void spawner_new_c::setup_stream_(const options_class::redirect redirect, std_stream_type source_type, runner* this_runner) {
auto source_pipe = this_runner->get_pipe(source_type);
if (redirect.type == options_class::std) {
if (source_type == std_stream_input) {
get_std(std_stream_input, redirect.flags)->connect(source_pipe);
}
else {
source_pipe->connect(get_std(source_type, redirect.flags));
}
return;
}
PANIC_IF(redirect.type != options_class::pipe);
auto index = redirect.pipe_index;
auto stream = redirect.name;
PANIC_IF(index < 0 || index >= runners.size());
auto target_runner = runners[index];
multipipe_ptr target_pipe;
if (stream == "stdin") {
PANIC_IF(source_type == std_stream_input);
target_pipe = target_runner->get_pipe(std_stream_input, redirect.flags);
source_pipe->connect(target_pipe);
}
else if (stream == "stdout") {
PANIC_IF(source_type != std_stream_input);
target_pipe = target_runner->get_pipe(std_stream_output, redirect.flags);
target_pipe->connect(source_pipe);
}
else if (stream == "stderr") {
PANIC_IF(source_type != std_stream_input);
target_pipe = target_runner->get_pipe(std_stream_error, redirect.flags);
target_pipe->connect(source_pipe);
}
else {
PANIC("invalid stream name");
}
if (control_mode_enabled) {
if (source_type == std_stream_output) {
setup_stream_in_control_mode_(this_runner, source_pipe);
}
else if (stream == "stdout") {
setup_stream_in_control_mode_(target_runner, target_pipe);
}
}
}
void EyeRover::calibrate(){
std::cout << "Starting calibration procedure, EyeRover must be static" << endl;
std::cout << "Procedure should take about a second" << endl;
m_calibrated = false;
std::vector<std::vector<float> > _gyros_vals(NUMBER_OF_STEPS_FOR_CALIBRATION);
std::vector<std::vector<float> > _accs_vals(NUMBER_OF_STEPS_FOR_CALIBRATION);
read_gyroscope();
read_accelerometer();
read_magnetometer();
usleep(500000); //Sleep for half a second
for (int i=0; i<NUMBER_OF_STEPS_FOR_CALIBRATION; ++i){
_gyros_vals[i] = read_gyroscope();
_accs_vals[i] = read_accelerometer();
}
m_gyro_avg = get_mean(_gyros_vals);
m_accelerometer_avg = get_mean(_accs_vals);
if (get_std(_gyros_vals, 0, m_gyro_avg[0])> 0.01){
m_calibrated = false;
std::cout << "Calibration failed." << endl;
}
else{
m_calibrated = true;
std::cout << "Calibration succeeded." << endl;
}
}
