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"); }