bool SavePackInfox::init(bool is_save, const string & file_n)
{
is_save_stream = is_save;
this->file_name = file_n;
if (is_save_stream)
{
if (NULL != file_stream)
{
file_stream->close();
delete file_stream;
file_stream = NULL;
}
char file_str[100] = {0};
ACE_Date_Time curr_time(ACE_OS::gettimeofday());
sprintf(file_str, "%s_%d_%d_%dT%d_%d_%d", file_name.c_str(), curr_time.year(), curr_time.month(), curr_time.day(), curr_time.hour(), curr_time.minute(), curr_time.second());
file_stream = new fstream();
file_stream->open(file_str, ios_base::out | ios_base::app | ios_base::binary);
if (file_stream->fail())
{
delete file_stream;
file_stream = NULL;
return false;
}
}
return true;
}
std::string timewrapper::get_curr_date_time()
{
tm* timeinfo = new tm();
curr_time(timeinfo);
char data_ptr[20];
strftime(data_ptr, 20, "%F %T", timeinfo);
return std::string(data_ptr);
}
int main(int argc, char *argv[])
{
int j, sig_cnt;
sigset_t block_mask, empty_mask;
struct sigaction sa;
if (argc < 2 || strcmp(argv[1], "--help") == 0)
usage_err("%s child-sleep-time...\n", argv[0]);
setbuf(stdout, NULL);
sig_cnt = 0;
num_live_children = argc - 1;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
sa.sa_handler = sig_child_handler;
if (sigaction(SIGCHLD, &sa, NULL) == -1)
err_exit("sigaction");
/*
* Block SIGCHLD to prevent its delivery if a child terminates
* before the parent commences the sigsuspend() loop below
*/
sigemptyset(&block_mask);
sigaddset(&block_mask, SIGCHLD);
if (sigprocmask(SIG_SETMASK, &block_mask, NULL) == -1)
err_exit("sigprocmask");
for (j = 1; j < argc; j++)
{
switch(fork())
{
case -1:
err_exit("fork");
case 0:
sleep(get_int(argv[j], GN_NONNEG, "child-sleep-time"));
printf("%s Child %d (PID=%ld) exiting\n", curr_time("%T"), j, (long)getpid());
_exit(EXIT_SUCCESS);
default:
break;
}
}
/* Parent come here: wait for SIGCHLD until all children are dead */
while(num_live_children > 0)
{
if (sigsuspend(&empty_mask) == -1 && errno != EINTR)
err_exit("sigsuspend");
sig_cnt++;
}
printf("%s All %d children have terminated;
SIGCHLD was caught %d times\n", curr_time("%T"), argc - 1, sig_cnt);
}
static void sig_child_handler(int sig)
{
int status, saved_errno;
pid_t child_pid;
/* UNSAFE: This handler uses non-async-signal-safe functions
* (printf(), print_wait_status(), curr_time())
*/
saved_errno = errno; /* In case we modify 'errno' */
printf("%s handler: Caught SIGCHLD\n", curr_time("%T"));
while((child_pid = waitpid(-1, &status, WNOHANG)) > 0)
{
printf("%s handler: Reaped child %ld - ", curr_time("%T"), (long)child_pid);
print_wait_status(NULL, status);
num_live_children--;
}
if (child_pid == -1 && errno != ECHILD)
err_msg("waitpid");
printf("%s handler: return\n", curr_time("%T"));
}
int main (int argc, char *argv[])
{
FILE *out = fopen("/home/arseni/Documents/p/bell_on_pi/daemon/ringed.list","a");
if(!out) {
perror("fopen");
exit(EXIT_FAILURE);
}
fprintf(out,"%s %s\n",argv[1],curr_time("%T"));
if(fclose(out) == -1) {
perror("fclose");
exit(EXIT_FAILURE);
}
return 0;
}
int main()
{
// INITIALIZE
int x, y, color=0, pink=1; // set up for color channel 0 (green)
int xvalue, yvalue;
int greencentered = 0;
int loop = 0;
int centerx=77; // calibrate these number and enter manually
int centery=63;
int margin=8;
int deltax = 0;
int deltay = 0;
int stepsizex;
int stepsizey;
int currpos;
int s_time;
light_start(L_SENSOR); // light start
shut_down_in(119);
camera_open(LOW_RES);
enable_servos(); // enable servos
set_servo_position(S_CATCHER,S_DOWN);
msleep(500);
set_servo_position(S_GATE,S_OPEN);
msleep(500);
// TRIBBLE PILE 1
//set_servo_position(S_GATE,S_OPEN); // open gate
msleep(5000);
set_servo_position(S_CATCHER,CATCHER_UP);
right(28,ks/2); // right
f_until_black(TOPHAT_RIGHT/*,TOPHAT_LEFT*/); // forward until right sensor sees black]
forward(2);
//printf("see black! time to close the gate\n");
set_servo_position(S_GATE,S_GAP); // close gate
//f_until_white(TOPHAT_RIGHT);
set_servo_position(CATCHERARM, CATCHER_UP);
// camera sort
s_time = curr_time();
while((curr_time()-s_time) < 14)
{
while (greencentered == 0)
{
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
loop = loop + 1;
printf("Update camera, loop %d\n", loop);
//msleep(10);
if (get_object_count(color) > 0)
{
xvalue = get_object_center(color,0).x;
yvalue = get_object_center(color,0).y;
deltax = abs(xvalue-centerx);
deltay = abs(yvalue-centery);
stepsizex = (deltax>10) ? 50: 20;
stepsizey = (deltay>10) ? 50: 20;
printf("x is %d, y is %d\n", xvalue, yvalue);
greencentered = ((xvalue >= centerx-margin) & (xvalue <= centerx+margin)) && ((yvalue >= centery-margin) & (yvalue <= centery+margin));
if(greencentered == 1)//get x, y for the biggest blob the channel sees
{
printf("Biggest blob at (%d,%d)\n",xvalue,yvalue);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_MIDWAY);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_DOWN);
//slow_servo(CATCHERARM,20,40,CATCHER_UP,CATCHER_DOWN);
msleep(300);
currpos=get_servo_position(CATCHERARM);
printf("%d\n",currpos);
/*if(CATCHER_MIDWAY>=currpos>CATCHER_DOWN)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos-INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}
if(currpos<CATCHER_MIDWAY)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos+INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}*/
set_servo_position(CATCHERARM,CATCHER_UP);
msleep(500);
}
else
{
if(xvalue <= centerx+margin) //moves right if senses value greater than 80
{
motor(MOT_RIGHT,70);
motor(MOT_LEFT,-70);
msleep(stepsizex);
motor(MOT_RIGHT,0);
motor(MOT_LEFT,0);
//msleep(10);
printf("blob is too right\n");
}
if(xvalue >= centerx-margin) // moves left if senses value less than 70
{
motor(MOT_LEFT,70);
motor(MOT_RIGHT,-70);
msleep(stepsizex);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too left\n");
}
if ((xvalue > 67 /*centerx-margin*/) && (xvalue < 87 /*centerx+margin*/))
{
if(yvalue > centery+margin) //moves forward if senses value greater than 43
{
motor(MOT_LEFT,-50);
motor(MOT_RIGHT,-50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too close\n");
}
if(yvalue < centery-margin) // moves backwar if senses value less than 38
{
motor(MOT_LEFT,50);
motor(MOT_RIGHT,50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too far\n");
}
}
}
}
}
}
set_servo_position(S_GATE,S_CLOSE);
while (analog10(2)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT,-100);
}
// SCORE PILE 1
left(5,0);
//backward(50);
touch_back(TOUCH_SEN);
forward(10);
backward(10);
forward(20);
right(55,0);
forward(35);
backward(4);
right(45,0);
while (analog10(3)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT, 100);
motor(MOT_RIGHT, 100);
}
msleep(10);
backward(24);
left(42,0);
backward(10);
left(50,0);
//backward(35);
touch_back(TOUCH_SEN);
forward(120.00);
// TRIBBLE PILE 2
set_servo_position(S_GATE,S_OPEN);
forward(40.00);
set_servo_position(S_GATE,S_GAP);
// camera sort
s_time = curr_time();
while((curr_time()-s_time) < 14) //timer
{
while (greencentered == 0)
{
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
loop = loop + 1;
printf("Update camera, loop %d\n", loop);
//msleep(10);
if (get_object_count(color) > 0)
{
xvalue = get_object_center(color,0).x;
yvalue = get_object_center(color,0).y;
deltax = abs(xvalue-centerx);
deltay = abs(yvalue-centery);
stepsizex = (deltax>10) ? 50: 20;
stepsizey = (deltay>10) ? 50: 20;
printf("x is %d, y is %d\n", xvalue, yvalue);
greencentered = ((xvalue >= centerx-margin) & (xvalue <= centerx+margin)) && ((yvalue >= centery-margin) & (yvalue <= centery+margin));
if(greencentered == 1)//get x, y for the biggest blob the channel sees
{
printf("Biggest blob at (%d,%d)\n",xvalue,yvalue);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_MIDWAY);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_DOWN);
//slow_servo(CATCHERARM,20,40,CATCHER_UP,CATCHER_DOWN);
msleep(300);
currpos=get_servo_position(CATCHERARM);
printf("%d\n",currpos);
/*if(CATCHER_MIDWAY>=currpos>CATCHER_DOWN)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos-INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}
if(currpos<CATCHER_MIDWAY)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos+INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}*/
set_servo_position(CATCHERARM,CATCHER_UP);
msleep(500);
}
else
{
if(xvalue <= centerx+margin) //moves right if senses value greater than 80
{
motor(MOT_RIGHT,70);
motor(MOT_LEFT,-70);
msleep(stepsizex);
motor(MOT_RIGHT,0);
motor(MOT_LEFT,0);
//msleep(10);
printf("blob is too right\n");
}
if(xvalue >= centerx-margin) // moves left if senses value less than 70
{
motor(MOT_LEFT,70);
motor(MOT_RIGHT,-70);
msleep(stepsizex);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too left\n");
}
if ((xvalue > 67 /*centerx-margin*/) && (xvalue < 87 /*centerx+margin*/))
{
if(yvalue > centery+margin) //moves forward if senses value greater than 43
{
motor(MOT_LEFT,-50);
motor(MOT_RIGHT,-50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too close\n");
}
if(yvalue < centery-margin) // moves backwar if senses value less than 38
{
motor(MOT_LEFT,50);
motor(MOT_RIGHT,50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too far\n");
}
}
}
}
}
}
set_servo_position(S_GATE,S_CLOSE);
// SCORE PILE 2
right(55,0);
forward(28);
backward(12);
right(55,0);
touch_back(TOUCH_SEN);
forward(200);
right(50,0);
touch_back(TOUCH_SEN);
forward(15);
left(50,0);
while (analog10(3)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT, 100);
motor(MOT_RIGHT, 100);
}
backward(4);
right(50,0);
msleep(10);
forward(24);
right(42,0);
touch_back(TOUCH_SEN);
backward(4);
// END
ao();
disable_servos();
printf("done!");
}
timewrapper::timewrapper()
{
timeinfo = new tm();
curr_time(timeinfo);
std::strftime(data_ptr, 11, "%F", timeinfo);
}
void TestSuite::menu_tests( string spec_file_path )
{
ifstream fin;
ofstream fout_tst, fout_ans;
string tst_filename = "menu_test_";
string ans_filename = "menu_ans_";
string read;
stringstream ss;
int num_test_files = -1;
double max, min = 0;
int rand_int = 0;
float rand_float = 0;
srand (time(NULL));
system("mkdir -p tests");
char ans[128] = {'\0'};
while (strcmp(ans,"y") && strcmp(ans,"n") )
{
for (int i = 0; i < 128; i++)
ans[i] = '\0';
cout << "Would you like to generate files for testing menues? (y/n): " << endl;
cin >> ans;
}
if (!strcmp(ans,"y") )
{
// open .spec file check for success
fin.open(spec_file_path.c_str());
if (!fin)
return;
fin.close();
//display menu for range, number of test cases
while ( num_test_files < 0 || num_test_files > 100)
{
cout << "Enter number of test files to generate for menu testing (between 0 and 100): ";
cin >> num_test_files;
cout << endl;
}
cout <<
"\nWhat is the MINIMUM value you would like the randomly generated values to be?"
<< "\n Number between –2147483648 to 2147483646"<< endl;
cin >> min;
cout <<
"\nWhat is the MAXIMUM value you would like the randomly generated values to be?"
<< "\n Number between –2147483647 to 2147483647"<< endl;
cin >> max;
while(max <= min)
{
cout << "\n Maximum must be larger than mimimum." << endl;
cout <<
"\nWhat is the MINIMUM value you would like the randomly generated values to be?"
<< "\n Number between –2147483648 to 2147483646"<< endl;
cin >> min;
cout <<
"\nWhat is the MAXIMUM value you would like the randomly generated values to be?"
<< "\n Number between –2147483647 to 2147483647"<< endl;
cin >> max;
}
double range = max - min;
//generate .tst files
for (int i = 0; i < num_test_files;i++)
{
string test_filename = tst_filename;
string answer_filename = ans_filename;
//generate time stamp
time_t rawTime;
tm * timeInfo;
char buffer [40];
string i_to_string = "";
ss.str("");
time (&rawTime);
timeInfo = localtime (&rawTime);
strftime (buffer,40,"%d_%m_%y_%H_%M_%S",timeInfo);
string curr_time(buffer);
ss << i+1;
i_to_string = ss.str();
test_filename += i_to_string;
answer_filename += i_to_string;
test_filename = test_filename + "_" + curr_time + ".tst";
answer_filename = answer_filename + "_" + curr_time + ".ans";
fin.open(spec_file_path.c_str());
fout_ans.open(answer_filename.c_str());
fout_tst.open(test_filename.c_str());
//open .tst and .ans files for output
while ( fin >> read )
{
//atoi returns 0 if it is a string value, use in if stmts
if (atoi(read.c_str()))
fout_tst << read << endl;
else if ( !atoi(read.c_str()) )
{
if (read == "int")
{
rand_int = rand() % int(range)+(max-range+1);
fout_tst << rand_int << endl;
}
else
{
rand_float = range * ((double)rand()/(double)RAND_MAX) + min;
fout_tst << rand_float << endl;
}
}
}
fout_tst.close();
fin.close();
string s = goldencpp + " < " + test_filename;
FILE *pfile = popen(s.c_str(), "r");
char buff[256];
while(fgets(buff, sizeof(buff), pfile) != 0)
{
string result(buff);
fout_ans << result;
}
//closing out files
//fout1.close();
fout_ans.close();
pclose(pfile);
string command = "mv ";
command += test_filename;
command += " tests";
system (command.c_str());
command = "mv " + answer_filename + " tests";
system (command.c_str());
}
}
