void VoxMain::run()
{
int modesw = 3;
uint64_t cnt = 0;
timeval tvchk = {0, 0};
timeval tvcur = {0, 0};
std::string datastr = "";
INFORMATION("(MAIN) start of loop");
pinMode(modesw, INPUT);
pullUpDnControl(modesw, PUD_UP);
gettimeofday(&tvchk, NULL);
while(!m_exit)
{
int onoff = digitalRead(modesw);
gettimeofday(&tvcur, NULL);
if(onoff == LOW)
{
std::string retstr = "";
if(m_mode > MD5)
--m_mode;
else
m_mode = MD1;
NOTICE("mode changed: mode=%d", m_mode);
if(m_mode == MD1) // control
{
}
else if(m_mode == MD2) // vision
{
//if(!createProcess("/home/pi/mjpg-streamer/stop_mjpg.sh", retstr))
// ERROR("(MAIN) failed to stop mjpg-streamer");
}
else if(m_mode == MD3) // voice
{
}
Servo* servo = VoxControl::getInstance().getServo();
servo->setNeutral();
VoxPlayer::getInstance().play("", false);
delay(300);
}
if(timeSpan(tvchk, tvcur) >= 1.0f)
{
cpuUsage();
tvchk.tv_sec = tvcur.tv_sec;
tvchk.tv_usec = tvcur.tv_usec;
}
if((cnt % 100) == 0)
{
std::vector<std::string> addrs;
getLocalIPString(addrs);
m_myip = "";
for(size_t i = 0; i < addrs.size(); i++)
{
std::string acls = "";
extractSubString(acls, addrs[i].c_str(), 0, '.');
if(isPositiveNumber(acls))
{
if(acls != "127")
m_myip += addrs[i] + ", ";
}
}
m_myip = strTrim(m_myip, " ,");
std::string retstr = "";
if(createProcess("/usr/bin/vcgencmd measure_temp", retstr))
{
strRemove(retstr, "temp=");
strRemove(retstr, "'C");
m_cputemp = atof(retstr.c_str());
}
m_appmem = getRss();
}
if((cnt % 2) == 0)
{
bool voice = VoxVoice::getInstance().isRunning();
datastr = strFormat("%s|%d|%d|%d|%.1f|%.1f|%.1f|%.1f|%.1f|%.1f|%.1f|%.1f|%.1f|%d|%d|%d|%.1f|%d|%d|%s|%s",
m_myip.c_str(),
abs(MD1 - m_mode) + 1,
m_stat,
VoxSensor::getInstance().isFreeze(),
VoxSensor::getInstance().getTemperature(),
VoxSensor::getInstance().getHumidity(),
VoxSensor::getInstance().getDistF(),
VoxSensor::getInstance().getDistB(),
VoxSensor::getInstance().getDistL(),
VoxSensor::getInstance().getDistR(),
m_cpuusage,
m_cputemp,
(float)(m_appmem / 1024.0 / 1024.0),
VoxVision::getInstance().isFollowing(),
VoxVision::getInstance().getPosX(),
VoxVision::getInstance().getPosY(),
VoxVision::getInstance().getRadius(),
VoxVision::getInstance().getBallCount(),
(voice) ? VoxVoice::getInstance().readyToGo() : 0,
(voice) ? VoxVoice::getInstance().getReq().c_str() : "",
(voice) ? VoxVoice::getInstance().getRsp().c_str() : ""
);
writeDataFile(datastr);
}
delay(150);
++cnt;
}
pinMode(modesw, OUTPUT);
digitalWrite(modesw, LOW);
INFORMATION("(MAIN) end of loop");
}
