int main( int ac, char** av )
{
bool verbose = false;
try
{
comma::command_line_options options( ac, av );
if( options.exists( "--help,-h" ) ) { usage(); }
const auto& unnamed = options.unnamed( "--accumulate,-a,--no-inertial,--output-fields,--verbose,-v" );
if( unnamed.empty() ) { std::cerr << "control-from-console: please specify operation" << std::endl; return 1; }
if( unnamed.size() > 1 ) { std::cerr << "control-from-console: expected one operation, got: " << comma::join( unnamed, ',' ) << std::endl; return 1; }
std::string operation = unnamed[0];
if( options.exists( "--output-fields" ) )
{
if( operation == "cartesian" ) { std::cout << "velocity/x,velocity/y" << std::endl; return 0; }
if( operation == "drive" ) { std::cout << "velocity,turn_rate" << std::endl; return 0; }
if( operation == "pantilt" ) { std::cout << "pan,tilt" << std::endl; return 0; }
std::cerr << "control-from-console: expected operation, got: \"" << operation << "\"" << std::endl;
return 1;
}
std::pair< double, double > steps = default_steps( operation );
const auto& s = comma::split( options.value< std::string >( "--step,-s", "" ), ',' );
switch( s.size() )
{
case 1:
if( !s[0].empty() ) { steps.first = boost::lexical_cast< double >( s[0] ); }
break;
case 2:
if( !s[0].empty() ) { steps.first = boost::lexical_cast< double >( s[0] ); }
if( !s[1].empty() ) { steps.second = boost::lexical_cast< double >( s[1] ); }
break;
default:
std::cerr << "control-from-console: expected --step <first>[,<second>]; got: \"" << options.value< std::string >( "--step,-s", "" ) << "\"" << std::endl;
return 1;
}
bool inertial = !options.exists( "--no-inertial" );
verbose = options.exists( "--verbose,-v" );
bool accumulate = options.exists( "--accumulate,-a" );
if( verbose ) { std::cerr << "control-from-console: step: " << steps.first << "," << steps.second << std::endl; }
comma::io::select select;
select.read().add( 0 );
inertial::pair horizontal( boost::posix_time::millisec( inertial ? 500 : 0 ), inertial ? 5 : 1 );
inertial::pair vertical( boost::posix_time::millisec( inertial ? 500 : 0 ), inertial ? 5 : 1 );
comma::signal_flag is_shutdown;
char b = 0;
boost::posix_time::time_duration threshold = boost::posix_time::millisec( 200 );
boost::posix_time::ptime last = boost::posix_time::microsec_clock::universal_time();
std::pair< double, double > accumulated( 0, 0 );
while( !is_shutdown && std::cout.good() && !std::cout.eof() && std::cin.good() && !std::cin.eof() )
{
// todo: it does not exit, if std::cout closed; catch sigpipe?
if( select.wait( boost::posix_time::seconds( 1 ) ) == 0 ) { continue; }
char c;
if( ::read( 0, &c, 1 ) != 1 ) { break; }
if( verbose ) { std::cerr << "control-from-console: got " << c << std::endl; }
switch( c )
{
case 0x41: ++vertical; break;
case 0x42: --vertical; break;
case 0x43: ++horizontal; break;
case 0x44: --horizontal; break;
default: continue;
}
boost::posix_time::ptime now = boost::posix_time::microsec_clock::universal_time();
if( b != c || ( now - last ) > threshold )
{
if( accumulate )
{
accumulated.first += steps.first * horizontal.pick();
accumulated.second += steps.second * vertical.pick();
std::cout << accumulated.first << "," << accumulated.second << std::endl;
}
else
{
std::cout << ( steps.first * horizontal.pick() ) << "," << ( steps.second * vertical.pick() ) << std::endl;
}
std::cout.flush();
last = now;
}
b = c;
}
if( verbose ) { std::cerr << "control-from-console: done" << std::endl; }
return 0;
}
catch( comma::last_error::interrupted_system_call_exception& ) { if( verbose ) { std::cerr << "control-from-console: done" << std::endl; } return 0; }
catch( std::exception& ex ) { std::cerr << "control-from-console: " << ex.what() << std::endl; }
catch( ... ) { std::cerr << "control-from-console: unknown exception" << std::endl; }
return 1;
}
double
Texture::fraction_of_minerals_smaller_than (double size /* [um] */) const
{ return accumulated (log (size)); }
