/****************************************************************************
Function
RunPhotoTransistorService
Parameters
ES_Event : the event to process
Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
****************************************************************************/
ES_Event RunPhotoTransistorService( ES_Event ThisEvent )
{
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
// If we have stopped seeing pulses, it's time to evaluate whether we saw a beacon
if ((ThisEvent.EventType == ES_TIMEOUT) && (ThisEvent.EventParam == AVERAGE_BEACONS_TIMER))
{
// If the beacon we were interested in had enough pulses
if (numSamples[LastBeacon] >= NUMBER_PULSES_TO_BE_ALIGNED)
{
// set the last update time for the beacon
beacons[LastBeacon].lastUpdateTime = captureInterrupt(PHOTOTRANSISTOR_INTERRUPT_PARAMATERS);
// set the angle to the beacon based on the average of all pulses measured
beacons[LastBeacon].lastEncoderAngle = CalculateAverage(LastBeacon);
// Store this beacon as the last updated beacon
LastUpdatedBeacon = LastBeacon;
// Determine if we should recalculate our position and angle based on whether or not we have received 3 consecutive pulses
if (TimeForUpdate())
{
ES_Event NewEvent;
NewEvent.EventType = ES_CALCULATE_POSITION;
PostPositionLogicService(NewEvent);
}
}
// Reset stored average information
ResetAverage();
// Reallow new beacons to be recorded
Bucketing = true;
LastBeacon = NULL_BEACON;
ES_Timer_StopTimer(AVERAGE_BEACONS_TIMER);
}
else if (ThisEvent.EventType == ES_ALIGN_TO_BUCKET)
{
// If we are trying to align to the bucket for a shot,
// shift the way we handle interrupts
AligningToBucket = true;
enableCaptureInterrupt(PHOTOTRANSISTOR_INTERRUPT_PARAMATERS);
}
return ReturnEvent;
}
const mat3 CreateCovarianceMatrix(const float* points, int count, unsigned point_size)
{
// find average of the vertices
vec3 center = CalculateAverage(points, count, point_size);
// find covariance matrix
mat3 res;
res.Zerofy();
for (int i = 0; i < count; ++i)
{
const vec3 v(points[i*(point_size/sizeof(float)) + 0], points[i*(point_size/sizeof(float)) + 1], points[i*(point_size/sizeof(float)) + 2]);
res += MultTransposed((v - center), (v - center));
}
res /= (float)count;
return res;
}
void PerformanceEvaluator::CalculateRM(VecPtr vec) {
CalculateAverage(vec);
transform(vec->begin(),vec->end(),vec->begin(),[](const double& x) {return sqrt(x);});
}
PerformanceEvaluator::PerformanceEvaluator(){
_performanceValueTuples["NORXE"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return CalculateNORXE(xEst,P,xReal);
}),
FinishFunction([=](VecPtr vec) {
return CalculateAverage(vec);
}));
_performanceValueTuples["FPOS"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return CalculateFPOS(xEst,P,xReal);
}),
FinishFunction([=](VecPtr vec) {
return CalculateRM(vec);
}));
_performanceValueTuples["FVEL"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return CalculateFVEL(xEst,P,xReal);
}),
FinishFunction([=](VecPtr vec) {
return CalculateRM(vec);
}));
_performanceValueTuples["RMSPOS"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return Square(CalculatePOS(xEst,P,xReal));
}),
FinishFunction([=](VecPtr vec) {
return CalculateRM(vec);
}));
_performanceValueTuples["RMSVEL"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return Square(CalculateVEL(xEst,P,xReal));
}),
FinishFunction([=](VecPtr vec) {
return CalculateRM(vec);
}));
_performanceValueTuples["RMSSPD"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return Square(CalculateSPD(xEst,P,xReal));
}),
FinishFunction([=](VecPtr vec) {
return CalculateRM(vec);
}));
_performanceValueTuples["RMSCRS"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return Square(CalculateCRS(xEst,P,xReal));
}),
FinishFunction([=](VecPtr vec) {
return CalculateRM(vec);
}));
_performanceValueTuples["NEES"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return CalculateNEES(xEst,P,xReal);
}),
FinishFunction([=](VecPtr vec) {
return CalculateAverage(vec);
}));
_performanceValueTuples["MOD2PR"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([](SVref xEst,SCMref P,SVref xReal) {
return -99999.99999;//this will never happen
}),
FinishFunction([=](VecPtr vec) {
return CalculateAverage(vec);
}));
_performanceValueTuples["RAWRMSPOS"] = make_tuple(make_shared<vector<double>>(),
PerformanceFunction([=](SVref xEst,SCMref P,SVref xReal) {
return Square(CalculatePOS(xEst,P,xReal));
}),
FinishFunction([=](VecPtr vec) {
return CalculateRM(vec);
}));
}
int main(int argc, char **argv)
{
osFile fh;
uint32_t total,areas,totaldupes;
time_t firsttime,t;
uint32_t DayStatsWritten;
char buf[200],date[30],date2[30];
struct DiskAreaStats dastat;
struct DiskNodeStats dnstat;
struct StatsNode *sn;
struct NodeStatsNode *nsn;
struct jbList StatsList;
struct jbList NodesList;
uint32_t c,num,tot;
uint16_t total8days[8];
char sortmode;
struct tm *tp;
char *monthnames[]={"Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec","???"};
signal(SIGINT,breakfunc);
if(!osInit())
exit(OS_EXIT_ERROR);
if(argc > 1 &&
(strcmp(argv[1],"?")==0 ||
strcmp(argv[1],"-h")==0 ||
strcmp(argv[1],"--help")==0 ||
strcmp(argv[1],"help")==0 ||
strcmp(argv[1],"/h")==0 ||
strcmp(argv[1],"/?")==0 ))
{
printargs(args);
osEnd();
exit(OS_EXIT_OK);
}
if(!parseargs(args,argc,argv))
{
osEnd();
exit(OS_EXIT_ERROR);
}
sortmode='a';
if(args[ARG_SORT].data)
sortmode=tolower(((char *)args[ARG_SORT].data)[0]);
if(!strchr("amtdlu",sortmode))
{
printf("Unknown sort mode %c\n",sortmode);
osEnd();
exit(OS_EXIT_ERROR);
}
if(args[ARG_NOAREAS].data && args[ARG_NONODES].data)
{
printf("Nothing to do\n");
osEnd();
exit(OS_EXIT_ERROR);
}
printf("CrashStats "VERSION" © " COPYRIGHT " Johan Billing\n");
if(!(fh=osOpen(args[ARG_FILE].data,MODE_OLDFILE)))
{
uint32_t err=osError();
printf("Error opening %s\n",(char *)args[ARG_FILE].data);
printf("Error: %s\n",osErrorMsg(err));
osEnd();
exit(OS_EXIT_ERROR);
}
osRead(fh,buf,4);
buf[4]=0;
if(strcmp(buf,STATS_IDENTIFIER)!=0)
{
printf("Unknown format of stats file\n");
osClose(fh);
osEnd();
exit(OS_EXIT_ERROR);
}
osRead(fh,&DayStatsWritten,sizeof(uint32_t));
total=0;
totaldupes=0;
firsttime=0;
areas=0;
for(c=0;c<8;c++)
total8days[c]=0;
jbNewList(&StatsList);
jbNewList(&NodesList);
osRead(fh,&num,sizeof(uint32_t));
c=0;
if(!args[ARG_NOAREAS].data)
{
while(c<num && osRead(fh,&dastat,sizeof(struct DiskAreaStats))==sizeof(struct DiskAreaStats))
{
if(!args[ARG_GROUP].data || CheckFlags(dastat.Group,args[ARG_GROUP].data))
{
if(!(sn=osAlloc(sizeof(struct StatsNode))))
{
printf("Out of memory\n");
jbFreeList(&StatsList);
osClose(fh);
osEnd();
exit(OS_EXIT_ERROR);
}
jbAddNode(&StatsList,(struct jbNode *)sn);
strcpy(sn->Tagname,dastat.Tagname);
sn->Dupes=dastat.Dupes;
sn->Total=dastat.TotalTexts;
sn->FirstTime=dastat.FirstTime;
sn->LastTime=dastat.LastTime;
memcpy(&sn->Last8Days[0],&dastat.Last8Days[0],8*sizeof(uint16_t));
sn->Average=CalculateAverage(&dastat.Last8Days[0],dastat.TotalTexts,DayStatsWritten,sn->FirstTime / (24*60*60));
}
if(dastat.FirstTime!=0)
if(firsttime==0 || firsttime > dastat.FirstTime)
firsttime=dastat.FirstTime;
c++;
}
}
else
{
while(c<num && osRead(fh,&dastat,sizeof(struct DiskAreaStats))==sizeof(struct DiskAreaStats))
c++;
}
osRead(fh,&num,sizeof(uint32_t));
c=0;
if(!args[ARG_NONODES].data)
{
while(c<num && osRead(fh,&dnstat,sizeof(struct DiskNodeStats))==sizeof(struct DiskNodeStats))
{
if(!(nsn=osAlloc(sizeof(struct NodeStatsNode))))
{
printf("Out of memory\n");
jbFreeList(&NodesList);
jbFreeList(&StatsList);
osClose(fh);
osEnd();
exit(OS_EXIT_ERROR);
}
jbAddNode(&NodesList,(struct jbNode *)nsn);
Copy4D(&nsn->Node,&dnstat.Node);
nsn->GotNetmails=dnstat.GotNetmails;
nsn->GotNetmailBytes=dnstat.GotNetmailBytes;
nsn->SentNetmails=dnstat.SentNetmails;
nsn->SentNetmailBytes=dnstat.SentNetmailBytes;
nsn->GotEchomails=dnstat.GotEchomails;
nsn->GotEchomailBytes=dnstat.GotEchomailBytes;
nsn->SentEchomails=dnstat.SentEchomails;
nsn->SentEchomailBytes=dnstat.SentEchomailBytes;
nsn->Dupes=dnstat.Dupes;
nsn->Days=DayStatsWritten-dnstat.FirstTime % (24*60*60);
if(nsn->Days==0) nsn->Days=1;
nsn->FirstTime=dnstat.FirstTime;
if(dnstat.FirstTime!=0)
if(firsttime==0 || firsttime > dnstat.FirstTime)
firsttime=dnstat.FirstTime;
c++;
}
}
else
{
while(c<num && osRead(fh,&dnstat,sizeof(struct DiskNodeStats))==sizeof(struct DiskNodeStats))
c++;
}
osClose(fh);
t=(time_t)DayStatsWritten * 24*60*60;
tp=localtime(&firsttime);
sprintf(date,"%02d-%s-%02d",tp->tm_mday,monthnames[tp->tm_mon],tp->tm_year%100);
tp=localtime(&t);
sprintf(date2,"%02d-%s-%02d",tp->tm_mday,monthnames[tp->tm_mon],tp->tm_year%100);
printf("\nStatistics from %s to %s\n",date,date2);
if(!ctrlc && !args[ARG_NOAREAS].data)
{
Sort(&StatsList,'a');
Sort(&StatsList,sortmode);
printf("\n");
if(args[ARG_LAST7].data)
{
printf("Area ");
for(c=1;c<8;c++)
{
t=(DayStatsWritten-c)*24*60*60;
tp=localtime(&t);
printf(" %02d",tp->tm_mday);
}
printf(" Total\n============================================================================\n");
if(!ctrlc)
{
for(sn=(struct StatsNode *)StatsList.First;sn && !ctrlc;sn=sn->Next)
{
tot=0;
for(c=1;c<8;c++)
tot+=sn->Last8Days[c];
printf("%-33.33s %4d %4d %4d %4d %4d %4d %4d : %5d\n",
sn->Tagname,
sn->Last8Days[1],
sn->Last8Days[2],
sn->Last8Days[3],
sn->Last8Days[4],
sn->Last8Days[5],
sn->Last8Days[6],
sn->Last8Days[7],
tot);
for(c=1;c<8;c++)
total8days[c]+=sn->Last8Days[c];
areas++;
}
if(!ctrlc)
{
tot=0;
for(c=1;c<8;c++)
tot+=total8days[c];
printf("=============================================================================\n");
sprintf(buf,"Totally in all %u areas",areas);
printf("%-33.33s %4d %4d %4d %4d %4d %4d %4d : %5d\n",
buf,
total8days[1],
total8days[2],
total8days[3],
total8days[4],
total8days[5],
total8days[6],
total8days[7],
tot);
}
}
}
else
{
printf("Area First Last Msgs Msgs/day Dupes\n");
printf("============================================================================\n");
if(!ctrlc)
{
for(sn=(struct StatsNode *)StatsList.First;sn && !ctrlc;sn=sn->Next)
{
if(sn->LastTime==0)
{
strcpy(date2,"<Never>");
}
else
{
tp=localtime(&sn->LastTime);
sprintf(date2,"%02d-%s-%02d",tp->tm_mday,monthnames[tp->tm_mon],tp->tm_year%100);
}
if(sn->FirstTime==0)
{
strcpy(date,"<Never>");
}
else
{
tp=localtime(&sn->FirstTime);
sprintf(date,"%02d-%s-%02d",tp->tm_mday,monthnames[tp->tm_mon],tp->tm_year%100);
}
for(c=0;c<8;c++)
total8days[c]+=sn->Last8Days[c];
total+=sn->Total;
totaldupes+=sn->Dupes;
areas++;
printf("%-29.30s %-9.9s %-9.9s %7d %7d %7d\n",sn->Tagname,date,date2,sn->Total,sn->Average,sn->Dupes);
}
}
if(!ctrlc)
{
printf("============================================================================\n");
sprintf(buf,"Totally in all %u areas",areas);
printf("%-42s %7d %7d %7d\n",
buf,
total,
CalculateAverage(&total8days[0],total,DayStatsWritten,firsttime / (24*60*60)),
totaldupes);
}
}
}
if(!ctrlc && !args[ARG_NONODES].data)
{
SortNodes(&NodesList);
printf("\n");
printf("Nodes statistics\n");
printf("================\n");
for(nsn=(struct NodeStatsNode *)NodesList.First;nsn && !ctrlc;nsn=nsn->Next)
{
if(nsn->FirstTime==0)
{
strcpy(date,"<Never>");
}
else
{
tp=localtime(&nsn->FirstTime);
sprintf(date,"%0d-%s-%0d",tp->tm_mday,monthnames[tp->tm_mon],tp->tm_year%100);
}
sprintf(buf,"%u:%u/%u.%u",nsn->Node.Zone,nsn->Node.Net,nsn->Node.Node,nsn->Node.Point);
printf("%-30.40s Statistics since: %s\n\n",buf,date);
printf(" Sent netmails: %u/%s\n",nsn->SentNetmails,unit(nsn->SentNetmailBytes));
printf(" Received netmails: %u/%s\n",nsn->GotNetmails,unit(nsn->GotNetmailBytes));
printf(" Sent echomails: %u/%s\n",nsn->SentEchomails,unit(nsn->SentEchomailBytes));
printf(" Received echomails: %u/%s\n",nsn->GotEchomails,unit(nsn->GotEchomailBytes));
printf(" Dupes: %u\n",nsn->Dupes);
printf("\n");
}
}
if(ctrlc)
{
printf("*** Break\n");
}
else
{
printf("\n");
}
jbFreeList(&StatsList);
jbFreeList(&NodesList);
osEnd();
exit(OS_EXIT_OK);
}
void ProcessARow(int scoreArray[])
{
scoreArray[4] = CalculateMin(scoreArray[1], scoreArray[2], scoreArray[3]);
scoreArray[5] = CalculateMax(scoreArray[1], scoreArray[2], scoreArray[3]);
scoreArray[6] = CalculateAverage(scoreArray[1], scoreArray[2], scoreArray[3]);
}
