/** 将 configures 中的配置信息写入 fp */
static int write_configures(FILE *fp, Configure *configures)
{
Configure *tc;
for(tc = configures; tc->name; tc++){
if(tc->comment)
fprintf(fp, "# %s\n", tc->comment);
if(tc->config_rw)
tc->config_rw(tc, fp, 0);
else{
switch(tc->value_type){
case CONFIG_INTEGER:
generic_config_integer(tc, fp, 0);
break;
case CONFIG_STRING:
generic_config_string(tc, fp, 0);
break;
case CONFIG_COLOR:
generic_config_color(tc, fp, 0);
break;
default:
fprintf(stderr, "error: shouldn't be here\n");
exit(1);
}
}
}
return 0;
}
CacheMonitorServer::CacheMonitorServer()
: folderCache_(Factory::GetCacheFolder()),
folderMeta_(Factory::GetMetaFolder()),
run_(true),
minFreeSize_(0), maxFreeSize_(0),
thread_(boost::thread(&CacheMonitorServer::ServerThread,this))
{
struct statfs stat;
if ( 0 != statfs(folderCache_.string().c_str(),&stat) ) {
LogWarn(folderCache_);
return;
}
off_t sizeFileSystemOnePercent =
(off_t)stat.f_bsize * stat.f_blocks / 100;
Configure * config = Factory::GetConfigure();
minFreeSize_ = config->GetValueSize(Configure::CacheFreeMinSize);
off_t sizeMinFreePercent = sizeFileSystemOnePercent
* config->GetValueSize(Configure::CacheFreeMinPercent);
minFreeSize_ = max(minFreeSize_,sizeMinFreePercent);
LogDebug(minFreeSize_);
maxFreeSize_ = config->GetValueSize(Configure::CacheFreeMaxSize);
off_t sizeMaxFreePercent = sizeFileSystemOnePercent
* config->GetValueSize(Configure::CacheFreeMaxPercent);
maxFreeSize_ = max(maxFreeSize_,sizeMaxFreePercent);
LogDebug(maxFreeSize_);
}
void
ConfigureTest::testConfigure()
{
ofstream config(configFile.c_str());
config << Configure::CacheFreeMinPercent << " : 5" << endl;
config << Configure::CacheFreeMaxPercent << " : 10" << endl;
config << Configure::CacheFileSizeRead << " : 1000000000" << endl;
config << Configure::FileMaxSize << " : 8000000000" << endl;
Configure configure;
configure.Refresh(fileConfig);
CPPUNIT_ASSERT(
configure.GetValue(Configure::CacheFreeMinPercent) == "5");
CPPUNIT_ASSERT(
configure.GetValueSize(Configure::CacheFreeMinPercent) == 5);
CPPUNIT_ASSERT(
configure.GetValue(Configure::CacheFreeMaxPercent) == "10");
CPPUNIT_ASSERT(
configure.GetValueSize(Configure::CacheFreeMaxPercent) == 10);
CPPUNIT_ASSERT(
configure.GetValue(Configure::CacheFileSizeRead) == "1000000000");
CPPUNIT_ASSERT(
configure.GetValueSize(Configure::CacheFileSizeRead)
== 1000000000LL );
CPPUNIT_ASSERT(
configure.GetValue(Configure::FileMaxSize) == "8000000000");
CPPUNIT_ASSERT(
configure.GetValueSize(Configure::FileMaxSize) == 8000000000LL );
}
void Main::obrir_configuracio_worker(bool first) {
Configure *c = new Configure;
c->carregar_config();
c->setFirst(first);
c->exec();
delete c;
carrega_config(0);
}
/*
after some specific time ,
merge cache data with disk file and update every thread's cache
then every thread has the same cache
*/
void CacheManagerThread::synchronizeGlobalCacheWithDisk()
{
#ifndef NDEBUG
WRITE_STR(string(" start synchronize Global Cache With Disk ......."));
#endif
Configure *pconf = Configure::getInstance();
string cache_path = pconf->getConfigByName("cache_file_path");
string home_path = pconf->getConfigByName("home_path");
#ifndef NDEBUG
WRITE_STR(string(" 1st. merge the disk cache data to memory ......."));
#endif
// 1st. merge the disk cache data to memory;
ifstream ifs((home_path + cache_path).c_str());
if (!(ifs.is_open()))
{
throw runtime_error("open cache_path file");
}
string line, keyword, pairword;
int frequency;
while (getline(ifs, line))
{
istringstream istr(line);
istr >> keyword;
vector<pair<string, int> > vec;
while (istr >> pairword)
{
istr >> frequency;
vec.push_back(make_pair(pairword, frequency));
}
CacheData data(vec);
global_cache_map_.insert(make_pair(keyword, data));
}
ifs.close();
#ifndef NDEBUG
WRITE_STR(string(" 2nd. write the cache data back to disk...... "));
#endif
// 2nd. write the global cache data back to disk;
ofstream ofs((home_path + cache_path).c_str());
// file lock;
if (!(ofs.is_open()))
{
throw runtime_error("open cache_path file");
}
for (Cache::cache_map_type::iterator iter = global_cache_map_.begin() ; iter != global_cache_map_.end(); ++iter)
{
ofs << (*iter).first << "\t";
vector<pair<string, int> > vec = (*iter).second.getDataVec();
for (vector<pair<string, int> >::iterator it = vec.begin(); it != vec.end(); ++it)
{
ofs << (*it).first << " " << (*it).second<<" ";
}
ofs << "\n";
}
ofs.close();
}
int main(int argc, char** argv) {
cfg.path("../../setup");
cfg.args("detector.webcam.provider.", argv);
if (argc == 1) cfg.load("config.csv");
bool verbose = cfg.flag("detector.webcam.provider.verbose", true);
if (verbose) cfg.show();
int indexR = (int)cfg.num("detector.webcam.provider.indexR");
int indexL = (int)cfg.num("detector.webcam.provider.indexL");
int sleep_time = (int)cfg.num("detector.webcam.provider.sleep_time");
std::string addressf = cfg.str("detector.webcam.provider.f_ip").c_str();
std::string addressc = cfg.str("detector.webcam.provider.c_ip").c_str();
std::string port = cfg.str("detector.webcam.provider.port").c_str();
signal(SIGINT, quitproc);
signal(SIGTERM, quitproc);
signal(SIGQUIT, quitproc);
webcamProvider p(indexR, indexL, sleep_time, verbose, argv[0], addressf.c_str(), addressc.c_str(), port);
ghost = &p;
if(p.init()) {
//p.rotate();
p.provide();
}
return 0;
}
void CacheManagerThread::run()
{
while (true)
{
#ifndef NDEBUG
WRITE_STR("start updateCache .......");
#endif
updateCache();
// 每隔一段时间就更新所有cache
Configure *pconf = Configure::getInstance();
string s_time = pconf->getConfigByName("cache_manager_sleep_seconds");
int sleep_time = atoi(s_time.c_str());
sleep(sleep_time);
}
}
/// 读取配置数据
void loadConfig() {
config.load();
printf("FrontAddress=%s\n",config.FrontAddress);
printf("BrokerID=%s\n",config.BrokerID);
printf("UserID=%s\n",config.UserID);
printf("Password=%s\n",config.Password);
printf("RequestPipe=%s\n",config.RequestPipe);
printf("PushbackPipe=%s\n",config.PushbackPipe);
printf("PublishPipe=%s\n",config.PublishPipe);
}
void DictManager::initialization()
{
Configure *config = g_application.m_configure;
// Check new dictionary
vector<struct DictNode>& nodeVec = config->m_dictNodes;
for (int i=0; i<nodeVec.size(); i++) {
if (nodeVec[i].open == "") {
nodeVec[i].open = "none";
iDict *dict;
if ((dict = createHandleByDict(nodeVec[i].path)) != NULL) {
nodeVec[i].open = dict->identifier();
dict->getLanguage(nodeVec[i].srclan, nodeVec[i].detlan);
dict->summary(nodeVec[i].summary);
}
config->writeDictItem(i);
}
}
TaskManager::getInstance()->addTask(new LoadDictTask(), 0);
}
int Access::listen()
{
int iRet = 0;
if(listenSock_.getFd() < 0)
return -1;
if(status == START)
return 0;
listenSock_.setReUse();
listenSock_.setBlock(0);
Configure* conf = Server::getInstance()->getConf();
iRet = listenSock_.bind(conf->getValue("address"),
toint<string>(conf->getValue("port")));
assert(iRet == 0);
listenSock_.listen(10240);
return 0;
}
void test03() {
config.load();
CThostFtdcInstrumentField pInstrument;
CThostFtdcRspInfoField pRspInfo;
int nRequestID;
bool bIsLast;
CTraderHandler traderHandler = CTraderHandler(&config);
while(1) {
traderHandler.OnRspQryInstrument(&pInstrument,&pRspInfo,nRequestID,bIsLast);
//traderHandler.OnRspQryInstrument(0,&pRspInfo,nRequestID,bIsLast);
std::cout << "message send ..." << std::endl;
getchar();
}
}
ProxyServoListener()
{
subscribers.push_back(cfg.str("servos.subscribe"));
publish=cfg.str("proxyservos.publish");
std::set < std::string > names = cfg.servoNames();
for (std::set < std::string > :: iterator i = names.begin(); i != names.end(); ++i) {
int id = atoi(cfg.servo(*i,"id").c_str());
ZMQProxyServo &servo=servos[id];
servo.id(id);
servo.tempRate(cfg.num("proxyservos.temprate"));
servo.angleRate(cfg.num("proxyservos.anglerate"));
}
start();
}
TEST(ConfigureTest, addItem)
{
// do some initialization
Configure* pc = new Configure();
// validate the pointer is not null
ASSERT_TRUE(pc != NULL);
// call the method we want to test
pc->addItem("A");
pc->addItem("B");
pc->addItem("A");
// validate the result after operation
EXPECT_EQ(pc->getSize(), 2);
EXPECT_STREQ(pc->getItem(0).c_str(), "A");
EXPECT_STREQ(pc->getItem(1).c_str(), "B");
EXPECT_STREQ(pc->getItem(10).c_str(), "");
delete pc;
}
int main(int argc, char *argv[])
{
cfg.path("../../setup");
cfg.args("proxyservos.",argv);
if (argc == 1) cfg.load("config.csv");
cfg.servos();
verbose = cfg.flag("proxyservos.verbose",false);
if (verbose) cfg.show();
server = ProxyServoListenerSP(new ProxyServoListener());
signal(SIGINT, quit);
signal(SIGTERM, quit);
signal(SIGQUIT, quit);
while (server) {
usleep(int(0.25*1e6));
}
std::cout << "done" << std::endl;
return 0;
}
//
// main loop
//
int main(void) {
#ifdef DEBUG
#if __USE_USB
usbCDC ser;
ser.connect();
#else
CSerial ser;
ser.settings(115200);
#endif
CDebug dbg(ser);
dbg.start();
#endif
/*************************************************************************
*
* your setup code here
*
**************************************************************************/
#ifndef DEBUG
//
// Configure
//
Configure cfg; // load configure data from EEPROM
//
// BLE Engine (Serial Stream)
//
myBLE ble(cfg.m_ble.name);
ble.advertising(cfg.m_ble.advInterval,
cfg.m_ble.txPowerLevel,
cfg.m_ble.conInterval,
cfg.m_ble.mfgCode);
ble.enable(); // start the ble engine first!!
ble.setRadioTxPower(cfg.m_ble.power);
ble.watchdog(10000); // set watchdog timeout 10 seconds
#else
//
// BLE Engine (Serial Stream)
//
myBLE ble;
ble.advertising(100, -59); // set adv. interval = 100ms, calibrater tx power = -59dBm
ble.enable();
#endif
//
// Device Information Service
//
bleDeviceInfo info(ble);
info.setManufactureName(u8"英倍達國際"); // u8 mean to use the UTF-8 string
info.setModelNumber("nano11U37");
info.setSerialNumber("140226000");
info.setFirmwareRevision(uCXpresso_VER_STR);
info.setHardwareRevision("R1");
info.setPnP(VS_USB, 1, 2, 0x3456); // vendor Id=1, product Id = 2, product ver. = 0x3456
SYS_ID_T sysId = {
{0x00, 0x01, 0x02, 0x03, 0x04}, // Manufacturer Identifier
{0x05, 0x06, 0x07} // Organizationally Unique Identifier
};
info.setSystemId(sysId);
//
// Proximity Service
//
// myProximity alert(ble); // declare Proximity Service (Immediate alert + Lose Link)
//
// Battery Level Service
//
bleBatteryLevel bl(ble); // declare Battery Level Service object
//
// Health Thermometer Service
//
bleHealthThermometer ht(ble); // declare Health Thermometer Service object
ht.measurementInterval(1); // set measurement interval = 1 second
//
// Arduino Firmata
//
myFirmata.begin(ble); // begin the Firmata Object with the ble serial stream.
callback_init(); // initialize the callback functions for myFirmata Object.
//
// A key input for Alert (for Proximity)
//
CPin keyAlert(P8); // define P8 as a push button
keyAlert.input();
// PIN_LEVEL_T pinVal = keyAlert;
//
// Timeout for time interval
//
CTimeout t1, t2, t3; // t1=analog input check, t2=temperature check, t3=battery check
#ifndef DEBUG
//
// Power Save Feature
//
myPowerSave ps; // use power Save feature
cfg.start(); // start configure task (via usbCDC)
#endif
float value;
uint8_t level;
while(1) {
/**********************************************************************
*
* your loop code here
*
**********************************************************************/
if ( ble.isConnected() ) {
#ifndef DEBUG
ps.disable(); // disable power save features when ble connected
#endif
//
// UART Service
//
if ( ble.isAvailable() ) {
//
// BLE Firmata Demo
//
if ( myFirmata.available() ) {
do {
myFirmata.processInput();
} while(myFirmata.available());
} else {
//
// check the Digital Input
//
checkDigitalInputs();
//
// check the Analog Input with a sampling Interval
//
if (t1.isExpired(samplingInterval) ) {
t1.reset();
checkAnalogInputs();
}
}
}
//
// Proximity Service
//
#if 0
if ( alert.isAvailable() ) {
//
// push button check (Proximity Service)
//
if ( keyAlert != pinVal ) {
pinVal = keyAlert; // keep last status of key
alert.sendEvent(keyAlert.read()==LOW ? 1 : 0);
}
}
#endif
//
// Health Thermometer Service
//
if ( ht.isAvailable() ) {
//
// check temperature
//
if ( t2.isExpired(1000) ) {
t2.reset();
if ( ht.readTemperature(value) ) {
ht.sendMeasure(value);
DBG("temp=%0.2f\n", value);
} // */
}
}
//
// Battery Service
//
if ( bl.isAvailable() ) {
//
// update Battery Level
//
if ( t3.isExpired(3000) ) {
t3.reset();
if ( bl.readSystemVoltage(value) ) {
if ( value>=2.4 && value<=3.6 ) {
level = map(value, 2.0, 3.3, 0, 100);
bl.sendBatteryLevel(level);
DBG("battery:%0.2fv %d%c\n", value, level, '%');
}
}
}
}
} // isConnected
else {
#ifndef DEBUG
if ( usbCDC::isVBUS() ) {
ledACT = LED_ON;
ps.disable(); // disable power save features when USB connected
} else {
ps.enable(POWER_DOWN); // enable power save features when 3.3V only
}
ble.wait(); // block and wait a BLE event
#else
ledACT = LED_ON;
#endif
}
}
return 0 ;
}
void configure(Configure& c) {
c("random-seed", &seed)("if set, use as initial seed for RNG");
c.is("random_seed");
}
void calibrateProcess(Configure& conf, cv::Mat& cameraMatrix, cv::Mat& distCoeffs)
{
const cv::Size frameSize(conf.getConfInt("universal.frameWidth"),
conf.getConfInt("universal.frameHeight"));
const cv::string dataPath(conf.getConfString("universal.dataPath"));
const std::string checkerPrefix
(conf.getConfString("calibration.checkerPrefix"));
const std::string checkerSuffix
(conf.getConfString("calibration.checkerSuffix"));
const int checkerNum = conf.getConfInt("calibration.checkerNum");
const cv::Size checkerSize(conf.getConfInt("calibration.checkerWidth"),
conf.getConfInt("calibration.checkerHeight"));
cv::vector<cv::Mat> checkerImgs;
cv::vector<cv::vector<cv::Point3f>> worldPoints(checkerNum);
cv::vector<cv::vector<cv::Point2f>> imagePoints(checkerNum);
cv::TermCriteria criteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.001);
cv::vector<cv::Mat> rotationVectors;
cv::vector<cv::Mat> translationVectors;
for(int i=0; i<checkerNum; i++){
std::stringstream stream;
stream << checkerPrefix << i+1 << checkerSuffix;
std::string fileName = stream.str();
cv::Mat tmp = cv::imread(dataPath + fileName, 0);
cv::resize(tmp, tmp, frameSize);
checkerImgs.push_back(tmp);
std::cout << "load checker image: " << fileName << std::endl;
}
cv::namedWindow("Source", CV_WINDOW_AUTOSIZE|CV_WINDOW_FREERATIO);
for(int i=0; i<checkerNum; i++){
std::cout << "find corners from image " << i+1;
if(cv::findChessboardCorners(checkerImgs[i], checkerSize,
imagePoints[i])){
std::cout << " ... all corners found." << std::endl;
cv::cornerSubPix(checkerImgs[i], imagePoints[i], cv::Size(5, 5),
cv::Size(-1, -1), criteria);
cv::drawChessboardCorners(checkerImgs[i], checkerSize,
(cv::Mat)(imagePoints[i]), true);
cv::imshow("Source", checkerImgs[i]);
cv::waitKey(200);
}else{
std::cout << " ... at least 1 corner not found." << std::endl;
cv::waitKey(0);
exit(-1);
}
}
cv::destroyWindow("Source");
for(int i=0; i<checkerNum; i++){
for(int j=0; j<checkerSize.area(); j++){
worldPoints[i].
push_back(cv::Point3f(static_cast<float>(j%checkerSize.width*10),
static_cast<float>(j/checkerSize.width*10),
0.0));
}
}
cv::calibrateCamera(worldPoints, imagePoints, frameSize, cameraMatrix,
distCoeffs, rotationVectors, translationVectors);
std::cout << "camera matrix" << std::endl;
std::cout << cameraMatrix << std::endl;
std::cout << "dist coeffs" << std::endl;
std::cout << distCoeffs << std::endl;
}
int main(int argc, char** argv)
{
pid_t leapd_pid;
if ((leapd_pid=fork()) == 0) {
execl("/usr/bin/leapd","leapd",0);
}
cfg.path("../../setup");
cfg.args("leap.provider.", argv);
if (argc == 1) cfg.load("config.csv");
verbose = cfg.flag("leap.provider.verbose", false);
if (verbose) cfg.show();
decay_time = cfg.num("leap.provider.decay_time");
int hwm = 1;
int retries = 5;
int linger = 25;
int rc = 0;
bool connected = false;
MyListener listener;
Controller controller(listener);
zmq_context = zmq_ctx_new ();
zmq_pub = zmq_socket(zmq_context,ZMQ_PUB);
while(!connected && retries--) {
if(zmq_setsockopt(zmq_pub, ZMQ_SNDHWM, &hwm, sizeof(hwm)) == 0) {
if(zmq_setsockopt(zmq_pub, ZMQ_LINGER, &linger, sizeof(linger)) == 0) {
if(zmq_bind(zmq_pub, cfg.str("leap.provider.publish").c_str()) == 0) {
connected = true;
}
}
}
if (retries <= 0) {
int en=zmq_errno();
std::cout << "TCP Error Number " << en << " " << zmq_strerror(en) << std::endl;
die = true;
}
std::this_thread::sleep_for(std::chrono::milliseconds(200));
}
signal(SIGINT, quitproc);
signal(SIGTERM, quitproc);
signal(SIGQUIT, quitproc);
while(!die) {
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
controller.removeListener(listener);
zmq_close(zmq_pub);
zmq_ctx_destroy(zmq_context);
kill(leapd_pid,SIGINT);
waitpid(leapd_pid,0,0);
std::cout << "--done!" << std::endl;
return 0;
}
