int main()
{
try
{
CBoardENoses eNoses;
std::string firmVers;
CObservationGasSensors obs;
FILE *f_log = os::fopen(format("./log_%s.txt", fileNameStripInvalidChars(mrpt::system::dateTimeLocalToString(now())).c_str() ),"wt");
TTimeStamp timStart = mrpt::system::getCurrentTime();
std::map<int, std::vector<float> > Sensor_array;
bool together = true; //True -> Shows all sensor on same window. False -> Each sensor has his own window
/*
// Load configuration:
ASSERT_( mrpt::system::fileExists("_CONFIG_eNoses.ini") );
CConfigFile conf("_CONFIG_eNoses.ini");
eNoses.loadConfig( conf, "eNoses" );
if (!eNoses.queryFirmwareVersion( firmVers ) )
{
printf("Error!!\n");
return -1;
}
else
std::cout << "FIRMWARE VERSION: " << firmVers << std::endl;
*/
while ( !mrpt::system::os::kbhit() )
{
if (! eNoses.getObservation( obs ) ) //NEW OBSERVATION
{
cout << "- Could not retrieve an observation from the eNoses..." << endl;
}
else
{
//Push_back timeStamp (seconds)
Sensor_array[0x0000].push_back( mrpt::system::timeDifference(timStart,obs.timestamp) );
if (f_log) fprintf(f_log,"%f ", mrpt::system::timeDifference(timStart,obs.timestamp) );
for (size_t i=0;i<obs.m_readings.size();i++)
{
//Push_back Temperature
Sensor_array[0xFFFF].push_back( obs.m_readings[i].temperature );
if (f_log) fprintf(f_log,"%f ", obs.m_readings[i].temperature );
//E-Nose Sensor's Data
for (size_t j=0;j<obs.m_readings[i].sensorTypes.size();j++)
{
if ( j<(obs.m_readings[i].sensorTypes.size() -1) ){ //Not the las item
if( obs.m_readings[i].sensorTypes[j]==obs.m_readings[i].sensorTypes[j+1] ){
Sensor_array[ obs.m_readings[i].sensorTypes[j] ].push_back(obs.m_readings[i].readingsVoltage[j+1]-obs.m_readings[i].readingsVoltage[j]);
if (f_log) fprintf(f_log,"%f ",obs.m_readings[i].readingsVoltage[j+1]-obs.m_readings[i].readingsVoltage[j] );
j++; //skip the next sensor as it has been used already.
}else{
Sensor_array[ obs.m_readings[i].sensorTypes[j] ].push_back( obs.m_readings[i].readingsVoltage[j] );
if (f_log) fprintf(f_log,"%f ",obs.m_readings[i].readingsVoltage[j]); //To file
}
}else{
Sensor_array[ obs.m_readings[i].sensorTypes[j] ].push_back( obs.m_readings[i].readingsVoltage[j] );
if (f_log) fprintf(f_log,"%f ",obs.m_readings[i].readingsVoltage[j]); //To file
}
}
}
if (f_log) fprintf(f_log,"\n");
//Plotting information
plot_diff_windows(Sensor_array,together);
//Generate the Baseline
add_baseline(Sensor_array[0x0000]);
} //end-if getObs
mrpt::system::sleep(40);
}//end-While
clear_memory();
if (f_log) os::fclose(f_log);
}
catch(std::exception &e)
{
cerr << e.what() << endl;
return -1;
}
return 0;
}
int main()
{
try
{
CBoardENoses eNoses;
std::string firmVers;
CObservationGasSensors obs;
FILE *f_log = os::fopen("./log.txt","wt");
TTimeStamp timStart = mrpt::system::getCurrentTime();
// Load configuration:
if (mrpt::system::fileExists("./CONFIG_eNoses.ini"))
{
cout << "Using configuration from './CONFIG_eNoses.ini'" << endl;
CConfigFile conf("./CONFIG_eNoses.ini");
eNoses.loadConfig( conf, "eNoses" );
}
else
{
cout << "Configuration file (ini) cannot be found" << endl;
return -1;
}
ASSERT_( mrpt::system::fileExists("CONFIG_eNoses.ini") );
CConfigFile conf("./CONFIG_eNoses.ini");
eNoses.loadConfig( conf, "eNoses" );
/*if (!eNoses.queryFirmwareVersion( firmVers ) )
{
printf("Error!!\n");
return -1;
}
else
std::cout << "FIRMWARE VERSION: " << firmVers << std::endl;
*/
while ( !mrpt::system::os::kbhit() )
{
if (! eNoses.getObservation( obs ) )
{
cout << "- Could not retrieve an observation from the eNoses..." << endl;
mrpt::system::sleep(25);
}
else
{
cout << obs.m_readings.size() << " eNoses:" << endl;
if (f_log) fprintf(f_log,"%f ", mrpt::system::timeDifference(timStart,obs.timestamp) );
for (size_t i=0;i<obs.m_readings.size();i++)
{
//E-Nose Pose
printf("#%u (%.02f,%.02f,%.02f): ",(unsigned int)i,obs.m_readings[i].eNosePoseOnTheRobot.x,obs.m_readings[i].eNosePoseOnTheRobot.y,obs.m_readings[i].eNosePoseOnTheRobot.z);
//E-Nose Sensor's Data
for (size_t j=0;j<obs.m_readings[i].sensorTypes.size();j++)
{
//printf("%04X: %.03fV ", obs.m_readings[i].sensorTypes[j], obs.m_readings[i].readingsVoltage[j] );
if ( j<(obs.m_readings[i].sensorTypes.size()-1) ){
if( obs.m_readings[i].sensorTypes[j]==obs.m_readings[i].sensorTypes[j+1] ){
printf("\n%04X: %.03fV \n ", obs.m_readings[i].sensorTypes[j], obs.m_readings[i].readingsVoltage[j]-obs.m_readings[i].readingsVoltage[j+1] );
j++; //skip the next sensor as it has been used already.
}else{
printf("\n%04X: %.03fV \n ", obs.m_readings[i].sensorTypes[j], obs.m_readings[i].readingsVoltage[j] );
}
}else{
printf("\n%04X: %.03fV \n ", obs.m_readings[i].sensorTypes[j], obs.m_readings[i].readingsVoltage[j] );
}
if (f_log) fprintf(f_log,"%f ",obs.m_readings[i].readingsVoltage[j]);
}
printf("\nTemp: ");
if (obs.m_readings[i].hasTemperature)
printf("%.04f C",obs.m_readings[i].temperature);
else printf("NO");
printf("\n");
printf("-----------------------------------------\n");
}
if (f_log) fprintf(f_log,"\n");
mrpt::system::sleep(5);
}
}
if (f_log) os::fclose(f_log);
}
catch(std::exception &e)
{
cerr << e.what() << endl;
return -1;
}
return 0;
}
