int
main(int32_t argc, char** argv)
{
if (argc <= 1)
{
std::cerr << "Usage: " << argv[0] << " [options] <path_to_log_1/Data.lsf[.gz]> ... <path_to_log_n/Data.lsf[.gz]>"
<< std::endl
<< "Options:" << std::endl
<< "-i Process idles. Idle logs are ignored by default."
<< std::endl;
return 1;
}
std::ofstream csv("AllData.csv");
csv << "timestamp (s), latitude (deg), longitude (deg), conductivity (S/m), temperature (ºC), depth (m)" << std::endl;
for (int32_t i = 1; i < argc; ++i)
{
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(argv[i]);
if (method == METHOD_UNKNOWN)
is = new std::ifstream(argv[i], std::ios::binary);
else
is = new Compression::FileInput(argv[i], method);
IMC::Message* msg = NULL;
bool got_name = false;
std::string log_name = "unknown";
bool got_ent = false;
unsigned ctd_ent = 0;
bool ignore = false;
RData rdata;
rdata.clearData();
std::stringstream ss_data;
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
{
IMC::LoggingControl* ptr = dynamic_cast<IMC::LoggingControl*>(msg);
if (ptr->op == IMC::LoggingControl::COP_STARTED)
{
log_name = ptr->name;
got_name = true;
}
}
else if (msg->getId() == DUNE_IMC_ENTITYINFO)
{
IMC::EntityInfo *ptr = dynamic_cast<IMC::EntityInfo*>(msg);
if (ptr->label.compare(c_ctd_label) == 0)
{
ctd_ent = ptr->id;
got_ent = true;
}
}
else if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
{
IMC::EstimatedState* ptr = dynamic_cast<IMC::EstimatedState*>(msg);
Coordinates::toWGS84(*ptr, rdata.lat, rdata.lon);
rdata.timestamp = ptr->getTimeStamp();
rdata.cnt |= GOT_STATE;
}
else if (rdata.gotState() && got_ent)
{
if (msg->getId() == DUNE_IMC_CONDUCTIVITY)
{
IMC::Conductivity* ptr = dynamic_cast<IMC::Conductivity*>(msg);
if (ptr->getSourceEntity() == ctd_ent)
{
rdata.cond = ptr->value;
rdata.cnt |= GOT_COND;
}
}
else if (msg->getId() == DUNE_IMC_TEMPERATURE)
{
IMC::Temperature* ptr = dynamic_cast<IMC::Temperature*>(msg);
if (ptr->getSourceEntity() == ctd_ent)
{
rdata.temp = ptr->value;
rdata.cnt |= GOT_TEMP;
}
}
else if (msg->getId() == DUNE_IMC_DEPTH)
{
IMC::Depth* ptr = dynamic_cast<IMC::Depth*>(msg);
if (ptr->getSourceEntity() == ctd_ent)
{
rdata.depth = ptr->value;
rdata.cnt |= GOT_DEPTH;
}
}
if (rdata.gotAll())
{
rdata.writeToStream(csv);
rdata.clearData();
}
}
delete msg;
// ignore idles
// either has the string _idle or has only
if (got_name &&
(log_name.find("_idle") != std::string::npos ||
log_name.size() == 15))
{
ignore = true;
std::cerr << "this is an idle log";
break;
}
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
csv.flush();
delete is;
if (ignore)
{
std::cerr << "... ignoring " << log_name << std::endl;
continue;
}
else
{
std::cerr << "Processed " << log_name << std::endl;
}
}
csv.close();
return 0;
}
int
main(int32_t argc, char** argv)
{
if (argc <= 1)
{
std::cerr << "Usage: " << argv[0] << " <path_to_log/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);
IMC::Message* msg = NULL;
std::ofstream lsf("Data.lsf", std::ios::binary);
DUNE::Utils::ByteBuffer buffer;
float bottom_follow_depth = -1.0;
float vertical_ref = -1.0;
// Control parcel for debug
IMC::ControlParcel parcel;
// Last EstimatedState
IMC::EstimatedState last_state;
bool got_state = false;
// Coarse altitude control
DUNE::Control::CoarseAltitude::Arguments args;
createCA(&args);
DUNE::Control::CoarseAltitude ca(&args);
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
{
IMC::EstimatedState* state = dynamic_cast<IMC::EstimatedState*>(msg);
if (!got_state)
{
last_state = *state;
got_state = true;
}
else
{
IMC::Packet::serialize(state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
buffer.resetBuffer();
if (bottom_follow_depth > 0.0)
{
bottom_follow_depth = state->depth + (state->alt - vertical_ref);
parcel.p = bottom_follow_depth;
parcel.i = ca.update(state->getTimeStamp() - last_state.getTimeStamp(),
state->depth, bottom_follow_depth);
parcel.d = state->depth - bottom_follow_depth;
// parcel.a = state->depth - parcel.i;
parcel.a = ca.getCorridor();
parcel.setTimeStamp(state->getTimeStamp());
IMC::Packet::serialize(&parcel, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
buffer.resetBuffer();
}
last_state = *state;
}
}
else if (msg->getId() == DUNE_IMC_DESIREDZ)
{
IMC::DesiredZ* ptr = dynamic_cast<IMC::DesiredZ*>(msg);
if (ptr->z_units == IMC::Z_ALTITUDE)
{
vertical_ref = ptr->value;
bottom_follow_depth = last_state.depth;
}
IMC::Packet::serialize(ptr, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
buffer.resetBuffer();
}
else if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
{
IMC::LoggingControl* ptr = dynamic_cast<IMC::LoggingControl*>(msg);
IMC::Packet::serialize(ptr, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
buffer.resetBuffer();
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
lsf.close();
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;
return 1;
}
std::map<std::string, Vehicle> vehicles;
for (int32_t i = 1; i < argc; ++i)
{
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(argv[i]);
if (method == METHOD_UNKNOWN)
is = new std::ifstream(argv[i], std::ios::binary);
else
is = new Compression::FileInput(argv[i], method);
IMC::Message* msg = NULL;
uint16_t curr_rpm = 0;
bool got_state = false;
IMC::EstimatedState estate;
double last_lat;
double last_lon;
// Accumulated travelled distance
double distance = 0.0;
// Accumulated travelled time
double duration = 0.0;
bool got_name = false;
std::string log_name = "unknown";
bool ignore = false;
uint16_t sys_id = 0xffff;
std::string sys_name;
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_ANNOUNCE)
{
IMC::Announce* ptr = static_cast<IMC::Announce*>(msg);
if (sys_id == ptr->getSource())
{
sys_name = ptr->sys_name;
}
}
else if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
{
if (!got_name)
{
IMC::LoggingControl* ptr = static_cast<IMC::LoggingControl*>(msg);
if (ptr->op == IMC::LoggingControl::COP_STARTED)
{
sys_id = ptr->getSource();
log_name = ptr->name;
got_name = true;
}
}
}
else if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
{
if (msg->getTimeStamp() - estate.getTimeStamp() > c_timestep)
{
IMC::EstimatedState* ptr = static_cast<IMC::EstimatedState*>(msg);
if (!got_state)
{
estate = *ptr;
Coordinates::toWGS84(*ptr, last_lat, last_lon);
got_state = true;
}
else if (curr_rpm > c_min_rpm)
{
double lat, lon;
Coordinates::toWGS84(*ptr, lat, lon);
double dist = Coordinates::WGS84::distance(last_lat, last_lon, 0.0,
lat, lon, 0.0);
// Not faster than maximum considered speed
if (dist / (ptr->getTimeStamp() - estate.getTimeStamp()) < c_max_speed)
{
distance += dist;
duration += msg->getTimeStamp() - estate.getTimeStamp();
}
estate = *ptr;
last_lat = lat;
last_lon = lon;
}
}
}
else if (msg->getId() == DUNE_IMC_RPM)
{
IMC::Rpm* ptr = static_cast<IMC::Rpm*>(msg);
curr_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;
// ignore idles
// either has the string _idle or has only the time.
if (log_name.find("_idle") != std::string::npos ||
log_name.size() == 15)
{
ignore = true;
std::cerr << "this is an idle log";
break;
}
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
delete is;
if (ignore)
{
std::cerr << "... ignoring" << std::endl;
continue;
}
if (distance > 0)
{
vehicles[sys_name].duration += duration;
vehicles[sys_name].distance += distance;
vehicles[sys_name].logs.push_back(Log(log_name, distance, duration));
}
}
double total_distance = 0;
double total_duration = 0;
std::map<std::string, Vehicle>::const_iterator itr = vehicles.begin();
for (; itr != vehicles.end(); ++itr)
{
std::cout << std::endl;
std::cout << "## " << itr->first << std::endl << std::endl;
std::cout << "* Distance travelled per plan (m):" << std::endl;
for (size_t i = 0; i < itr->second.logs.size(); ++i)
{
std::cout << " - "
<< itr->second.logs[i].distance
<< " in " << String::replace(itr->second.logs[i].name, '_', "\\_")
<< "." << std::endl;
}
total_distance += itr->second.distance;
total_duration += itr->second.duration;
std::cout << std::endl
<< "* Total travelled distance:" << std::endl
<< " - "
<< std::setprecision(4)
<< std::fixed
<< itr->second.distance / 1000.0 << " km / "
<< (unsigned)itr->second.duration / 60 / 60 << " h "
<< (unsigned)(itr->second.duration / 60) % 60 << " m "
<< (unsigned)itr->second.duration % 60 << " s" << "." << std::endl;
}
if (vehicles.size() > 1)
{
std::cout << std::endl
<< "## Summary" << std::endl
<< " - Total distance: "
<< std::setprecision(2)
<< std::fixed
<< total_distance / 1000.0 << " km" << std::endl
<< " - Total duration: "
<< (unsigned)total_duration / 60 / 60 << " h "
<< (unsigned)(total_duration / 60) % 60 << " m "
<< (unsigned)total_duration % 60 << " s" << std::endl;
}
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;
return 1;
}
double total_accum = 0;
for (int32_t i = 1; i < argc; ++i)
{
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(argv[i]);
if (method == METHOD_UNKNOWN)
is = new std::ifstream(argv[i], std::ios::binary);
else
is = new Compression::FileInput(argv[i], method);
IMC::Message* msg = NULL;
uint16_t curr_rpm = 0;
bool got_state = false;
IMC::EstimatedState estate;
double last_lat;
double last_lon;
// Accumulated travelled distance
double accum = 0;
bool got_name = false;
std::string log_name = "unknown";
bool ignore = false;
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
{
if (!got_name)
{
IMC::LoggingControl* ptr = dynamic_cast<IMC::LoggingControl*>(msg);
if (ptr->op == IMC::LoggingControl::COP_STARTED)
{
log_name = ptr->name;
got_name = true;
}
}
}
else if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
{
if (msg->getTimeStamp() - estate.getTimeStamp() > c_timestep)
{
IMC::EstimatedState* ptr = dynamic_cast<IMC::EstimatedState*>(msg);
if (!got_state)
{
estate = *ptr;
Coordinates::toWGS84(*ptr, last_lat, last_lon);
got_state = true;
}
else if (curr_rpm > c_min_rpm)
{
double lat, lon;
Coordinates::toWGS84(*ptr, lat, lon);
double dist = Coordinates::WGS84::distance(last_lat, last_lon, 0.0,
lat, lon, 0.0);
// Not faster than maximum considered speed
if (dist / (ptr->getTimeStamp() - estate.getTimeStamp()) < c_max_speed)
accum += dist;
estate = *ptr;
Coordinates::toWGS84(*ptr, last_lat, last_lon);
}
}
}
else if (msg->getId() == DUNE_IMC_RPM)
{
IMC::Rpm* ptr = dynamic_cast<IMC::Rpm*>(msg);
curr_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;
// ignore idles
// either has the string _idle or has only
if (log_name.find("_idle") != std::string::npos ||
log_name.size() == 15)
{
ignore = true;
std::cerr << "this is an idle log";
break;
}
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
delete is;
if (ignore)
{
std::cerr << "... ignoring" << std::endl;
continue;
}
std::cerr << "Travelled " << accum << " in " << log_name << "." << std::endl;
total_accum += accum;
}
std::cerr << "Total travelled distance is " << total_accum << "m" << std::endl
<< " or " << total_accum / 1000.0 << " km." << std::endl;
return 0;
}