int
main(int argc, char** argv)
{
if (argc != 3)
{
std::cerr << "Usage: " << argv[0] << "FILE.lsf[.gz]" << "FILE.ubx" << 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);
std::ofstream ofs(argv[2], std::ios::binary);
DUNE::IMC::Message* msg = 0;
try
{
while ((msg = DUNE::IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_DEVDATABINARY)
{
DUNE::IMC::DevDataBinary* ddb = (DUNE::IMC::DevDataBinary*)msg;
if (ddb->value.size() < 2)
continue;
if ((uint8_t)ddb->value[0] == c_ubx_sync0 && (uint8_t)ddb->value[1] == c_ubx_sync1)
ofs.write(&ddb->value[0], ddb->value.size());
}
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
delete is;
return 0;
}
int
main(int 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);
DUNE::IMC::Message* msg = NULL;
Path folder = Path(argv[1]).dirname();
try
{
while ((msg = DUNE::IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_COMPRESSEDIMAGE)
{
DUNE::IMC::CompressedImage* img = dynamic_cast<DUNE::IMC::CompressedImage*>(msg);
Path fname = folder / String::str("%0.4f.jpg", img->getTimeStamp());
std::ofstream ofs(fname.c_str(), std::ios::binary);
ofs.write(&(img->data[0]), img->data.size());
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
delete is;
return 0;
}
int
main(int32_t argc, char** argv)
{
if (argc <= 1)
{
std::cerr << "Usage: " << argv[0] << " <path_to_log_1/Data.lsf[.gz]> ... <path_to_log_n/Data.lsf[.gz]>"
<< std::endl;
std::cerr << "Or: " << argv[0] << "-e <Voltage Entity Label> <Current Entity Label> <path_to_log_1/Data.lsf[.gz]> ... <path_to_log_n/Data.lsf[.gz]>"
<< std::endl;
return 1;
}
std::string volt_label;
std::string curr_label;
unsigned start_index = 1;
if (strcmp(argv[1], "-e") == 0)
{
if (argc < 5)
{
std::cerr << "Too few arguments" << std::endl;
return 1;
}
volt_label = argv[2];
curr_label = argv[3];
start_index = 4;
}
else
{
volt_label = c_label;
curr_label = c_label;
}
// Total of energy spent
double total_accum = 0.0;
// Total energy spent while the motor was on
double motor_total_accum = 0.0;
// Moving average window sizes
unsigned wsizes[Monitors::FuelLevel::BatteryData::BM_TOTAL];
for (unsigned k = 0; k < Monitors::FuelLevel::BatteryData::BM_TOTAL; k++)
wsizes[k] = c_samples;
for (int32_t i = start_index; i < argc; ++i)
{
std::istream* is = 0;
DUNE::Compression::Methods method = DUNE::Compression::Factory::detect(argv[i]);
if (method == DUNE::Compression::METHOD_UNKNOWN)
is = new std::ifstream(argv[i], std::ios::binary);
else
is = new DUNE::Compression::FileInput(argv[i], method);
DUNE::IMC::Message* msg = NULL;
bool got_name = false;
std::string log_name = "unknown";
// Energy computation related data
Monitors::FuelLevel::BatteryData bdata(wsizes);
bool volt_entity_set = false;
bool curr_entity_set = false;
bool entities_set = false;
unsigned eids[Monitors::FuelLevel::BatteryData::BM_TOTAL] = {0};
unsigned samples = 0;
double last_timestamp = 0.0;
double accum = 0.0;
// Current rpm value
float rpm = 0.0;
// Ignore some logs
bool ignore = false;
try
{
while ((msg = DUNE::IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
{
if (!got_name)
{
DUNE::IMC::LoggingControl* ptr = static_cast<DUNE::IMC::LoggingControl*>(msg);
if (ptr->op == DUNE::IMC::LoggingControl::COP_STARTED)
{
log_name = ptr->name;
got_name = true;
}
}
}
else if (msg->getId() == DUNE_IMC_ENTITYINFO)
{
DUNE::IMC::EntityInfo* ptr = static_cast<DUNE::IMC::EntityInfo*>(msg);
if (ptr->label.compare(volt_label) == 0)
{
eids[Monitors::FuelLevel::BatteryData::BM_VOLTAGE] = ptr->id;
volt_entity_set = true;
}
if (ptr->label.compare(curr_label) == 0)
{
eids[Monitors::FuelLevel::BatteryData::BM_CURRENT] = ptr->id;
curr_entity_set = true;
}
if (!entities_set && volt_entity_set && curr_entity_set)
{
bdata.setEntities(eids);
entities_set = true;
}
}
else if (msg->getId() == DUNE_IMC_VOLTAGE)
{
if (entities_set)
{
DUNE::IMC::Voltage* ptr = static_cast<DUNE::IMC::Voltage*>(msg);
bdata.update(ptr);
++samples;
if (samples > c_min_samples)
{
float drop = bdata.getEnergyDrop(msg->getTimeStamp() - last_timestamp);
accum += drop;
if (rpm > c_min_rpm)
motor_total_accum += drop;
}
}
last_timestamp = msg->getTimeStamp();
}
else if (msg->getId() == DUNE_IMC_CURRENT)
{
if (entities_set)
{
DUNE::IMC::Current* ptr = static_cast<DUNE::IMC::Current*>(msg);
bdata.update(ptr);
}
}
else if (msg->getId() == DUNE_IMC_RPM)
{
DUNE::IMC::Rpm* ptr = static_cast<DUNE::IMC::Rpm*>(msg);
rpm = ptr->value;
}
else if (msg->getId() == DUNE_IMC_SIMULATEDSTATE)
{
// since it has simulated state let us ignore this log
ignore = true;
delete msg;
std::cerr << "this is a simulated log";
break;
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
delete is;
if (ignore)
{
std::cerr << "... ignoring" << std::endl;
continue;
}
std::cerr << "Consumed " << accum << " in " << log_name << "." << std::endl;
total_accum += accum;
}
std::cerr << "Total energy consumed is " << total_accum << "Wh" << std::endl
<< "The amount of " << motor_total_accum
<< std::fixed << std::setprecision(1)
<< "Wh (" << motor_total_accum / total_accum * 100.0
<< "%) was consumed while the motor was on" << std::endl;
return 0;
}
int
main(int32_t argc, char** argv)
{
if (argc != 3)
{
std::cerr << "Usage: " << argv[0] << " <config ini file> <path_to_log.lsf[.gz]>"
<< std::endl;
return 1;
}
Arguments m_args;
readArgs(argv[1], m_args);
m_args.filter_args.decay_factor *= 0.01f;
//! Array of entities
unsigned m_eids[BatteryData::BM_TOTAL];
// Filter pointer
FuelFilter* m_fuel_filter = NULL;
bool resolved_entities[BatteryData::BM_TOTAL];
for (unsigned i = 0; i < BatteryData::BM_TOTAL; ++i)
resolved_entities[i] = false;
EPMap m_epower;
bool got_entities = false;
PseudoTimer timer;
PeriodicRun pr(1.0);
ByteBuffer buffer;
std::ofstream lsf("NewFuel.lsf", std::ios::binary);
std::istream* is = 0;
DUNE::Compression::Methods method = DUNE::Compression::Factory::detect(argv[2]);
if (method == DUNE::Compression::METHOD_UNKNOWN)
is = new std::ifstream(argv[2], std::ios::binary);
else
is = new DUNE::Compression::FileInput(argv[2], method);
if (!is)
{
std::cerr << "bad file" << std::endl;
return 1;
}
is->seekg(0, is->end);
unsigned file_length = is->tellg();
is->seekg(0, is->beg);
Time::Counter<float> prog_timer(5.0);
DUNE::IMC::Message* msg = NULL;
DUNE::IMC::FuelLevel* ptr = NULL;
bool got_first = false;
try
{
while ((msg = DUNE::IMC::Packet::deserialize(*is)) != 0)
{
bool log_it = false;
timer.update(msg->getTimeStamp());
if (!got_first)
{
IMC::EstimatedState state;
state.setTimeStamp(msg->getTimeStamp());
IMC::Packet::serialize(&state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
got_first = true;
std::cerr << "got first timestamp" << std::endl;
m_fuel_filter = new FuelFilter(&m_args.filter_args, m_eids, &m_epower,
NULL, true, msg->getTimeStamp());
}
if (msg->getId() == DUNE_IMC_ENTITYINFO)
{
IMC::EntityInfo* ent = static_cast<IMC::EntityInfo*>(msg);
if (!got_entities)
{
bool got_all = true;
for (unsigned i = 0; i < BatteryData::BM_TOTAL; ++i)
{
if (ent->label == m_args.elb[i])
{
m_eids[i] = ent->id;
resolved_entities[i] = true;
}
if (resolved_entities[i] == false)
got_all = false;
}
got_entities = got_all;
if (got_entities)
std::cerr << "Got all entities" << std::endl;
}
for (unsigned i = 0; i < m_args.est_list.size(); i++)
{
if (ent->label == m_args.est_list[i])
m_epower.insert(EPPair(ent->id, EntityPower(m_args.est_power[i])));
}
if (m_args.est_list.size() < m_epower.size())
std::cerr << "TOO MANY ENTRIES!" << std::endl;
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
delete msg;
continue;
}
if (msg->getId() == DUNE_IMC_VOLTAGE)
{
m_fuel_filter->onVoltage(static_cast<IMC::Voltage*>(msg));
log_it = true;
}
else if (msg->getId() == DUNE_IMC_CURRENT)
{
m_fuel_filter->onCurrent(static_cast<IMC::Current*>(msg));
log_it = true;
}
else if (msg->getId() == DUNE_IMC_TEMPERATURE)
{
m_fuel_filter->onTemperature(static_cast<IMC::Temperature*>(msg));
log_it = true;
}
else if (msg->getId() == DUNE_IMC_VEHICLESTATE)
{
m_fuel_filter->onVehicleState(static_cast<IMC::VehicleState*>(msg));
log_it = true;
}
else if (msg->getId() == DUNE_IMC_FUELLEVEL)
{
log_it = true;
}
else if (msg->getId() == DUNE_IMC_ENTITYACTIVATIONSTATE)
{
m_fuel_filter->onEntityActivationState(static_cast<IMC::EntityActivationState*>(msg));
log_it = true;
}
if (timer.isValid() && pr.doRun(timer.getTime()))
{
// Update fuel filter
if (m_fuel_filter->update())
{
IMC::FuelLevel fl;
fl.setSourceEntity(250);
fl.setTimeStamp(msg->getTimeStamp());
m_fuel_filter->fillMessage(fl, m_args.op_labels, m_args.op_values);
if (ptr != NULL)
{
float diff = ptr->value - fl.value;
char sign = (diff > 0)? '-' : '+';
if (std::fabs(diff) > 1.0)
std::cerr << "jumped " << sign
<< std::fabs(diff) / 100 * m_args.filter_args.full_capacity
<< " (" << std::fabs(diff) << "%)" << std::endl;
}
Memory::clear(ptr);
ptr = static_cast<IMC::FuelLevel*>(fl.clone());
IMC::Packet::serialize(&fl, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
}
}
if (log_it)
{
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
}
if (prog_timer.overflow())
{
std::cerr << (float)is->tellg() / file_length * 100.0 << "%" << std::endl;
prog_timer.reset();
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
Memory::clear(m_fuel_filter);
Memory::clear(ptr);
delete is;
return 0;
}