/**
* Return a string describing Research progress.
* @return a string describing Research progress.
*/
std::string ResearchProject::getResearchProgress() const
{
float progress = (float)getSpent() / getRules()->getCost();
if (getAssigned() == 0)
{
return "STR_NONE";
}
else if (progress < PROGRESS_LIMIT_UNKNOWN)
{
return "STR_UNKNOWN";
}
else
{
float rating = (float)getAssigned();
rating /= getRules()->getCost();
if (rating < PROGRESS_LIMIT_POOR)
{
return "STR_POOR";
}
else if (rating < PROGRESS_LIMIT_AVERAGE)
{
return "STR_AVERAGE";
}
else if (rating < PROGRESS_LIMIT_GOOD)
{
return "STR_GOOD";
}
return "STR_EXCELLENT";
}
}
/**
* Saves the research project to a YAML file.
* @return YAML node.
*/
YAML::Node ResearchProject::save() const
{
YAML::Node node;
node["project"] = getRules()->getName();
node["assigned"] = getAssigned();
node["spent"] = getSpent();
node["cost"] = getCost();
return node;
}
/**
* Loads the research project from a YAML file.
* @param node YAML node.
*/
void ResearchProject::load(const YAML::Node& node)
{
setAssigned(node["assigned"].as<int>(getAssigned()));
setSpent(node["spent"].as<int>(getSpent()));
setCost(node["cost"].as<int>(getCost()));
}
int main(int argc, char* argv[]) {
// Initialize shared memory
if (ipc.init(false))
exit(1);
// Initialize nominal beaconContainer
parseWaypoints();
// Create camera semaphore/ mutex
sem_init(&semCam, 0, 0);
if (pthread_mutex_init(&mutexImageData, NULL) != 0) {
printf("\n Camera mutex init failed\n");
exit(1);
}
// Start camera thread
pthread_t tid;
int err = pthread_create(&tid, NULL, &camThread, NULL);
if (err != 0) {
printf("\nCan't create camera thread :[%s]", strerror(err));
exit(1);
}
lastPhotogramMicros = getMicroSec();
// Main loop
for(;;photogram++) {
TRACE(DEBUG, "\nPHOTOGRAM %d, milliseconds: %ld\n", photogram, getMillisSinceStart());
// Update time variables
photogramMicros = getMicroSec();
lastPhotogramSpentTime = getSpent(photogramMicros - lastPhotogramMicros);
microsSinceStart += lastPhotogramSpentTime;
lastPhotogramMicros = photogramMicros;
// Get drone roll, pitch and yaw
attitudeT attitude, delayedAttitude;
ipc.getAttitude(attitude);
attitudeSignal.push(attitude, lastPhotogramSpentTime);
delayedAttitude = attitudeSignal.getSignal();
droneRoll = delayedAttitude.roll * 0.01;
dronePitch = delayedAttitude.pitch * 0.01;
droneYaw = delayedAttitude.yaw * 0.01;
// Update estimated servo values
rollStatusServo.update(lastPhotogramSpentTime);
pitchStatusServo.update(lastPhotogramSpentTime);
if (rollStatusServo.inBigStep() || pitchStatusServo.inBigStep()) {
sem_wait(&semCam);
continue;
}
// Update estimated camera roll and pitch
roll = droneRoll + rollStatusServo.getEstimatedAngle();
pitch = dronePitch + pitchStatusServo.getEstimatedAngle();
// Switch beacon containers to preserve one history record
if (beaconContainer == &beaconContainerA) {
beaconContainer = &beaconContainerB;
oldBeaconContainer = &beaconContainerA;
}
else {
beaconContainer = &beaconContainerA;
oldBeaconContainer = &beaconContainerB;
}
beaconContainer->clean();
// Wait until new frame is received
sem_wait(&semCam);
// Where the magic happens
findBeacons();
groupBeacons();
findWaypoints();
computePosition();
}
StopCamera();
printf("Finished.\n");
return 0;
}
