Log * makeSTATSlog() {
//Log state.
std::vector<SExpr> fields;
fields.push_back(SExpr(CONTENT_TYPE_S, "STATS"));
std::vector<SExpr> fvector = {
SExpr("flags"),
SExpr("serv_connected", control::serv_connected,
control::flags[control::serv_connected]),
SExpr("control_connected", control::control_connected,
control::flags[control::control_connected]),
SExpr("fileio", control::fileio,
control::flags[control::fileio]),
SExpr("SENSORS", control::SENSORS,
control::flags[control::SENSORS]),
SExpr("GUARDIAN", control::GUARDIAN,
control::flags[control::GUARDIAN]),
SExpr("COMM", control::COMM,
control::flags[control::COMM]),
SExpr("LOCATION", control::LOCATION,
control::flags[control::LOCATION]),
SExpr("ODOMETRY", control::ODOMETRY,
control::flags[control::ODOMETRY]),
SExpr("OBSERVATIONS", control::OBSERVATIONS,
control::flags[control::OBSERVATIONS]),
SExpr("LOCALIZATION", control::LOCALIZATION,
control::flags[control::LOCALIZATION]),
SExpr("BALLTRACK", control::BALLTRACK,
control::flags[control::BALLTRACK]),
SExpr("VISION", control::VISION,
control::flags[control::VISION]),
SExpr("tripoint", control::tripoint,
control::flags[control::tripoint]),
SExpr("thumbnail", control::thumbnail,
control::flags[control::thumbnail])
};
fields.push_back(SExpr(fvector));
fields.push_back(SExpr("num_buffers", NUM_LOG_BUFFERS));
fields.push_back(SExpr("num_cores", (int) NUM_CORES));
SExpr ratios;
ratios.append(SExpr("ratio"));
for (int i = 0; i < NUM_LOG_BUFFERS; ++i) {
ratios.append(SExpr(LOG_RATIO[i]));
}
fields.push_back(ratios);
SExpr sizes;
sizes.append(SExpr("size"));
for (int i = 0; i < NUM_LOG_BUFFERS; ++i) {
sizes.append(SExpr(LOG_BUFFER_SIZES[i]));
}
fields.push_back(sizes);
time_t NOW = time(NULL);
fields.push_back(SExpr("con_uptime", control::flags[control::serv_connected] ? difftime(NOW, cio_upstart) : 0));
fields.push_back(SExpr("cnc_uptime", control::flags[control::control_connected] ? difftime(NOW, cnc_upstart) : 0));
fields.push_back(SExpr("fio_uptime", control::flags[control::fileio] ? difftime(NOW, fio_upstart) : 0));
fields.push_back(SExpr("log_uptime", difftime(NOW, main_upstart)));
SExpr manages;
manages.append(SExpr("bufmanage"));
for (int i = 0; i < NUM_LOG_BUFFERS; ++i) {
manages.append(makeBufManage(i));
}
fields.push_back(manages);
/*
This system of grabbing io state is subject to multi-threading accuracy drift.
It is therefore only for estimates.
*/
io_state_t zerostate;
bzero(&zerostate, sizeof(io_state_t));
SExpr state_total;
state_total.append(SExpr("total-state"));
for (int i = 0; i < NUM_LOG_BUFFERS; ++i) {
state_total.append(makeBufState(&zerostate, total + i));
}
fields.push_back(state_total);
if (control::flags[control::fileio]) {
SExpr state_file;
state_file.append(SExpr("file-state"));
for (int i = 0; i < NUM_LOG_BUFFERS; ++i) {
state_file.append(makeBufState(fio_start + i, total + i));
}
fields.push_back(state_file);
}
if (control::flags[control::serv_connected]) {
SExpr state_serv;
state_serv.append(SExpr("serv-state"));
for (int i = 0; i < NUM_LOG_BUFFERS; ++i) {
state_serv.append(makeBufState(cio_start + i, total + i));
}
fields.push_back(state_serv);
}
std::vector<SExpr> contents = {SExpr(fields)};
return new Log(LOG_FIRST_ATOM_S, "makeSTATSlog()", time(NULL), LOG_VERSION, contents, "");
};
uint32_t cnc_setCameraParams(Log * arg) {
size_t u = arg->data().size();
bool success = receivedParams.ParseFromString(arg->data());
if(!success) {
std::cerr<<"Failed to Parse Params\n";
} else {
SExpr s;
SExpr h = SExpr("hflip",receivedParams.h_flip());
SExpr v = SExpr("vflip",receivedParams.v_flip());
SExpr ae = SExpr("autoexposure",receivedParams.auto_exposure());
SExpr b = SExpr("brightness",receivedParams.brightness());
SExpr c = SExpr("contrast",receivedParams.contrast());
SExpr sat = SExpr("saturation",receivedParams.saturation());
SExpr hue = SExpr("hue",receivedParams.hue());
SExpr sharp = SExpr("sharpness",receivedParams.sharpness());
SExpr gamma = SExpr("gamma",receivedParams.gamma());
SExpr awb = SExpr("auto_whitebalance",receivedParams.autowhitebalance());
SExpr expo = SExpr("exposure",receivedParams.exposure());
SExpr gain = SExpr("gain",receivedParams.gain());
SExpr wb = SExpr("white_balance",receivedParams.whitebalance());
SExpr ftb = SExpr("fade_to_black",receivedParams.fadetoblack());
s.append(h);
s.append(v);
s.append(ae);
s.append(b);
s.append(c);
s.append(sat);
s.append(hue);
s.append(sharp);
s.append(gamma);
s.append(awb);
s.append(expo);
s.append(gain);
s.append(wb);
s.append(ftb);
std::string stringToWrite = s.serialize();
#ifdef V5_ROBOT
std::cout<<"Saving as V5"<<std::endl;
if(receivedParams.whichcamera() == "TOP"){
std::cout<<"TOP Params Received"<<std::endl;
std::ofstream file("/home/nao/nbites/Config/V5topCameraParams.txt");
std::cout<<stringToWrite<<std::endl;
file << stringToWrite;
file.close();
std::cout<<"Saving Done"<<std::endl;
} else {
std::cout<<"Bottom Params Received"<<std::endl;
std::ofstream file("/home/nao/nbites/Config/V5bottomCameraParams.txt");
std::cout<<stringToWrite<<std::endl;
file << stringToWrite;
file.close();
std::cout<<"Saving Done"<<std::endl;
}
#else
std::cout<<"Saving as V4"<<std::endl;
if(receivedParams.whichcamera() == "TOP"){
std::cout<<"TOP Params Received"<<std::endl;
std::ofstream file("/home/nao/nbites/Config/V4topCameraParams.txt");
file << stringToWrite;
file.close();
std::cout<<"Saving Done"<<std::endl;
} else {
std::cout<<"Bottom Params Received"<<std::endl;
std::ofstream file("/home/nao/nbites/Config/V4bottomCameraParams.txt");
file << stringToWrite;
file.close();
std::cout<<"Saving Done"<<std::endl;
}
#endif
}
return 0;
}
