("[Error] alSourcePlay: Unable to play audio.\n");
Thread::Exit(NULL);
return 0;
}
unsigned long long timeMS = (unsigned long long)(timeS * 1000);
unsigned long long targetTime = app->GetRunTimeMS() + timeMS + 50;
while(app->IsRunning())
{
if(app->GetRunTimeMS() > targetTime)
break;
sleepMS(100);
}
alDeleteSources(1, &source);
if(thread)
{
thread->End();
Thread::Exit(NULL);
}
return 0;
}