Esempio n. 1
0
/**
 * Return a string describing Research progress.
 * @return a string describing Research progress.
*/
std::string ResearchProject::getResearchProgress() const
{
	float progress = (float)getSpent() / getRules()->getCost();
	if (getAssigned() == 0)
	{
		return "STR_NONE";
	}
	else if (progress < PROGRESS_LIMIT_UNKNOWN)
	{
		return "STR_UNKNOWN";
	}
	else
	{
		float rating = (float)getAssigned();
		rating /= getRules()->getCost();
		if (rating < PROGRESS_LIMIT_POOR)
		{
			return "STR_POOR";
		}
		else if (rating < PROGRESS_LIMIT_AVERAGE)
		{
			return "STR_AVERAGE";
		}
		else if (rating < PROGRESS_LIMIT_GOOD)
		{
			return "STR_GOOD";
		}
		return "STR_EXCELLENT";
	}
}
Esempio n. 2
0
/**
 * Saves the research project to a YAML file.
 * @return YAML node.
 */
YAML::Node ResearchProject::save() const
{
	YAML::Node node;
	node["project"] = getRules()->getName();
	node["assigned"] = getAssigned();
	node["spent"] = getSpent();
	node["cost"] = getCost();
	return node;
}
Esempio n. 3
0
/**
 * Loads the research project from a YAML file.
 * @param node YAML node.
 */
void ResearchProject::load(const YAML::Node& node)
{
	setAssigned(node["assigned"].as<int>(getAssigned()));
	setSpent(node["spent"].as<int>(getSpent()));
	setCost(node["cost"].as<int>(getCost()));
}
Esempio n. 4
0
int main(int argc, char* argv[]) {
    // Initialize shared memory
    if (ipc.init(false))
        exit(1);

    // Initialize nominal beaconContainer
    parseWaypoints();
    
    // Create camera semaphore/ mutex
    sem_init(&semCam, 0, 0);
    if (pthread_mutex_init(&mutexImageData, NULL) != 0) {
        printf("\n Camera mutex init failed\n");
        exit(1);
    }
    
    // Start camera thread
    pthread_t tid;
    int err = pthread_create(&tid, NULL, &camThread, NULL);
    if (err != 0) {
        printf("\nCan't create camera thread :[%s]", strerror(err));
        exit(1);
    }
    
    lastPhotogramMicros = getMicroSec();
    
    // Main loop
    for(;;photogram++) {        
        TRACE(DEBUG, "\nPHOTOGRAM %d, milliseconds: %ld\n", photogram, getMillisSinceStart());
        
        // Update time variables
        photogramMicros = getMicroSec();
        lastPhotogramSpentTime = getSpent(photogramMicros - lastPhotogramMicros);
        microsSinceStart += lastPhotogramSpentTime;
        lastPhotogramMicros = photogramMicros;
        
        // Get drone roll, pitch and yaw
        attitudeT attitude, delayedAttitude;
        ipc.getAttitude(attitude);
        
        attitudeSignal.push(attitude, lastPhotogramSpentTime);
        delayedAttitude = attitudeSignal.getSignal();
        
        droneRoll = delayedAttitude.roll * 0.01;
        dronePitch = delayedAttitude.pitch * 0.01;
        droneYaw = delayedAttitude.yaw * 0.01;
        
        // Update estimated servo values
        rollStatusServo.update(lastPhotogramSpentTime);
        pitchStatusServo.update(lastPhotogramSpentTime);
        
        if (rollStatusServo.inBigStep() || pitchStatusServo.inBigStep()) {
            sem_wait(&semCam);
            continue;
        }
       
        // Update estimated camera roll and pitch
        roll = droneRoll + rollStatusServo.getEstimatedAngle();
        pitch = dronePitch + pitchStatusServo.getEstimatedAngle();
        
        // Switch beacon containers to preserve one history record
        if (beaconContainer == &beaconContainerA) {
            beaconContainer = &beaconContainerB;
            oldBeaconContainer = &beaconContainerA;
        }
        else {
            beaconContainer = &beaconContainerA;
            oldBeaconContainer = &beaconContainerB;
        }
        beaconContainer->clean();
  
        // Wait until new frame is received
        sem_wait(&semCam);
        
        // Where the magic happens
        findBeacons();
        groupBeacons();
        findWaypoints();
        computePosition();
    }
    StopCamera();
    printf("Finished.\n");
    
    return 0;
}