void
GraphicsScene::handleInputData(void)
{
while (m_sock->hasPendingDatagrams())
{
m_dgram.resize(m_sock->pendingDatagramSize());
m_sock->readDatagram(m_dgram.data(), m_dgram.size());
IMC::Message* msg = IMC::Packet::deserialize((uint8_t*)m_dgram.data(), m_dgram.size());
if (msg == 0)
continue;
if (msg->getId() == DUNE_IMC_COMPRESSEDIMAGE)
{
++m_fps;
IMC::CompressedImage* img = static_cast<IMC::CompressedImage*>(msg);
QPixmap pix;
pix.loadFromData((uchar*)img->data.data(), img->data.size(), "JPEG");
QTransform t;
pix = pix.transformed(t.rotate(m_rotate));
m_item.setPixmap(pix);
setMinimumSize(pix.width() + c_pad, pix.height() + c_pad);
if (m_grid)
{
m_vline->setLine(0, pix.height() / 2, pix.width(), pix.height() / 2);
m_hline->setLine(pix.width() / 2, 0, pix.width() / 2, pix.height());
}
}
else if (msg->getId() == DUNE_IMC_EULERANGLES)
{
IMC::EulerAngles* ang = static_cast<IMC::EulerAngles*>(msg);
// QString str("Roll: %0.2f | Pitch: %0.2f");
// m_text.setText(str.arg(Angles::degrees(ang->roll), Angles::degrees(ang->pitch)));
}
}
}
void
MessageMonitor::updateMessage(const IMC::Message* msg)
{
ScopedMutex l(m_mutex);
IMC::Message* tmsg = msg->clone();
unsigned key = tmsg->getId() << 24 | tmsg->getSubId() << 8 | tmsg->getSourceEntity();
if (m_msgs[key])
delete m_msgs[key];
m_msgs[key] = tmsg;
}
void
MessageMonitor::updateMessage(const IMC::Message* msg)
{
ScopedMutex l(m_mutex);
if (msg->getId() == DUNE_IMC_POWERCHANNELSTATE)
updatePowerChannel(static_cast<const IMC::PowerChannelState*>(msg));
IMC::Message* tmsg = msg->clone();
unsigned key = tmsg->getId() << 24 | tmsg->getSubId() << 8 | tmsg->getSourceEntity();
if (m_msgs[key])
delete m_msgs[key];
m_msgs[key] = tmsg;
}
Duration::ManeuverDuration::const_iterator
Duration::parse(const std::vector<IMC::PlanManeuver*>& nodes,
const IMC::EstimatedState* state,
ManeuverDuration& man_durations,
const SpeedConversion& speed_conv)
{
Position pos;
extractPosition(state, pos);
float last_duration = 0.0;
std::vector<IMC::PlanManeuver*>::const_iterator itr = nodes.begin();
for (; itr != nodes.end(); ++itr)
{
if ((*itr)->data.isNull())
return man_durations.end();
IMC::Message* msg = (*itr)->data.get();
std::vector<float> durations;
switch (msg->getId())
{
#ifdef DUNE_IMC_GOTO
case DUNE_IMC_GOTO:
last_duration = parse(dynamic_cast<IMC::Goto*>(msg), pos,
last_duration, durations, speed_conv);
break;
#endif
#ifdef DUNE_IMC_STATIONKEEPING
case DUNE_IMC_STATIONKEEPING:
last_duration = parse(dynamic_cast<IMC::StationKeeping*>(msg), pos,
last_duration, durations, speed_conv);
break;
#endif
#ifdef DUNE_IMC_LOITER
case DUNE_IMC_LOITER:
last_duration = parse(dynamic_cast<IMC::Loiter*>(msg), pos,
last_duration, durations, speed_conv);
break;
#endif
#ifdef DUNE_IMC_FOLLOWPATH
case DUNE_IMC_FOLLOWPATH:
last_duration = parse(dynamic_cast<IMC::FollowPath*>(msg), pos,
last_duration, durations, speed_conv);
break;
#endif
#ifdef DUNE_IMC_ROWS
case DUNE_IMC_ROWS:
last_duration = parse(dynamic_cast<IMC::Rows*>(msg), pos,
last_duration, durations, speed_conv);
break;
#endif
#ifdef DUNE_IMC_YOYO
case DUNE_IMC_YOYO:
last_duration = parse(dynamic_cast<IMC::YoYo*>(msg), pos,
last_duration, durations, speed_conv);
break;
#endif
#ifdef DUNE_IMC_ELEVATOR
case DUNE_IMC_ELEVATOR:
last_duration = parse(dynamic_cast<IMC::Elevator*>(msg), pos,
last_duration, durations, speed_conv);
break;
#endif
#ifdef DUNE_IMC_POPUP
case DUNE_IMC_POPUP:
last_duration = parse(dynamic_cast<IMC::PopUp*>(msg), pos,
last_duration, durations, speed_conv);
break;
#endif
default:
last_duration = -1.0;
break;
}
if (last_duration < 0.0)
{
if (man_durations.empty() || itr == nodes.begin())
return man_durations.end();
// return the duration from the previously computed maneuver
ManeuverDuration::const_iterator dtr;
dtr = man_durations.find((*(--itr))->maneuver_id);
if (dtr->second.empty())
return man_durations.end();
return dtr;
}
std::pair<std::string, std::vector<float> > ent((*itr)->maneuver_id, durations);
man_durations.insert(ent);
}
return man_durations.find(nodes.back()->maneuver_id);
}
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_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;
}
Duration::ManeuverDuration::const_iterator
Duration::parse(const std::vector<IMC::PlanManeuver*>& nodes,
const IMC::EstimatedState* state)
{
Position pos;
extractPosition(state, pos);
std::vector<IMC::PlanManeuver*>::const_iterator itr = nodes.begin();
for (; itr != nodes.end(); ++itr)
{
if ((*itr)->data.isNull())
return m_durations.end();
IMC::Message* msg = (*itr)->data.get();
float last_duration = -1.0;
if (m_accum_dur != NULL)
{
if (m_accum_dur->size())
last_duration = m_accum_dur->getLastDuration();
}
Memory::clear(m_accum_dur);
m_accum_dur = new AccumulatedDurations(last_duration);
bool parsed = false;
switch (msg->getId())
{
case DUNE_IMC_GOTO:
parsed = parse(static_cast<IMC::Goto*>(msg), pos);
break;
case DUNE_IMC_STATIONKEEPING:
parsed = parse(static_cast<IMC::StationKeeping*>(msg), pos);
break;
case DUNE_IMC_LOITER:
parsed = parse(static_cast<IMC::Loiter*>(msg), pos);
break;
case DUNE_IMC_FOLLOWPATH:
parsed = parse(static_cast<IMC::FollowPath*>(msg), pos);
break;
case DUNE_IMC_ROWS:
parsed = parse(static_cast<IMC::Rows*>(msg), pos);
break;
case DUNE_IMC_YOYO:
parsed = parse(static_cast<IMC::YoYo*>(msg), pos);
break;
case DUNE_IMC_ELEVATOR:
parsed = parse(static_cast<IMC::Elevator*>(msg), pos);
break;
case DUNE_IMC_POPUP:
parsed = parse(static_cast<IMC::PopUp*>(msg), pos);
break;
case DUNE_IMC_COMPASSCALIBRATION:
parsed = parse(static_cast<IMC::CompassCalibration*>(msg), pos);
break;
default:
parsed = false;
break;
}
if (!parsed)
{
if (m_durations.empty() || itr == nodes.begin())
return m_durations.end();
// return the duration from the previously computed maneuver
ManeuverDuration::const_iterator dtr;
dtr = m_durations.find((*(--itr))->maneuver_id);
if (dtr->second.empty())
return m_durations.end();
return dtr;
}
std::pair<std::string, std::vector<float> > ent((*itr)->maneuver_id,
m_accum_dur->vec);
m_durations.insert(ent);
}
Memory::clear(m_accum_dur);
return m_durations.find(nodes.back()->maneuver_id);
}
int
main(int32_t argc, char** argv)
{
if (argc < 2)
{
std::cerr << "Usage: " << argv[0] << " <abbrev of imc message 1>,<abbrev of imc message 2>,..,"
<< "<abbrev of imc message n> Data.lsf[.gz] .. Data.lsf[.gz]"
<< std::endl;
std::cerr << argv[0] << " accepts multiple IMC messages comma separated and "
<< "multiple Data.lsf files space separated." << std::endl;
std::cerr << "This program does not sort the input Data.lsf files." << std::endl;
return 1;
}
ByteBuffer buffer;
std::ofstream lsf("FilteredData.lsf", std::ios::binary);
IMC::Message* msg;
uint32_t accum = 0;
bool done_first = false;
std::set<uint32_t> ids;
std::vector<std::string> msgs;
Utils::String::split(argv[1], ",", msgs);
for (unsigned k = 0; k < msgs.size(); ++k)
{
uint32_t got = IMC::Factory::getIdFromAbbrev(Utils::String::trim(msgs[k]));
ids.insert(got);
}
for (uint32_t j = 2; j < (uint32_t)argc; ++j)
{
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(argv[j]);
if (method == METHOD_UNKNOWN)
is = new std::ifstream(argv[j], std::ios::binary);
else
is = new Compression::FileInput(argv[j], method);
uint32_t i = 0;
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (!done_first)
{
// place an empty estimatedstate message in the log
IMC::EstimatedState state;
state.setTimeStamp(msg->getTimeStamp());
IMC::Packet::serialize(&state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
done_first = true;
}
std::set<uint32_t>::const_iterator it;
it = ids.find(msg->getId());
if (it != ids.end())
{
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
++i;
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return -1;
}
std::cerr << i << " messages in " << argv[j] << std::endl;
accum += i;
delete is;
}
lsf.close();
std::cerr << "Total of " << accum << " " << argv[1] << " messages." << std::endl;
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;
unsigned phototrigger_eid = 0;
std::ofstream logfile;
logfile.open("gps.txt", std::ofstream::app);
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_LOGBOOKENTRY)
{
IMC::LogBookEntry* lbe = static_cast<IMC::LogBookEntry*>(msg);
if (lbe->getSourceEntity() != phototrigger_eid)
continue;
double lat;
double lon;
double height;
std::sscanf(lbe->text.c_str(), "%lf,%lf,%lf", &lat, &lon, &height);
logfile << std::setprecision(10) << Angles::degrees(lat) << "," << Angles::degrees(lon) << "," << height << std::endl;
}
else if (msg->getId() == DUNE_IMC_ENTITYINFO)
{
IMC::EntityInfo* ei = static_cast<IMC::EntityInfo*>(msg);
if (!std::strcmp(ei->label.c_str(), "Photo Trigger"))
phototrigger_eid = ei->id;
}
delete msg;
}
logfile.close();
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
return 0;
}
int
main(int argc, char** argv)
{
Utils::OptionParser options;
options.executable(argv[0])
.program(argv[0])
.copyright(DUNE_COPYRIGHT)
.email(DUNE_CONTACT)
.version("1.0")
.date(DUNE_BUILD_TIME)
.arch(DUNE_SYSTEM_NAME)
.add("-t", "--timeout",
"Interval to ignore data right after a new device has been turned on."
" Default is 10.0", "TIMEOUT")
.add("-f", "--file",
"Log file in .lsf or .lsf.gz format", "FILE");
// Parse command line arguments.
if (!options.parse(argc, argv) || options.value("--file").empty())
{
if (options.bad())
std::cerr << "ERROR: " << options.error() << std::endl;
options.usage();
return 1;
}
std::string file = options.value("--file");
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(file.c_str());
if (method == METHOD_UNKNOWN)
is = new std::ifstream(file.c_str(), std::ios::binary);
else
is = new Compression::FileInput(file.c_str(), method);
IMC::Message* msg = NULL;
// Current and voltage measurements
ElectricMeasure current_measures[SU_COUNT];
ElectricMeasure voltage_measures[SU_COUNT];
typedef std::map<uint8_t, std::string> Id2Name;
Id2Name channel_names;
typedef std::map<uint8_t, uint8_t> Supply2Id;
Supply2Id measure_ids;
typedef std::map<std::string, double> Name2Power;
Name2Power device_power;
// Got all power channels
bool got_channels = false;
// Time counter
double counter = 0.0;
// Test has started
bool test_started = false;
// Ignore measures if true
bool ignore_data = true;
bool was_ignoring = true;
// Last timestamp
double last_timestamp = -1.0;
// Timeout for ignoring data
double ignore_timeout;
if (options.value("--timeout").empty())
ignore_timeout = 10.0;
else
ignore_timeout = atoi(options.value("--timeout").c_str());
// Last device turned on
Id2Name::const_iterator last_device = channel_names.end();
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (last_timestamp < 0.0)
last_timestamp = msg->getTimeStamp();
if (ignore_data != was_ignoring)
{
if (!was_ignoring)
{
// reset timer counter
counter = 0.0;
}
}
if (ignore_data && test_started)
{
counter += msg->getTimeStamp() - last_timestamp;
if (counter >= ignore_timeout)
{
counter = 0.0;
ignore_data = false;
}
}
was_ignoring = ignore_data;
last_timestamp = msg->getTimeStamp();
if (msg->getId() == DUNE_IMC_ENTITYINFO)
{
IMC::EntityInfo* einfo = dynamic_cast<IMC::EntityInfo*>(msg);
for (unsigned i = 0; i < SU_COUNT; i++)
{
if (std::strcmp(einfo->label.c_str(), c_supply_name[i].c_str()) == 0)
{
measure_ids.insert(std::pair<uint8_t, uint8_t>(einfo->id, i));
break;
}
}
}
else if (msg->getId() == DUNE_IMC_POWERCHANNELCONTROL)
{
IMC::PowerChannelControl* pcc = dynamic_cast<IMC::PowerChannelControl*>(msg);
if (pcc->op == IMC::PowerChannelControl::PCC_OP_TURN_OFF && got_channels)
{
ignore_data = true;
test_started = true;
}
else if (pcc->op == IMC::PowerChannelControl::PCC_OP_TURN_ON)
{
if (last_device != channel_names.end())
{
printPower(last_device->second, voltage_measures, current_measures);
}
else
{
for (unsigned i = 0; i < SU_COUNT; i++)
{
voltage_measures[i].update();
current_measures[i].update();
}
}
ignore_data = true;
last_device = channel_names.find(pcc->id);
}
}
else if (msg->getId() == DUNE_IMC_POWERCHANNELSTATE)
{
IMC::PowerChannelState* pcs = dynamic_cast<IMC::PowerChannelState*>(msg);
if (channel_names.find(pcs->id) == channel_names.end())
channel_names.insert(std::pair<uint8_t, std::string>(pcs->id, pcs->label));
else
got_channels = true;
}
else if (msg->getId() == DUNE_IMC_VOLTAGE)
{
IMC::Voltage* volt = dynamic_cast<IMC::Voltage*>(msg);
Supply2Id::const_iterator it = measure_ids.find(volt->getSourceEntity());
if (it != measure_ids.end() && !ignore_data)
voltage_measures[it->second].addMeasure(volt->value);
}
else if (msg->getId() == DUNE_IMC_CURRENT)
{
IMC::Current* curr = dynamic_cast<IMC::Current*>(msg);
Supply2Id::const_iterator it = measure_ids.find(curr->getSourceEntity());
if (it != measure_ids.end() && !ignore_data)
current_measures[it->second].addMeasure(curr->value);
}
}
// Compute last device in the list
printPower(last_device->second, voltage_measures, current_measures);
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
return 0;
}
int
main(int32_t 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);
ByteBuffer buffer;
std::ofstream lsf("SurfaceData.lsf", std::ios::binary);
IMC::Message* msg;
unsigned i = 0;
IMC::EstimatedState state;
IMC::Packet::serialize(&state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
double timestamp = -1.0;
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (msg->getId() == DUNE_IMC_GPSFIX)
{
IMC::GpsFix* fix = static_cast<IMC::GpsFix*>(msg);
if ((fix->hacc <= MIN_HACC) &&
(fix->validity & IMC::GpsFix::GFV_VALID_POS) &&
(fix->getTimeStamp() >= timestamp))
{
timestamp = fix->getTimeStamp();
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
++i;
}
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return -1;
}
lsf.close();
delete is;
std::cerr << "Got " << i << " GpsFix messages." << std::endl;
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;
}
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;
}
void
TimeProfile::parse(const std::vector<IMC::PlanManeuver*>& nodes,
const IMC::EstimatedState* state)
{
if (!m_valid_model)
{
m_last_valid.clear();
return;
}
Position pos;
extractPosition(state, pos);
std::vector<IMC::PlanManeuver*>::const_iterator itr = nodes.begin();
for (; itr != nodes.end(); ++itr)
{
if ((*itr)->data.isNull())
return;
IMC::Message* msg = (*itr)->data.get();
float last_duration = -1.0;
if (m_accum_dur != NULL)
{
if (m_accum_dur->size())
last_duration = m_accum_dur->getLastDuration();
}
Memory::clear(m_accum_dur);
m_accum_dur = new TimeProfile::AccumulatedDurations(last_duration);
Memory::clear(m_speed_vec);
m_speed_vec = new std::vector<SpeedProfile>();
bool parsed = false;
switch (msg->getId())
{
case DUNE_IMC_GOTO:
parsed = parse(static_cast<IMC::Goto*>(msg), pos);
break;
case DUNE_IMC_STATIONKEEPING:
parsed = parse(static_cast<IMC::StationKeeping*>(msg), pos);
break;
case DUNE_IMC_LOITER:
parsed = parse(static_cast<IMC::Loiter*>(msg), pos);
break;
case DUNE_IMC_FOLLOWPATH:
parsed = parse(static_cast<IMC::FollowPath*>(msg), pos);
break;
case DUNE_IMC_ROWS:
parsed = parse(static_cast<IMC::Rows*>(msg), pos);
break;
case DUNE_IMC_YOYO:
parsed = parse(static_cast<IMC::YoYo*>(msg), pos);
break;
case DUNE_IMC_ELEVATOR:
parsed = parse(static_cast<IMC::Elevator*>(msg), pos);
break;
case DUNE_IMC_POPUP:
parsed = parse(static_cast<IMC::PopUp*>(msg), pos);
break;
case DUNE_IMC_COMPASSCALIBRATION:
parsed = parse(static_cast<IMC::CompassCalibration*>(msg), pos);
break;
default:
parsed = false;
break;
}
if (!parsed)
{
if (m_profiles.empty() || itr == nodes.begin())
return;
// return the duration from the previously computed maneuver
const_iterator dtr;
dtr = m_profiles.find((*(--itr))->maneuver_id);
if (dtr->second.durations.empty())
return;
m_last_valid = dtr->first;
return;
}
// Update speeds and durations
Profile prof;
prof.durations = m_accum_dur->vec;
prof.speeds = *m_speed_vec;
std::pair<std::string, Profile > p_pair((*itr)->maneuver_id, prof);
m_profiles.insert(p_pair);
}
Memory::clear(m_accum_dur);
Memory::clear(m_speed_vec);
m_last_valid = nodes.back()->maneuver_id;
m_finite_duration = true;
return;
}