static void
standard_output (void)
{
/* CSV */
if (conf.output_format && strcmp ("csv", conf.output_format) == 0)
output_csv (logger, holder);
/* JSON */
else if (conf.output_format && strcmp ("json", conf.output_format) == 0)
output_json (logger, holder);
/* HTML */
else
output_html (logger, holder);
}
int main( int ac, char** av )
{
try
{
comma::command_line_options options( ac, av, usage );
comma::csv::options input_csv( options, field_names< snark::control::target_t >() );
const char delimiter = input_csv.delimiter;
comma::csv::input_stream< snark::control::target_t > input_stream( std::cin, input_csv, snark::control::target_t( options.exists( "--heading-is-absolute" ) ) );
comma::csv::options output_csv( options );
output_csv.full_xpath = true;
output_csv.fields = "wayline/heading,error/cross_track,error/heading";
if( input_csv.binary() ) { output_csv.format( format< snark::control::control_data_t >( output_csv.fields, true ) ); }
comma::csv::output_stream< snark::control::control_data_t > output_stream( std::cout, output_csv );
if( options.exists( "--format" ) ) { std::cout << format< snark::control::target_t >() << std::endl; return 0; }
if( options.exists( "--output-format" ) ) { std::cout << format< snark::control::control_data_t >( output_csv.fields, true ) << std::endl; return 0; }
if( options.exists( "--output-fields" ) ) { std::cout << output_csv.fields << std::endl; return 0; }
double proximity = options.value< double >( "--proximity", default_proximity );
if( proximity <= 0 ) { std::cerr << name << ": expected positive proximity, got " << proximity << std::endl; return 1; }
control_mode_t mode = mode_from_string( options.value< std::string >( "--mode", default_mode ) );
bool use_past_endpoint = options.exists( "--past-endpoint" );
bool use_delay = options.exists( "--frequency,-f" );
boost::posix_time::microseconds delay( 0 );
boost::posix_time::ptime next_output_time( boost::posix_time::microsec_clock::universal_time() );
if( use_delay )
{
double frequency = options.value< double >( "--frequency,-f" );
if( frequency <= 0 ) { std::cerr << name << ": expected positive frequency, got " << frequency << std::endl; return 1; }
delay = boost::posix_time::microseconds( static_cast< long >( 1000000 / frequency ) );
}
bool verbose = options.exists( "--verbose,-v" );
std::vector< std::string > unnamed = options.unnamed( "--help,-h,--verbose,-v,--format,--output-format,--output-fields,--past-endpoint,--heading-is-absolute", "-.*,--.*" );
if( unnamed.empty() ) { std::cerr << name << ": feedback stream is not given" << std::endl; return 1; }
comma::csv::options feedback_csv = comma::name_value::parser( "filename", ';', '=', false ).get< comma::csv::options >( unnamed[0] );
if( input_csv.binary() && !feedback_csv.binary() ) { std::cerr << name << ": cannot join binary input stream with ascii feedback stream" << std::endl; return 1; }
if( !input_csv.binary() && feedback_csv.binary() ) { std::cerr << name << ": cannot join ascii input stream with binary feedback stream" << std::endl; return 1; }
if( feedback_csv.fields.empty() ) { feedback_csv.fields = field_names< snark::control::feedback_t >(); }
comma::io::istream feedback_in( feedback_csv.filename, feedback_csv.binary() ? comma::io::mode::binary : comma::io::mode::ascii, comma::io::mode::non_blocking );
comma::csv::input_stream< snark::control::feedback_t > feedback_stream( *feedback_in, feedback_csv );
comma::io::select select;
select.read().add( feedback_in );
boost::optional< snark::control::vector_t > from;
boost::scoped_ptr< snark::control::wayline_t > wayline;
comma::signal_flag is_shutdown;
while( !is_shutdown && ( input_stream.ready() || ( std::cin.good() && !std::cin.eof() ) ) )
{
reached_t reached;
const snark::control::target_t* target = input_stream.read();
if( !target ) { break; }
snark::control::vector_t to = target->position;
if( verbose ) { std::cerr << name << ": received target waypoint " << snark::control::serialise( to ) << std::endl; }
if( from && snark::control::distance( *from, to ) < proximity ) { continue; }
if( from ) { wayline.reset( new snark::control::wayline_t( *from, to, verbose ) ); }
while( !is_shutdown && std::cout.good() )
{
if( input_stream.ready() )
{
if( mode == fixed ) {}
else if( mode == dynamic ) { from = boost::none; break; }
else { std::cerr << name << ": control mode '" << mode_to_string( mode ) << "' is not implemented" << std::endl; return 1; }
}
select.wait( boost::posix_time::microseconds( 10000 ) );
if( !is_shutdown && ( feedback_stream.ready() || select.read().ready( feedback_in ) ) )
{
const snark::control::feedback_t* feedback = feedback_stream.read();
if( !feedback ) { std::cerr << name << ": feedback stream error occurred prior to reaching waypoint " << snark::control::serialise( to ) << std::endl; return 1; }
if( use_delay && boost::posix_time::microsec_clock::universal_time() < next_output_time ) { continue; }
if( !from )
{
from = feedback->position;
wayline.reset( new snark::control::wayline_t( *from, to, verbose ) );
}
if( snark::control::distance( feedback->position, to ) < proximity ) { reached = reached_t( "proximity" ); }
if( use_past_endpoint && wayline->is_past_endpoint( feedback->position ) ) { reached = reached_t( "past endpoint" ); }
if( reached )
{
if( verbose ) { std::cerr << name << ": waypoint " << snark::control::serialise( to ) << " is reached (" << reached.reason << ")" << std::endl; }
if( mode == fixed ) { from = to; }
else if( mode == dynamic ) { from = boost::none; }
else { std::cerr << name << ": control mode '" << mode_to_string( mode ) << "' is not implemented" << std::endl; return 1; }
break;
}
snark::control::error_t error;
error.cross_track = wayline->cross_track_error( feedback->position );
if( target->is_absolute ) { error.heading = snark::control::wrap_angle( target->heading_offset - feedback->yaw ); }
else { error.heading = wayline->heading_error( feedback->yaw, target->heading_offset ); }
if( input_csv.binary() ) { std::cout.write( input_stream.binary().last(), input_csv.format().size() ); }
else { std::cout << comma::join( input_stream.ascii().last(), delimiter ) << delimiter; }
if( feedback_csv.binary() ) { std::cout.write( feedback_stream.binary().last(), feedback_csv.format().size() ); }
else { std::cout << comma::join( feedback_stream.ascii().last(), delimiter ) << delimiter; }
output_stream.write( snark::control::control_data_t( *wayline, error ) );
if( use_delay ) { next_output_time = boost::posix_time::microsec_clock::universal_time() + delay; }
}
}
}
return 0;
}
catch( std::exception& ex ) { std::cerr << name << ": " << ex.what() << std::endl; }
catch( ... ) { std::cerr << name << ": unknown exception" << std::endl; }
return 1;
}
int
main (int argc, char **argv)
{
int quit = 0;
#if defined(__GLIBC__)
setup_signal_handlers ();
#endif
/* command line/config options */
verify_global_config (argc, argv);
parse_conf_file (&argc, &argv);
parse_cmd_line (argc, argv);
/* initialize storage */
init_storage ();
/* setup to use the current locale */
set_locale ();
#ifdef HAVE_LIBGEOIP
init_geoip ();
#endif
/* init logger */
logger = init_log ();
/* init parsing spinner */
parsing_spinner = new_gspinner ();
parsing_spinner->process = &logger->process;
/* outputting to stdout */
if (conf.output_html) {
ui_spinner_create (parsing_spinner);
goto out;
}
/* init curses */
set_input_opts ();
if (conf.no_color || has_colors () == FALSE) {
conf.color_scheme = NO_COLOR;
conf.no_color = 1;
} else {
start_color ();
}
init_colors ();
init_windows (&header_win, &main_win);
set_curses_spinner (parsing_spinner);
/* configuration dialog */
if (isatty (STDIN_FILENO) && (conf.log_format == NULL || conf.load_conf_dlg)) {
refresh ();
quit = verify_format (logger, parsing_spinner);
}
/* straight parsing */
else {
ui_spinner_create (parsing_spinner);
}
out:
/* main processing event */
time (&start_proc);
if (conf.load_from_disk)
set_general_stats ();
else if (!quit && parse_log (&logger, NULL, -1))
FATAL ("Error while processing file");
logger->offset = logger->process;
/* no valid entries to process from the log */
if ((logger->process == 0) || (logger->process == logger->invalid))
FATAL ("Nothing valid to process.");
/* init reverse lookup thread */
gdns_init ();
parse_initial_sort ();
allocate_holder ();
end_spinner ();
time (&end_proc);
/* stdout */
if (conf.output_html) {
/* CSV */
if (conf.output_format && strcmp ("csv", conf.output_format) == 0)
output_csv (logger, holder);
/* JSON */
else if (conf.output_format && strcmp ("json", conf.output_format) == 0)
output_json (logger, holder);
/* HTML */
else
output_html (logger, holder);
}
/* curses */
else {
allocate_data ();
if (!conf.skip_term_resolver)
gdns_thread_create ();
render_screens ();
get_keys ();
attroff (COLOR_PAIR (COL_WHITE));
/* restore tty modes and reset
* terminal into non-visual mode */
endwin ();
}
/* clean */
house_keeping ();
return EXIT_SUCCESS;
}