/**
* Creates the ini file for the odom and initializes the odom values to initial values
*/
void Odometry_Boot(Sensor * sensor,SensorVariable * start)
{
/* MAKE THESE GLOBAL*/
LOG.ODOMETRY("BOOTING THE ODOMETERY SENSOR");
if(fileExists("config/odometry.ini"))
{
dictionary* config = iniparser_load("config/odometry.ini");
Odometry_leftWheelMeterPerTick = iniparser_getdouble(config,"WheelEncoderConstant:MeterPerTickLeft",0);
Odometry_rightWheelMeterPerTick = iniparser_getdouble(config,"WheelEncoderConstant:MeterPerTickRight",0);
Odometry_trackInMeters = iniparser_getdouble(config,"DistanceBetweenWheels:track",0);
Odometry_cvarL = iniparser_getdouble(config,"Variance:LeftWheel",.000049871);
Odometry_cvarR = iniparser_getdouble(config,"Variance:RightWheel",.000073805);
iniparser_freedict(config);
LOG.ODOMETRY("Odometry Ini file loaded");
}
else
{
LOG.ERR("odomentry.ini was not found");
}
matrix Variance = Matrix_Create(2,2);
Variance = Matrix_SetValue(Variance,1,1,.01);
Variance = Matrix_SetValue(Variance,2,2,.01);
sensor->state->Variance=Variance;
sensor->state->State= Matrix_Create(3,1);
sensor->H = Matrix_Create(2,6);
sensor->H = Matrix_SetValue(sensor->H,1,4,PSOUpdateRateInS);
sensor->H = Matrix_SetValue(sensor->H,1,5,Odometry_trackInMeters*PSOUpdateRateInS/2.0);
sensor->H = Matrix_SetValue(sensor->H,2,4,PSOUpdateRateInS);
sensor->H = Matrix_SetValue(sensor->H,2,5,-Odometry_trackInMeters*PSOUpdateRateInS/2.0);
Odometry_rightWheelTicks=Microprocessor->getRightWheelTicks();
Odometry_leftWheelTicks=Microprocessor->getLeftWheelTicks();
}
void parseFile()
{
char key[MAX_KEY_SIZE];
int i;
taskCount = iniparser_getnsec(file);
tasks = (iniTask*) malloc(sizeof(iniTask) * taskCount);
for(i = 0; i < taskCount; ++i) {
sprintf(tasks[i].secname, "%s", iniparser_getsecname(file, i));
sprintf(key, "%s:%s", tasks[i].secname, T_E_MAX);
tasks[i].tEMax = iniparser_getdouble(file, key, 0);
sprintf(key, "%s:%s", tasks[i].secname, T_D_MAX);
tasks[i].tDMax = iniparser_getdouble(file, key, 0);
sprintf(key, "%s:%s", tasks[i].secname, T_P_MIN);
tasks[i].tPMin = iniparser_getdouble(file, key, 0);
sprintf(key, "%s:%s", tasks[i].secname, T_B);
tasks[i].tB = iniparser_getdouble(file, key, 0);
sprintf(key, "%s:%s", tasks[i].secname, PRIORITY);
tasks[i].prio = iniparser_getint(file, key, 0);
}
}
double InitParser::get_double(const string& key) const
{
double d = iniparser_getdouble(dico, key.c_str(), -11111.111111356);
// To be sure :) (bugfree)
if (d==-11111.111111356) {
d = iniparser_getdouble(dico, key.c_str(), 0.);
if (d==0.) {
cerr << "WARNING : Can't find the configuration key \"" << key << "\", default 0 value returned\n";
}
}
return d;
}
double InitParser::get_double(const string& key) const
{
double d = iniparser_getdouble(dico, key.c_str(), -11111.111111356);
// To be sure :) (bugfree)
if (d==-11111.111111356) {
d = iniparser_getdouble(dico, key.c_str(), 0.);
if (d==0.) {
//~ cerr << "WARNING : Can't find the configuration key \"" << key << "\", default 0 value returned\n";
Log.write("Init_parser : can't find the configuration key \"" + key + "\", default 0 value returned", cLog::eLOG_TYPE_WARNING);
}
}
return d;
}
static double ini_get_double(struct config *c, ...)
{
dictionary *ini = (dictionary *)c->priv;
char **key = NULL;
char *tmp = NULL;
double ret;
int cnt = 0;
va_list ap;
va_start(ap, c);
tmp = va_arg(ap, char *);
while (tmp) {//last argument must be NULL
cnt++;
key = (char **)realloc(key, cnt*sizeof(char**));
key[cnt-1] = tmp;
tmp = va_arg(ap, char *);
}
va_end(ap);
switch (cnt) {
case 1:
ret = iniparser_getdouble(ini, key[0], -1.0);
break;
default:
break;
}
free(key);
return ret;
}
float MSG_db1_data::get_channel_Calibration_value_calibrated( int count )
{
if (! is_data_ok( )) return 0;
if (count < 0 && count >= ncalval) return 0.0;
snprintf(infochuse, INFOCHLEN, "%s:%s(%d)", get_channel_INFO_variable( ),
get_channel_INFO_variable_code( ), count);
return (float) iniparser_getdouble(Calibration, infochuse, 0.0);
}
int
ini_getdouble (double *value, char *key)
{
if (!ini_find (key))
return 0;
*value = iniparser_getdouble (yap_config, key, -1.0);
return 1;
}
double ReadDouble( Props *p, const char *name, double def )
{
if( p != NULL )
{
return iniparser_getdouble( p->p_Dict, name, def );
}
return 0;
}
int parse_ini_file(char * ini_name)
{
dictionary * ini=NULL ;
dictionary * test_dict=NULL;
/* Some temporary variables to hold query results */
int b ;
int i ;
double d ;
char * s ;
char *out_str=NULL;
fprintf(stderr,"Loading...\n");
ini = iniparser_load(ini_name);
if (ini==NULL) {
fprintf(stderr, "cannot parse file: %s\n", ini_name);
return -1 ;
}
fprintf(stderr,"Dumping...\n");
iniparser_dump_ini(ini, stderr);
fprintf(stdout,"To_stringi...\n");
out_str=iniparser_to_string(ini);
fprintf(stdout,"\nstring:\n");
fprintf(stdout,"%s\n",out_str);
fprintf(stdout,"From_string\n");
test_dict=iniparser_load_from_string(test_dict,out_str);
fprintf(stderr,"Dict from string:\n");
iniparser_dump_ini(test_dict, stderr);
/* Get pizza attributes */
printf("Pizza:\n");
b = iniparser_getboolean(ini, "pizza:ham", -1);
printf("Ham: [%d]\n", b);
b = iniparser_getboolean(ini, "pizza:mushrooms", -1);
printf("Mushrooms: [%d]\n", b);
b = iniparser_getboolean(ini, "pizza:capres", -1);
printf("Capres: [%d]\n", b);
b = iniparser_getboolean(ini, "pizza:cheese", -1);
printf("Cheese: [%d]\n", b);
/* Get wine attributes */
printf("Wine:\n");
s = iniparser_getstring(ini, "wine:grape", NULL);
printf("Grape: [%s]\n", s ? s : "UNDEF");
i = iniparser_getint(ini, "wine:year", -1);
printf("Year: [%d]\n", i);
s = iniparser_getstring(ini, "wine:country", NULL);
printf("Country: [%s]\n", s ? s : "UNDEF");
d = iniparser_getdouble(ini, "wine:alcohol", -1.0);
printf("Alcohol: [%g]\n", d);
iniparser_freedict(ini);
return 0 ;
}
double ConfigParser::getDouble(const char* name, bool required, double minval, double maxval, double defval){
const char * rtnnam = "ConfigParser::getDouble()";
double tmp;
if (required){
double missval = -9999.;
tmp = iniparser_getdouble(_dict, name, missval);
if (doubles_equal(tmp, missval)){
logger << "ERROR: " << rtnnam << " required value not found: " << name << std::endl;
std::abort();
}
} else {
tmp = iniparser_getdouble(_dict, name, defval);
}
if (tmp < minval || tmp > maxval) {
logger << "ERROR: " << rtnnam << " value out of bounds " << name << std::endl;
logger << "ERROR: " << rtnnam << " val = " << tmp << ", minval = " << minval << ", maxval = " << maxval << std::endl;
std::abort();
}
logger << "INFO: " << name << " = " << tmp << std::endl;
return tmp;
}
/**
* Initliazes the Compass with the .ini file
*/
void Compass_Boot(Sensor * sensor,SensorVariable * start)
{
LOG.COMPASS("Compassing Booting");
if(fileExists("config/compass.ini"))
{
dictionary* config = iniparser_load("config/compass.ini");
COMPASS_Variance = iniparser_getdouble(config,"Variance:Variance",0.523598776);
COMPASS_Declination= iniparser_getdouble(config,"Declination:Declination",-7.5);
iniparser_freedict(config);
LOG.COMPASS("compass.ini file loaded");
}
else
{
LOG.COMPASS("compass.ini was not found");
}
sensor->H = Matrix_Create(1,5);
sensor->H = Matrix_SetValue(sensor->H,1,3,1);
sensor->state->State= Matrix_Create(1,1);
sensor->state->Variance = Matrix_Create(1,1);
LOG.COMPASS("Compassing Booted");
}
int parse_ini_file(char * ini_name)
{
dictionary * ini ;
/* Some temporary variables to hold query results */
int b ;
int i ;
double d ;
char * s ;
ini = iniparser_load(ini_name);
if (ini==NULL) {
fprintf(stderr, "cannot parse file: %s\n", ini_name);
return -1 ;
}
iniparser_dump(ini, stderr);
/* Get pizza attributes */
printf("Pizza:\n");
b = iniparser_getboolean(ini, "pizza:ham", -1);
printf("Ham: [%d]\n", b);
b = iniparser_getboolean(ini, "pizza:mushrooms", -1);
printf("Mushrooms: [%d]\n", b);
b = iniparser_getboolean(ini, "pizza:capres", -1);
printf("Capres: [%d]\n", b);
b = iniparser_getboolean(ini, "pizza:cheese", -1);
printf("Cheese: [%d]\n", b);
/* Get wine attributes */
printf("Wine:\n");
s = iniparser_getstring(ini, "wine:grape", NULL);
printf("Grape: [%s]\n", s ? s : "UNDEF");
i = iniparser_getint(ini, "wine:year", -1);
printf("Year: [%d]\n", i);
s = iniparser_getstring(ini, "wine:country", NULL);
printf("Country: [%s]\n", s ? s : "UNDEF");
d = iniparser_getdouble(ini, "wine:alcohol", -1.0);
printf("Alcohol: [%g]\n", d);
iniparser_freedict(ini);
return 0 ;
}
int dsfq_load_data_from_config (dictionary * dict)
{
dsfq_depth=iniparser_getint(dict, "DSFQ:depth" ,dsfq_depth);
dsfq_proxy_listen_port=iniparser_getint(dict,"DSFQ:listen_port",dsfq_proxy_listen_port);
dsfq_threshold=iniparser_getint(dict, "DSFQ:threshold", dsfq_threshold);
dsfq_min_share=iniparser_getdouble(dict, "DSFQ:min_share", dsfq_min_share);
if (dsfq_depth<=0)
{
fprintf(stderr, "wrong depth\n");
exit(-1);
}
if (dsfq_proxy_listen_port<=1024 || dsfq_proxy_listen_port>65535)
{
fprintf(stderr, "wrong port\n");
exit(-1);
}
if (dsfq_proxy_listen_port==active_port)
{
fprintf(stderr, "conflict port with proxy\n");
exit(-1);
}
if (dsfq_threshold<=0)
{
fprintf(stderr, "wrong threshold\n");
exit(-1);
}
if (dsfq_min_share<=0.0001f)
{
fprintf(stderr, "wrong minimum share\n");
exit(-1);
}
fprintf(stderr,"DSFQ using depth:%i\n",dsfq_depth);
fprintf(stderr,"DSFQ using port:%i\n",dsfq_proxy_listen_port);
dsfq_threshold*=1024;
fprintf(stderr,"DSFQ using threshold:%i\n",dsfq_threshold);
fprintf(stderr,"DSFQ using min_share:%f for HYBRID_DSFQ\n",dsfq_min_share);
}
void
EtParams_assign_from_file (EtParams *params, const char *fname_params)
{
double dtmp;
dictionary *dict;
CAPTURE_NULL_VOID (params);
CAPTURE_NULL_VOID (fname_params);
if ((dict = iniparser_load (fname_params)) == NULL)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Unable to read parameters from %s.", fname_params);
return;
}
/* GEOMETRY */
if ((dtmp = iniparser_getdouble (dict, "optics:magnification", -1.0)) == -1.0)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'magnification' not found in %s.", fname_params);
return;
}
params->magnification = (float) dtmp;
/* CTF */
/* Ignore CTF if acc_voltage is zero or not present */
if ((dtmp = iniparser_getdouble (dict, "electronbeam:acc_voltage", 0.0)) == 0.0)
{
use_ctf_flag = 0;
iniparser_freedict (dict);
return;
}
use_ctf_flag = 1;
params->acc_voltage = (float) dtmp * ONE_KILOVOLT;
if ((dtmp = iniparser_getdouble (dict, "electronbeam:energy_spread", -1.0)) == -1.0)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'energy_spread' not found in %s.",
fname_params);
return;
}
params->energy_spread = (float) dtmp;
if ((dtmp = iniparser_getdouble (dict, "optics:cs", -1.0)) == -1.0)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'cs' not found in %s.", fname_params);
return;
}
params->cs = (float) dtmp * ONE_MILLIMETER;
if ((dtmp = iniparser_getdouble (dict, "optics:cc", -1.0)) == -1.0)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'cc' not found in %s.", fname_params);
return;
}
params->cc = (float) dtmp * ONE_MILLIMETER;
if ((dtmp = iniparser_getdouble (dict, "optics:aperture", -1.0)) == -1.0)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'aperture' not found in %s.", fname_params);
return;
}
params->aperture = (float) dtmp * ONE_MICROMETER;
if ((dtmp = iniparser_getdouble (dict, "optics:focal_length", -1.0)) == -1.0)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'focal_length' not found in %s.", fname_params);
return;
}
params->focal_length = (float) dtmp * ONE_MILLIMETER;
if ((dtmp = iniparser_getdouble (dict, "optics:cond_ap_angle", -1.0)) == -1.0)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'cond_ap_angle' not found in %s.", fname_params);
return;
}
params->cond_ap_angle = (float) dtmp * ONE_MILLIRADIAN;
if ((dtmp = iniparser_getdouble (dict, "optics:defocus_nominal", -1.0)) == -1.0)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'defocus_nominal' not found in %s.", fname_params);
return;
}
params->defocus_nominal = (float) dtmp * ONE_MICROMETER;
/* If not found in config file, set to predefined ACR */
params->acr = (float) iniparser_getdouble (dict, "volume:famp", ACR);
/* The MTF parameters all have default values */
use_mtf_flag = 1;
params->mtf_a = iniparser_getdouble (dict, "detector:mtf_a", 0.0);
params->mtf_b = iniparser_getdouble (dict, "detector:mtf_b", 0.0);
params->mtf_c = iniparser_getdouble (dict, "detector:mtf_c", 1.0);
params->mtf_alpha = iniparser_getdouble (dict, "detector:mtf_alpha", 0.0);
params->mtf_beta = iniparser_getdouble (dict, "detector:mtf_beta", 0.0);
params->mtf_p = iniparser_getint (dict, "detector:mtf_p", 1);
params->mtf_q = iniparser_getint (dict, "detector:mtf_q", 1);
/* If a and b are zero, the MTF collapses to a constant. This means 'no MTF'. */
if ((params->mtf_a == 0.0) && (params->mtf_b == 0.0))
use_mtf_flag = 0;
iniparser_freedict (dict);
/* Derived parameters */
/* Compute relativistic wave number (unit: [1/nm]) */
/* momentum * c [eV] */
dtmp = sqrtf (params->acc_voltage * params->acc_voltage + 2 * params->acc_voltage * EL_REST_ENERGY);
params->wave_number = (float) 2 * M_PI * dtmp / HC;
/* Compute constant derived from cc (unit: [nm]) */
dtmp = 1.0 / (2 * EL_REST_ENERGY); // some factor
params->cc1 = (float) (1 + 2 * dtmp * params->acc_voltage)
/ (params->acc_voltage * (1 + dtmp * params->acc_voltage)) * params->cc;
/* Compute cutoff radius due to aperture */
params->aper_cutoff = (params->wave_number * params->aperture) / params->focal_length;
return;
}
float MSG_db1_data::get_INFO_schedule_elevation( )
{
if (! is_data_ok( )) return 0;
return (float) iniparser_getdouble(INFO, "Schedule:Elevation", 90.0);
}
inline double getdouble(const char* key, double notfound) {
return iniparser_getdouble(dict_, strconcat(section_name_, key), notfound);
}
int
mm_player_ini_load(void)
{
static gboolean loaded = FALSE;
dictionary * dict = NULL;
gint idx = 0;
if ( loaded )
return MM_ERROR_NONE;
dict = NULL;
/* disabling ini parsing for launching */
#if 1 //debianize
/* get player ini status because system will be crashed
* if ini file is corrupted.
*/
/* FIXIT : the api actually deleting illregular ini. but the function name said it's just checking. */
__mm_player_ini_check_ini_status();
/* first, try to load existing ini file */
dict = iniparser_load(MM_PLAYER_INI_DEFAULT_PATH);
/* if no file exists. create one with set of default values */
if ( !dict )
{
#if 0
debug_log("No inifile found. player will create default inifile.\n");
if ( FALSE == __generate_default_ini() )
{
debug_warning("Creating default inifile failed. Player will use default values.\n");
}
else
{
/* load default ini */
dict = iniparser_load(MM_PLAYER_INI_DEFAULT_PATH);
}
#else
debug_log("No inifile found. \n");
return MM_ERROR_FILE_NOT_FOUND;
#endif
}
#endif
/* get ini values */
memset( &g_player_ini, 0, sizeof(mm_player_ini_t) );
if ( dict ) /* if dict is available */
{
/* general */
g_player_ini.use_decodebin = iniparser_getboolean(dict, "general:use decodebin", DEFAULT_USE_DECODEBIN);
g_player_ini.disable_segtrap = iniparser_getboolean(dict, "general:disable segtrap", DEFAULT_DISABLE_SEGTRAP);
g_player_ini.skip_rescan = iniparser_getboolean(dict, "general:skip rescan", DEFAULT_SKIP_RESCAN);
g_player_ini.video_surface = DEFAULT_VIDEO_SURFACE;
g_player_ini.generate_dot = iniparser_getboolean(dict, "general:generate dot", DEFAULT_GENERATE_DOT);
g_player_ini.provide_clock= iniparser_getboolean(dict, "general:provide clock", DEFAULT_PROVIDE_CLOCK);
g_player_ini.live_state_change_timeout = iniparser_getint(dict, "general:live state change timeout", DEFAULT_LIVE_STATE_CHANGE_TIMEOUT);
g_player_ini.localplayback_state_change_timeout = iniparser_getint(dict, "general:localplayback state change timeout", DEFAULT_LOCALPLAYBACK_STATE_CHANGE_TIMEOUT);
g_player_ini.eos_delay = iniparser_getint(dict, "general:eos delay", DEFAULT_EOS_DELAY);
g_player_ini.async_start = iniparser_getboolean(dict, "general:async start", DEFAULT_ASYNC_START);
g_player_ini.multiple_codec_supported = iniparser_getboolean(dict, "general:multiple codec supported", DEFAULT_MULTIPLE_CODEC_SUPPORTED);
g_player_ini.delay_before_repeat = iniparser_getint(dict, "general:delay before repeat", DEFAULT_DELAY_BEFORE_REPEAT);
MMPLAYER_INI_GET_STRING( g_player_ini.videosink_element_x, "general:videosink element x", DEFAULT_VIDEOSINK_X);
MMPLAYER_INI_GET_STRING( g_player_ini.videosink_element_evas, "general:videosink element evas", DEFAULT_VIDEOSINK_EVAS);
MMPLAYER_INI_GET_STRING( g_player_ini.videosink_element_fake, "general:videosink element fake", DEFAULT_VIDEOSINK_FAKE);
MMPLAYER_INI_GET_STRING( g_player_ini.name_of_drmsrc, "general:drmsrc element", DEFAULT_DRMSRC );
MMPLAYER_INI_GET_STRING( g_player_ini.name_of_audiosink, "general:audiosink element", DEFAULT_AUDIOSINK );
MMPLAYER_INI_GET_STRING( g_player_ini.name_of_video_converter, "general:video converter element", DEFAULT_VIDEO_CONVERTER );
__get_string_list( (gchar**) g_player_ini.exclude_element_keyword,
iniparser_getstring(dict, "general:element exclude keyword", DEFAULT_EXCLUDE_KEYWORD));
MMPLAYER_INI_GET_STRING( g_player_ini.gst_param[0], "general:gstparam1", DEFAULT_GST_PARAM );
MMPLAYER_INI_GET_STRING( g_player_ini.gst_param[1], "general:gstparam2", DEFAULT_GST_PARAM );
MMPLAYER_INI_GET_STRING( g_player_ini.gst_param[2], "general:gstparam3", DEFAULT_GST_PARAM );
MMPLAYER_INI_GET_STRING( g_player_ini.gst_param[3], "general:gstparam4", DEFAULT_GST_PARAM );
MMPLAYER_INI_GET_STRING( g_player_ini.gst_param[4], "general:gstparam5", DEFAULT_GST_PARAM );
/* audio filter (Preset)*/
g_player_ini.use_audio_filter_preset = iniparser_getboolean(dict, "sound effect:audio filter preset", DEFAULT_USE_AUDIO_FILTER_PRESET);
if (g_player_ini.use_audio_filter_preset)
{
MMPLAYER_INI_GET_BOOLEAN_FROM_LIST( g_player_ini.audio_filter_preset_list, MM_AUDIO_FILTER_PRESET_NUM,
"sound effect:audio filter preset list", DEFAULT_AUDIO_FILTER_PRESET_LIST );
MMPLAYER_INI_GET_BOOLEAN_FROM_LIST( g_player_ini.audio_filter_preset_earphone_only_list, MM_AUDIO_FILTER_PRESET_NUM,
"sound effect:audio filter preset earphone only", DEFAULT_AUDIO_FILTER_PRESET_LIST_EARPHONE_ONLY );
}
/* for audio filter custom (EQ / Extension filters) */
g_player_ini.use_audio_filter_custom = iniparser_getboolean(dict, "sound effect:audio filter custom", DEFAULT_USE_AUDIO_FILTER_CUSTOM);
if (g_player_ini.use_audio_filter_custom)
{
MMPLAYER_INI_GET_BOOLEAN_FROM_LIST( g_player_ini.audio_filter_custom_list, MM_AUDIO_FILTER_CUSTOM_NUM,
"sound effect:audio filter custom list", DEFAULT_AUDIO_FILTER_CUSTOM_LIST );
MMPLAYER_INI_GET_BOOLEAN_FROM_LIST( g_player_ini.audio_filter_custom_earphone_only_list, MM_AUDIO_FILTER_CUSTOM_NUM,
"sound effect:audio filter custom earphone only", DEFAULT_AUDIO_FILTER_CUSTOM_LIST_EARPHONE_ONLY );
/* for audio filter custom : EQ */
if (g_player_ini.audio_filter_custom_list[MM_AUDIO_FILTER_CUSTOM_EQ])
{
g_player_ini.audio_filter_custom_eq_num = iniparser_getint(dict, "sound effect:audio filter eq num",
DEFAULT_AUDIO_FILTER_CUSTOM_EQ_NUM);
if (g_player_ini.audio_filter_custom_eq_num < DEFAULT_AUDIO_FILTER_CUSTOM_EQ_NUM || g_player_ini.audio_filter_custom_eq_num > MM_AUDIO_FILTER_EQ_BAND_MAX)
{
debug_error("audio_filter_custom_eq_num(%d) is not valid range(%d - %d), set the value %d",
g_player_ini.audio_filter_custom_eq_num, DEFAULT_AUDIO_FILTER_CUSTOM_EQ_NUM, MM_AUDIO_FILTER_EQ_BAND_MAX, DEFAULT_AUDIO_FILTER_CUSTOM_EQ_NUM);
g_player_ini.audio_filter_custom_eq_num = DEFAULT_AUDIO_FILTER_CUSTOM_EQ_NUM;
}
}
/* for audio filter custom : extension filters */
g_player_ini.audio_filter_custom_ext_num = iniparser_getint(dict, "sound effect:audio filter ext num",
DEFAULT_AUDIO_FILTER_CUSTOM_EXT_NUM);
if (g_player_ini.audio_filter_custom_ext_num > 0)
{
MMPLAYER_INI_GET_INT_FROM_LIST( g_player_ini.audio_filter_custom_min_level_list, MM_AUDIO_FILTER_CUSTOM_NUM,
"sound effect:audio filter custom min list", DEFAULT_AUDIO_FILTER_CUSTOM_LIST );
MMPLAYER_INI_GET_INT_FROM_LIST( g_player_ini.audio_filter_custom_max_level_list, MM_AUDIO_FILTER_CUSTOM_NUM,
"sound effect:audio filter custom max list", DEFAULT_AUDIO_FILTER_CUSTOM_LIST );
}
}
#if 0
int i;
for (i=0; i<MM_AUDIO_FILTER_PRESET_NUM; i++)
{
debug_log("audio_filter_preset_list: %d (is it for earphone only?(%d))\n", g_player_ini.audio_filter_preset_list[i], g_player_ini.audio_filter_preset_earphone_only_list[i]);
}
for (i=0; i<MM_AUDIO_FILTER_CUSTOM_NUM; i++)
{
debug_log("audio_filter_custom_list : %d (is it for earphone only?(%d))\n", g_player_ini.audio_filter_custom_list[i], g_player_ini.audio_filter_custom_earphone_only_list[i]);
}
debug_log("audio_filter_custom : eq_num(%d), ext_num(%d)\n", g_player_ini.audio_filter_custom_eq_num, g_player_ini.audio_filter_custom_ext_num )
for (i=0; i<MM_AUDIO_FILTER_CUSTOM_NUM; i++)
{
debug_log("aaudio_filter_custom_level_min_max_list : min(%d), max(%d)\n", g_player_ini.audio_filter_custom_min_level_list[i], g_player_ini.audio_filter_custom_max_level_list[i]);
}
#endif
/* http streaming */
MMPLAYER_INI_GET_STRING( g_player_ini.name_of_httpsrc, "http streaming:httpsrc element", DEFAULT_HTTPSRC );
MMPLAYER_INI_GET_STRING( g_player_ini.http_file_buffer_path, "http streaming:http file buffer path", DEFAULT_HTTP_FILE_BUFFER_PATH );
g_player_ini.http_buffering_limit = iniparser_getdouble(dict, "http streaming:http buffering high limit", DEFAULT_HTTP_BUFFERING_LIMIT);
g_player_ini.http_max_size_bytes = iniparser_getint(dict, "http streaming:http max size bytes", DEFAULT_HTTP_MAX_SIZE_BYTES);
g_player_ini.http_buffering_time = iniparser_getdouble(dict, "http streaming:http buffering time", DEFAULT_HTTP_BUFFERING_TIME);
g_player_ini.http_timeout = iniparser_getint(dict, "http streaming:http timeout", DEFAULT_HTTP_TIMEOUT);
/* rtsp streaming */
MMPLAYER_INI_GET_STRING( g_player_ini.name_of_rtspsrc, "rtsp streaming:rtspsrc element", DEFAULT_RTSPSRC );
g_player_ini.rtsp_buffering_time = iniparser_getint(dict, "rtsp streaming:rtsp buffering time", DEFAULT_RTSP_BUFFERING);
g_player_ini.rtsp_rebuffering_time = iniparser_getint(dict, "rtsp streaming:rtsp rebuffering time", DEFAULT_RTSP_REBUFFERING);
g_player_ini.rtsp_do_typefinding = iniparser_getboolean(dict, "rtsp streaming:rtsp do typefinding", DEFAULT_RTSP_DO_TYPEFINDING);
g_player_ini.rtsp_error_concealment = iniparser_getboolean(dict, "rtsp streaming:rtsp error concealment", DEFAULT_RTSP_ERROR_CONCEALMENT);
/* hw accelation */
g_player_ini.use_video_hw_accel = iniparser_getboolean(dict, "hw accelation:use video hw accel", DEFAULT_USE_VIDEO_HW_ACCEL);
/* priority */
g_player_ini.use_priority_setting = iniparser_getboolean(dict, "priority:use priority setting", DEFAULT_USE_PRIORITY_SETTING);
g_player_ini.demux_priority = iniparser_getint(dict, "priority:demux", DEFAULT_PRIORITY_DEMUX);
g_player_ini.videosink_priority = iniparser_getint(dict, "priority:videosink", DEFAULT_PRIORITY_VIDEO_SINK);
g_player_ini.audiosink_priority = iniparser_getint(dict, "priority:audiosink", DEFAULT_PRIORITY_AUDIO_SINK);
g_player_ini.ringbuffer_priority = iniparser_getint(dict, "priority:ringbuffer", DEFAULT_PRIORITY_RINGBUFFER);
}
else /* if dict is not available just fill the structure with default value */
{
void Test_iniparser_getdouble(CuTest *tc)
{
dictionary *dic;
/* NULL test */
CuAssertDblEquals(tc, -42, iniparser_getdouble(NULL, NULL, -42), 0);
CuAssertDblEquals(tc, 4.2, iniparser_getdouble(NULL, "dummy", 4.2), 0);
/* Check the def return element */
dic = dictionary_new(10);
CuAssertDblEquals(tc, 3.1415, iniparser_getdouble(dic, "dummy", 3.1415), 0);
CuAssertDblEquals(tc, 0xFFFFFFFF, iniparser_getdouble(dic, NULL, 0xFFFFFFFF), 0);
CuAssertDblEquals(tc, -0xFFFFFFFF, iniparser_getdouble(dic, "dummy", -0xFFFFFFFF), 0);
/* Insert some values */
dictionary_set(dic, "double", "");
dictionary_set(dic, "double:good0", "0");
dictionary_set(dic, "double:good1", "-0");
dictionary_set(dic, "double:good2", "1.0");
dictionary_set(dic, "double:good3", "3.1415");
dictionary_set(dic, "double:good4", "6.6655957");
dictionary_set(dic, "double:good5", "-123456789.123456789");
/* Add dummy stuff too */
dictionary_set(dic, "double:bad0", "foo");
/* Get back the values */
CuAssertDblEquals(tc, 0, iniparser_getdouble(dic, "double:good0", 0xFF), 0);
CuAssertDblEquals(tc, 0, iniparser_getdouble(dic, "double:good1", 0xFF), 0);
CuAssertDblEquals(tc, 1.0, iniparser_getdouble(dic, "double:good2", 0xFF), 0);
CuAssertDblEquals(tc, 3.1415, iniparser_getdouble(dic, "double:good3", 0xFF), 0);
CuAssertDblEquals(tc, 6.6655957, iniparser_getdouble(dic, "double:good4", 0xFF), 0);
CuAssertDblEquals(tc, -123456789.123456789,
iniparser_getdouble(dic, "double:good5", 0xFF), 0);
CuAssertDblEquals(tc, 0, iniparser_getdouble(dic, "double:bad0", 42.42), 0);
dictionary_del(dic);
}
void load_config(char configPath[255], char supportedInput[255], void* params)
{
struct config_params *p = (struct config_params *)params;
FILE *fp;
//config: creating path to default config file
if (configPath[0] == '\0') {
char *configFile = "config";
char *configHome = getenv("XDG_CONFIG_HOME");
if (configHome != NULL) {
sprintf(configPath,"%s/%s/", configHome, PACKAGE);
} else {
configHome = getenv("HOME");
if (configHome != NULL) {
sprintf(configPath,"%s/%s/%s/", configHome, ".config", PACKAGE);
} else {
printf("No HOME found (ERR_HOMELESS), exiting...");
exit(EXIT_FAILURE);
}
}
// config: create directory
mkdir(configPath, 0777);
// config: adding default filename file
strcat(configPath, configFile);
fp = fopen(configPath, "ab+");
if (fp) {
fclose(fp);
} else {
printf("Unable to access config '%s', exiting...\n", configPath);
exit(EXIT_FAILURE);
}
} else { //opening specified file
fp = fopen(configPath, "rb+");
if (fp) {
fclose(fp);
} else {
printf("Unable to open file '%s', exiting...\n", configPath);
exit(EXIT_FAILURE);
}
}
// config: parse ini
dictionary* ini;
ini = iniparser_load(configPath);
//setting fifo to defaualt if no other input modes supported
inputMethod = (char *)iniparser_getstring(ini, "input:method", "fifo");
//setting alsa to defaualt if supported
#ifdef ALSA
inputMethod = (char *)iniparser_getstring(ini, "input:method", "alsa");
#endif
//setting pulse to defaualt if supported
#ifdef PULSE
inputMethod = (char *)iniparser_getstring(ini, "input:method", "pulse");
#endif
#ifdef NCURSES
outputMethod = (char *)iniparser_getstring(ini, "output:method", "ncurses");
#endif
#ifndef NCURSES
outputMethod = (char *)iniparser_getstring(ini, "output:method", "noncurses");
#endif
p->monstercat = 1.5 * iniparser_getdouble(ini, "smoothing:monstercat", 1);
p->waves = iniparser_getint(ini, "smoothing:waves", 0);
p->integral = iniparser_getdouble(ini, "smoothing:integral", 90);
p->gravity = iniparser_getdouble(ini, "smoothing:gravity", 100);
p->ignore = iniparser_getdouble(ini, "smoothing:ignore", 0);
p->color = (char *)iniparser_getstring(ini, "color:foreground", "default");
p->bcolor = (char *)iniparser_getstring(ini, "color:background", "default");
p->gradient = iniparser_getint(ini, "color:gradient", 0);
if (p->gradient) {
p->gradient_color_1 = (char *)iniparser_getstring(ini, "color:gradient_color_1", "#0099ff");
p->gradient_color_2 = (char *)iniparser_getstring(ini, "color:gradient_color_2", "#ff3399");
}
p->fixedbars = iniparser_getint(ini, "general:bars", 0);
p->bw = iniparser_getint(ini, "general:bar_width", 2);
p->bs = iniparser_getint(ini, "general:bar_spacing", 1);
p->framerate = iniparser_getint(ini, "general:framerate", 60);
p->sens = iniparser_getint(ini, "general:sensitivity", 100);
p->autosens = iniparser_getint(ini, "general:autosens", 1);
p->overshoot = iniparser_getint(ini, "general:overshoot", 20);
p->lowcf = iniparser_getint(ini, "general:lower_cutoff_freq", 50);
p->highcf = iniparser_getint(ini, "general:higher_cutoff_freq", 10000);
// config: output
channels = (char *)iniparser_getstring(ini, "output:channels", "stereo");
p->raw_target = (char *)iniparser_getstring(ini, "output:raw_target", "/dev/stdout");
data_format = (char *)iniparser_getstring(ini, "output:data_format", "binary");
p->bar_delim = (char)iniparser_getint(ini, "output:bar_delimiter", 59);
p->frame_delim = (char)iniparser_getint(ini, "output:frame_delimiter", 10);
p->ascii_range = iniparser_getint(ini, "output:ascii_max_range", 1000);
p->bit_format = iniparser_getint(ini, "output:bit_format", 16);
// read & validate: eq
p->smooth = smoothDef;
p->smcount = iniparser_getsecnkeys(ini, "eq");
if (p->smcount > 0) {
p->customEQ = 1;
p->smooth = malloc(p->smcount*sizeof(p->smooth));
#ifndef LEGACYINIPARSER
const char *keys[p->smcount];
iniparser_getseckeys(ini, "eq", keys);
#endif
#ifdef LEGACYINIPARSER
char **keys = iniparser_getseckeys(ini, "eq");
#endif
for (int sk = 0; sk < p->smcount; sk++) {
p->smooth[sk] = iniparser_getdouble(ini, keys[sk], 1);
}
} else {
p->customEQ = 0;
p->smcount = 64; //back to the default one
}
// config: input
p->im = 0;
if (strcmp(inputMethod, "alsa") == 0) {
p->im = 1;
p->audio_source = (char *)iniparser_getstring(ini, "input:source", "hw:Loopback,1");
}
if (strcmp(inputMethod, "fifo") == 0) {
p->im = 2;
p->audio_source = (char *)iniparser_getstring(ini, "input:source", "/tmp/mpd.fifo");
}
if (strcmp(inputMethod, "pulse") == 0) {
p->im = 3;
p->audio_source = (char *)iniparser_getstring(ini, "input:source", "auto");
}
validate_config(supportedInput, params);
//iniparser_freedict(ini);
}
int parse_ini_file(char *ini_name)
{
//printf("%s %s\n",__func__,ini_name);
if (ini_name == NULL){
logErrDate("%s: no ini name provided?!\n",__func__);
exit_all(-1);
}
struct stat sts;
if (stat(ini_name, &sts) != 0){ //file does not exist
create_ini_file(ini_name);
printf("No config file present. %s created.\n",ini_name);
}
dictionary *ini ;
ini = iniparser_load(ini_name);
if (ini==NULL) {
create_ini_file(ini_name);
printf("Config file %s created.\n",ini_name);
ini = iniparser_load(ini_name);
}
spsadc = iniparser_getint(ini, "default:spsadc", 860);
sps = (float)iniparser_getdouble(ini, "default:sps", 500);
pga[0] = iniparser_getint(ini, "default:pga_ch1", 0);
pga[1] = iniparser_getint(ini, "default:pga_ch2", 0);
pga[2] = iniparser_getint(ini, "default:pga_ch3", 0);
pga[3] = iniparser_getint(ini, "default:pga_ch4", 0);
auto_pga = iniparser_getint(ini, "default:auto_pga", 1);
pga_updelay = max(iniparser_getint(ini, "default:pga_updelay", 300),1);
char *s; //pointer to statically allocated char string
s = iniparser_getstring(ini, "output:datafile_dir", "/home/pi/data");
strcpy(datafiledir,s);
s = iniparser_getstring(ini, "output:file_user", "pi");
strcpy(file_user,s);
//validity check
if (isValueInIntArr(spsadc,SPSv,SPSv_count) && pga[0]>-1 && pga[0]<6 &&
pga[1]>-1 && pga[1]<6 && pga[2]>-1 && pga[2]<6 && pga[3]>-1 && pga[3]<6){
iniparser_freedict(ini);
//verify spsadc for feasibility
for (SPSc=0; SPSc<SPSv_count; SPSc++)
if (SPSv[SPSc] == spsadc)
break;
//if not found
if (SPSc >= SPSv_count){
SPSc = SPSv_count-1;
printf("Invalid spsadc specified (%d)! Will use %d instead!\n",
spsadc,SPSv[SPSc]);
spsadc=SPSv[SPSc];
}
sampl = (int)((float)60*sps);
printf("Config file %s read. sps=%gHz, spsadc: %iHz, (1 min contains "
"%d samples)\n",ini_name,sps,SPSv[SPSc],sampl);
if (auto_pga)
printf("Dynamic input voltage range selection (in 5 steps)\n");
else
printf("Input voltage ranges ch1:+/-%g, ch2: +/-%g, ch3: +/-%g, ch4: +/-%g\n",
fmin(overvoltage,PGAv[pga[0]]),fmin(overvoltage,PGAv[pga[1]]),
fmin(overvoltage,PGAv[pga[2]]),fmin(overvoltage,PGAv[pga[3]]));
printf("Data location: %s, file owner: %s\n",datafiledir,file_user);
return 0;
}
else {
logErrDate("Invalid config file!\n");
create_ini_file(ini_name);
printf("New config file %s created.\n",ini_name);
iniparser_freedict(ini);
return -1;
}
}
// Initialize the GPS sensor
void GPS_Boot(Sensor * sensor,SensorVariable * start)
{
if(fileExists("config/GPS.ini"))
{
dictionary* config = iniparser_load("config/GPS.ini");
GPS_LatitudeRatio = iniparser_getdouble(config,"Conversion:Latitude",0);
GPS_LongitudeRatio= iniparser_getdouble(config,"Conversion:Longitude",0);
GPS_longLowLimit= iniparser_getdouble(config,"Limit:LowLongitude",0);
GPS_longHighLimit= iniparser_getdouble(config,"Limit:HighLongitude",360);
GPS_latLowLimit= iniparser_getdouble(config,"Limit:LowLatitude",0);
GPS_latHighLimit= iniparser_getdouble(config,"Limit:HighLatitude",360);
GPS_angleDtLength = iniparser_getdouble(config,"Angle:DtLength",1.0);
GPS_angleVarianceMult = iniparser_getdouble(config,"Angle:VarianceMultiplyer",1);
GPS_latOffset = iniparser_getdouble(config,"Offset:Latitude",1.0);
GPS_longOffset = iniparser_getdouble(config,"Offset:Longitude",1);
GPS_velocityMin = iniparser_getdouble(config,"Limit:VelocityMin",.5);
GPS_velcityBeliefFactor = iniparser_getdouble(config,"Conversion:VelocityBeliefFactor",.5);
GPS_networkOutputOnly = iniparser_getboolean(config, "Output:NetworkOutputOnly", 0);
iniparser_freedict(config);
LOG.GPS("GPS Ini file loaded");
}
else
{
LOG.GPS("gps.ini was not found");
}
// CHAD: I am awsome DELETE ME
GPS_angleVarianceMult = 10;
GPS_angleLastLat = 0.0;
GPS_angleLastLong = 0.0;
GPS_anglePrevious = 0;
int bootUpAttempt = 0;
GPS_angleSum=10000;
GPS_networkOutputOnly = 1;
// TODO: figure out if this is required or not
/*
* This may or may not be required!!!!!!
* It is required for initalization purposes:)
*/
/*
StateVariable TestState;
while(bootUpAttempt == 0)
{
GPS_Update(sensor,TestState);
if(sensor->hasBeenUpdated)
{
WOOOOO Major HACK
if(sensor->state->Location.columns==2)
{
Matrix_SetValue(start->Location,1,1,Matrix_GetValue(sensor->state->Location,1,1));
Matrix_SetValue(start->Location,2,1,Matrix_GetValue(sensor->state->Location,2,1));
}
else
{
LOG.VERBOSE("Retrying to find gps corrdinates to get an inital offset.");
}
}
else
{
LOG.VERBOSE("Retrying to find gps corrdinates to get an inital offset.");
}
}
*/
}
void
AiParams_assign_from_AiOpts (AiParams *params, const AiOpts *opts)
{
int itmp;
float ta_sx, ta_sy;
double dtmp;
dictionary *dict;
CAPTURE_NULL_VOID (params);
CAPTURE_NULL_VOID (opts);
if ((dict = iniparser_load (opts->fname_params)) == NULL)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Unable to read parameters from %s.", opts->fname_params);
return;
}
/* Regularization */
/* TODO: implement anisotropic mollifier (3 gamma's) */
vec3_set_all (params->gamma, opts->gamma * ONE_MICROMETER);
params->moll_ft = moll_types[opts->moll_type];
/* VOLUME */
if ((itmp = iniparser_getint (dict, "volume:nx", -1)) == -1)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'nx' not found in %s.", opts->fname_params);
return;
}
params->vol_shape[0] = itmp;
if ((itmp = iniparser_getint (dict, "volume:ny", -1)) == -1)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'ny' not found in %s.", opts->fname_params);
return;
}
params->vol_shape[1] = itmp;
if ((itmp = iniparser_getint (dict, "volume:nz", -1)) == -1)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'nz' not found in %s.", opts->fname_params);
return;
}
params->vol_shape[2] = itmp;
if ((dtmp = iniparser_getdouble (dict, "volume:voxel_size", FLT_MAX)) == FLT_MAX)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'voxel_size' not found in %s.", opts->fname_params);
return;
}
vec3_set_all (params->vol_csize, (float) dtmp);
/* Overrides MRC header */
params->vol_shift_px[0] = (float) iniparser_getdouble (dict, "volume:shift_x", FLT_MAX);
params->vol_shift_px[1] = (float) iniparser_getdouble (dict, "volume:shift_y", FLT_MAX);
params->vol_shift_px[2] = (float) iniparser_getdouble (dict, "volume:shift_z", FLT_MAX);
/* GEOMETRY */
/* Single axis: parallel tilt axis shift */
dtmp = iniparser_getdouble (dict, "geometry:tilt_axis", 0.0);
if (fabsf (dtmp) < 45.0) /* Use "x" backprojection variant */
{
params->tilt_axis = 0;
params->tilt_axis_rotation = (float) dtmp;
}
else
{
params->tilt_axis = 1;
/* What's missing to +- 90 degrees */
params->tilt_axis_rotation = (dtmp > 0) ? (float)(dtmp - 90.0) : (float)(-dtmp + 90.0);
}
ta_sx = (float) iniparser_getdouble (dict, "geometry:axis_shift_x", 0.0);
ta_sy = (float) iniparser_getdouble (dict, "geometry:axis_shift_y", 0.0);
params->tilt_axis_par_shift_px = ta_sx * sinf (params->tilt_axis_rotation * ONE_DEGREE)
+ ta_sy * cosf (params->tilt_axis_rotation * ONE_DEGREE);
/* DETECTOR */
/* Overrides MRC header */
dtmp = iniparser_getdouble (dict, "detector:pixel_size", 0.0);
params->detector_px_size[0] = (float) dtmp * ONE_MICROMETER;
params->detector_px_size[1] = (float) dtmp * ONE_MICROMETER;
params->detector_px_size[2] = 1.0;
iniparser_freedict (dict);
/* REGULARIZATION 2 */
if (use_ctf_flag && truncate_ctf_flag)
params->ctf_trunc = opts->ctf_trunc;
return;
}
double INI::get(std::string where, double default_value)
{
return iniparser_getdouble(this->ini, where.c_str(), default_value);
}
void DrawMap( map_t* map ) {
cairo_surface_t* surface = NULL;
cairo_t* cr = NULL;
uint16_t surfaceW = (uint16_t)iniparser_getint( ini, "MapDrawer:maxSize", 1024 ),
surfaceH = surfaceW;
double scale = 1.0;
uint32_t i = 0;
color_t bgColor = {255, 255, 255};
color_t wallColor = {0, 0, 0}; // Normal wall color
color_t fdColor = {128, 128, 128}; // Floor difference
color_t cdColor = {128, 128, 128}; // Ceiling difference
color_t shColor = {128, 128, 128}; // Same height
color_t trigColor = {224, 112, 0};
// Boolean variables
uint8_t drawThings = (uint8_t)iniparser_getboolean( ini, "MapDrawer:drawThings", 0 ),
countThings = (uint8_t)iniparser_getboolean( ini, "MapDrawer:countThings", 0 );
// Print info
printf( "Name: %.8s\nDimensions: %ux%u\nThings: %d\nLinedefs: %d\n"
"Sidedefs: %d\nVertexes: %d\nSectors: %d\n\n", map->name, map->width,
map->height, map->numthings, map->numlinedefs, map->numsidedefs,
map->numvertexes, map->numsectors );
if ( map->width > map->height ) {
surfaceH = (surfaceW * map->height) / map->width;
scale = (double)(surfaceW - 8) / map->width;
} else if ( map->height > map->width ) {
surfaceW = (surfaceH * map->width) / map->height;
scale = (double)(surfaceH - 8) / map->height;
} else {
scale = (double)(surfaceW - 8) / map->width;
}
surface = cairo_svg_surface_create( "map.svg", surfaceW, surfaceH );
cr = cairo_create( surface );
cairo_set_source_rgb( cr, NORM_COLOR(bgColor) );
cairo_paint( cr );
if ( !iniparser_getboolean( ini, "MapDrawer:antiAlias", 1 ) ) {
cairo_set_antialias( cr, CAIRO_ANTIALIAS_NONE );
}
cairo_set_line_width( cr, iniparser_getdouble( ini, "MapDrawer:lineWidth", 2.0 ) );
cairo_translate( cr, surfaceW / 2.0, surfaceH / 2.0 );
// Draw the map's lines
for ( i = 0; i < map->numlinedefs; ++i ) {
vertex_t v1 = map->vertexes[map->linedefs[i].v1];
vertex_t v2 = map->vertexes[map->linedefs[i].v2];
linedef_t linedef = map->linedefs[i];
uint16_t j = 0;
// Offset to 0, 0
v1.x += -map->centerv.x; v1.y += -map->centerv.y;
v2.x += -map->centerv.x; v2.y += -map->centerv.y;
// Default is regular solid wall
cairo_set_source_rgb( cr, NORM_COLOR(wallColor) );
// Check for two sided
if ( linedef.sidenum[1] >= 0 ) {
sector_t frontsector = map->sectors[map->sidedefs[linedef.sidenum[0]].sectornum];
sector_t backsector = map->sectors[map->sidedefs[linedef.sidenum[1]].sectornum];
if ( frontsector.floorheight != backsector.floorheight ) { // Floor difference
cairo_set_source_rgb( cr, NORM_COLOR(fdColor) );
} else if ( frontsector.ceilingheight != backsector.ceilingheight ) { // Ceiling difference
cairo_set_source_rgb( cr, NORM_COLOR(cdColor) );
} else { // Same height
cairo_set_source_rgb( cr, NORM_COLOR(shColor) );
}
}
// Check for triggers
for ( j = 0; j < sizeof(trigLineNums) / sizeof(int16_t); ++j ) {
if ( linedef.special == trigLineNums[j] ) {
cairo_set_source_rgb( cr, NORM_COLOR(trigColor) );
break;
}
}
// Check for locked doors
switch ( linedef.special ) {
// Red door
case 28: case 33: case 134: case 135:
cairo_set_source_rgb( cr, 1.0, 0.0, 0.0 );
break;
// Blue door
case 26: case 32: case 99: case 133:
cairo_set_source_rgb( cr, 0.0, 0.0, 1.0 );
break;
// Yellow door
case 27: case 34: case 136: case 137:
cairo_set_source_rgb( cr, 1.0, 0.9, 0.0 );
break;
default:
break;
}
cairo_move_to( cr, v1.x * scale, -(v1.y * scale) );
cairo_line_to( cr, v2.x * scale, -(v2.y * scale) );
cairo_stroke( cr );
}
// Draw and count the map's things
if ( countThings || drawThings ) {
for ( i = 0; i < map->numthings; ++i ) {
int16_t type = map->things[i].type;
// Count thing
if ( countThings ) {
CountThing( type, map->things[i].flags );
}
// Draw thing
if ( drawThings ) {
int16_t x = map->things[i].x += -map->centerv.x;
int16_t y = map->things[i].y += -map->centerv.y;
// Player 1 start (16 radius)
if ( type == 1 ) {
cairo_set_source_rgb( cr, 0.0, 1.0, 0.0 );
cairo_rectangle( cr, (x * scale) - (16 * scale),
-((y * scale) + (16 * scale)),
32 * scale, 32 * scale );
cairo_fill( cr );
// Keys (20 radius)
} else if ( type == 5 || type == 40 ) { // Blue card / skull
cairo_set_source_rgb( cr, 0.0, 0.0, 1.0 );
cairo_rectangle( cr, (x * scale) - (20 * scale),
-((y * scale) + (20 * scale)),
40 * scale, 40 * scale );
cairo_fill( cr );
} else if ( type == 13 || type == 38 ) { // Red card / skull
cairo_set_source_rgb( cr, 1.0, 0.0, 0.0 );
cairo_rectangle( cr, (x * scale) - (20 * scale),
-((y * scale) + (20 * scale)),
40 * scale, 40 * scale );
cairo_fill( cr );
} else if ( type == 6 || type == 39 ) { // Yellow card / skull
cairo_set_source_rgb( cr, 1.0, 0.9, 0.0 );
cairo_rectangle( cr, (x * scale) - (20 * scale),
-((y * scale) + (20 * scale)),
40 * scale, 40 * scale );
cairo_fill( cr );
}
}
}
}
// Print thing counts
if ( countThings ) {
PrintThingCounts();
}
// Write and cleanup
cairo_surface_write_to_png( surface, "map.png" );
cairo_destroy( cr );
cairo_surface_destroy( surface );
}
double InitParser::get_double(const string& section, const string& key, double def) const
{
return iniparser_getdouble(dico, (section+":"+key).c_str(), def);
}
// Initializes the FPGA, the sabertooth and the mototrs
void FPGA_Boot(void)
{
LOG.INFO("Initializing FPGA...");
FPGA_Status = NiFpga_Initialize();
if (NiFpga_IsNotError(FPGA_Status))
{
// opens a session, downloads the bitstream, and runs the FPGA.
LOG.INFO("Opening a session FPGA...");
NiFpga_MergeStatus(&FPGA_Status, NiFpga_Open(NiFpga_mainFPGA_Bitfile,
NiFpga_mainFPGA_Signature,
"RIO0",
NiFpga_OpenAttribute_NoRun,
&FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("ReDownloading the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Download(FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("Restarting the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Reset(FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("Running the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Run(FPGA_Session, 0));
if (NiFpga_IsNotError(FPGA_Status))
{
}
else
{
LOG.ERR("FPGA Fail to run fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to redownload fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to redownload fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to open a session. Error Code %d ",FPGA_Status);
}
}
LOG.VERBOSE("Reading Constants for the fpga");
if(fileExists("config/odometry.ini"))
{
dictionary* config = iniparser_load("config/odometry.ini");
leftWheelConversionConstant = 1/(iniparser_getdouble(config,"MotorEncoderConstant:MeterPerTickLeft",0)) * PIDUpdateRateInMs/1000;
rightWheelConversionConstant = 1/(iniparser_getdouble(config,"MotorEncoderConstant:MeterPerTickRight",0)) * PIDUpdateRateInMs/1000;
iniparser_freedict(config);
LOG.VERBOSE("Odometry Ini file loaded for fpga!");
}
else
{
LOG.ERR("!!!!!!!!!!!!!!!!odomentry.ini was not found!!!!!!!!!!!!!!!!!!!!!!");
}
if(fileExists("config/pid.ini")) {
dictionary* config = iniparser_load("config/pid.ini");
max_pid_speed = (uint16_t) iniparser_getint(config, "Both:MaxSpeedTicksPerDt", 0);
left_pid_pro_gain = iniparser_getint(config, "LeftPID:ProportionalGain",0);
left_pid_int_gain = iniparser_getint(config, "LeftPID:IntegralGain",0);
left_pid_der_gain = iniparser_getint(config, "LeftPID:DerivativeGain", 0);
right_pid_pro_gain = iniparser_getint(config, "RightPID:ProportionalGain",0);
right_pid_int_gain = iniparser_getint(config, "RightPID:IntegralGain",0);
right_pid_der_gain = iniparser_getint(config, "RightPID:DerivativeGain",0);
iniparser_freedict(config);
LOG.VERBOSE("PID INI file loaded for FPGA");
}
else {
LOG.ERR("PID.ini was not found");
}
if(fileExists("config/CRIO.ini")) {
dictionary* config = iniparser_load("config/CRIO.ini");
sabertooth_address = (uint8_t) iniparser_getint(config, "Sabertooth:Address", 130);
iniparser_freedict(config);
LOG.VERBOSE("Sabertooth address loaded for FPGA");
}
else {
LOG.ERR("Unable to load Sabertooth address");
}
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteU8(FPGA_Session,NiFpga_mainFPGA_ControlU8_SlewRateControl, 10));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Failed to set Sabertooth slew rate");
}
FPGA_SetPIDdt(PIDUpdateRateInMs * 1000);
FPGA_setMaxPIDSpeed(max_pid_speed);
FPGA_setLPIDProGain(left_pid_pro_gain);
FPGA_setLPIDIntGain(left_pid_int_gain);
FPGA_setLPIDDerGain(left_pid_der_gain);
FPGA_setRPIDProGain(right_pid_pro_gain);
FPGA_setRPIDIntGain(right_pid_int_gain);
FPGA_setRPIDDerGain(right_pid_der_gain);
FPGA_setSabertoothAddress(sabertooth_address);
// This logs the version number
LOG.INFO("FPGA VERSION = %d",FPGA_GetVersion());
LOG.INFO("Turning on the motors");
FPGA_SetMotorStatus(1);
}
int initilise(char *inifile){
dictionary *d;
d = iniparser_load(inifile);
if (d==NULL) {
printf("cannot parse file [%s]", inifile);
return -1 ;
}
// iniparser_dump(d, stderr);
// char string[MAXLEN];
char *string = malloc(MAXLEN*(sizeof(char)));
char suffix1[5],suffix2[5],suffix3[5],suffix4[5];
// Model parameters
string = iniparser_getstring(d, "model:directory", "/nfs/local-cosmos2/projects/planck/jf334.private/Modes/");
strcpy(directory,string);
eflag_lmax = iniparser_getint(d, "model:lmax", 1000);
nscalar = iniparser_getdouble(d, "model:nscalar", 9.60891e-1);
deltaphi = iniparser_getdouble(d, "model:delta_phi", 1.5714e-8);
kpivot = iniparser_getdouble(d, "model:kpivot", 5e-2);
string = iniparser_getstring(d, "model:BN_file", "/nfs/local-cosmos2/projects/planck/jf334.private/DeltaDX9/smica/BN_smica_ml.txt");
if(string[0] == '/'){
strcpy(beam_noise_file,string);
}else{
beam_noise_file[0] = '\0';
strcat(beam_noise_file, directory);
strcat(beam_noise_file, string);
}
use_l_file = iniparser_getint(d, "model:use_l_file", 0);
string = iniparser_getstring(d, "model:lini_file", "lini.txt");
if(string[0] == '/'){
strcpy(lini_file,string);
}else{
lini_file[0] = '\0';
strcat(lini_file, directory);
strcat(lini_file, string);
}
// Basis parameters
alpha_max = iniparser_getint(d, "basis:terms", 101);
eflag_order_prim = iniparser_getint(d, "basis:order_prim", 3);
eflag_order_late = iniparser_getint(d, "basis:order_late", 3);
rflag_do3D = iniparser_getint(d, "basis:do3D", 1);
clflag_uselens = iniparser_getint(d, "basis:uselens", 1);
alpha_points = iniparser_getint(d, "basis:alpha_points", 100);
string = iniparser_getstring(d, "model:transfer_wgt_file", "wmap7_Tl.txt");
if(string[0] == '/'){
strcpy(transfer_wgt_file,string);
}else{
transfer_wgt_file[0] = '\0';
strcat(transfer_wgt_file, directory);
strcat(transfer_wgt_file, string);
}
string = iniparser_getstring(d, "model:cls_lens_file", "cls_planck_lens.txt");
if(string[0] == '/'){
strcpy(lens_data_file,string);
}else{
lens_data_file[0] = '\0';
strcat(lens_data_file, directory);
strcat(lens_data_file, string);
}
string = iniparser_getstring(d, "model:cls_file", "cls_planck.txt");
if(string[0] == '/'){
strcpy(cls_data_file,string);
}else{
cls_data_file[0] = '\0';
strcat(cls_data_file, directory);
strcat(cls_data_file, string);
}
suffix1[0] = '\0';
sprintf(suffix1, "%d", eflag_lmax);
suffix2[0] = '\0';
sprintf(suffix2, "%d", alpha_max);
suffix3[0] = '\0';
sprintf(suffix3, "%d", eflag_order_prim);
suffix4[0] = '\0';
sprintf(suffix4, "%d", eflag_order_late);
string = iniparser_getstring(d, "model:order_file_prim", "order_dist.txt");
if(string[0] == '/'){
strcpy(edist_file,string);
}else{
edist_file[0] = '\0';
strcat(edist_file, directory);
strcat(edist_file, string);
}
string = iniparser_getstring(d, "model:order_file_late", "order_dist.txt");
if(string[0] == '/'){
strcpy(mdist_file,string);
}else{
mdist_file[0] = '\0';
strcat(mdist_file, directory);
strcat(mdist_file, string);
}
string = iniparser_getstring(d, "model:order_file_prim_tri", "order_dist_tri.txt");
if(string[0] == '/'){
strcpy(edist_tri_file,string);
}else{
edist_tri_file[0] = '\0';
strcat(edist_tri_file, directory);
strcat(edist_tri_file, string);
}
string = iniparser_getstring(d, "model:order_file_late_tri", "order_dist_tri.txt");
if(string[0] == '/'){
strcpy(mdist_tri_file,string);
}else{
mdist_tri_file[0] = '\0';
strcat(mdist_tri_file, directory);
strcat(mdist_tri_file, string);
}
string = iniparser_getstring(d, "basis:eigen_file", "eigen");
if(string[0] == '/'){
strcpy(eigen_data_file,string);
}else{
eigen_data_file[0] = '\0';
strcat(eigen_data_file, directory);
strcat(eigen_data_file, string);
strcat(eigen_data_file, "_");
strcat(eigen_data_file, suffix1);
strcat(eigen_data_file, "_");
strcat(eigen_data_file, suffix3);
strcat(eigen_data_file, "_");
strcat(eigen_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:eigen_file_tri", "eigen_tri");
if(string[0] == '/'){
strcpy(eigen_tri_data_file,string);
}else{
eigen_tri_data_file[0] = '\0';
strcat(eigen_tri_data_file, directory);
strcat(eigen_tri_data_file, string);
strcat(eigen_tri_data_file, "_");
strcat(eigen_tri_data_file, suffix1);
strcat(eigen_tri_data_file, "_");
strcat(eigen_tri_data_file, suffix3);
strcat(eigen_tri_data_file, "_");
strcat(eigen_tri_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:modes_file", "modes");
if(string[0] == '/'){
strcpy(modes_data_file,string);
}else{
modes_data_file[0] = '\0';
strcat(modes_data_file, directory);
strcat(modes_data_file, string);
strcat(modes_data_file, "_");
strcat(modes_data_file, suffix1);
strcat(modes_data_file, "_");
strcat(modes_data_file, suffix4);
strcat(modes_data_file, "_");
strcat(modes_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:modes_file_tri", "modes_tri");
if(string[0] == '/'){
strcpy(modes_tri_data_file,string);
}else{
modes_tri_data_file[0] = '\0';
strcat(modes_tri_data_file, directory);
strcat(modes_tri_data_file, string);
strcat(modes_tri_data_file, "_");
strcat(modes_tri_data_file, suffix1);
strcat(modes_tri_data_file, "_");
strcat(modes_tri_data_file, suffix4);
strcat(modes_tri_data_file, "_");
strcat(modes_tri_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:ortho_file", "ortho");
if(string[0] == '/'){
strcpy(ortho_data_file,string);
}else{
ortho_data_file[0] = '\0';
strcat(ortho_data_file, directory);
strcat(ortho_data_file, string);
strcat(ortho_data_file, "_");
strcat(ortho_data_file, suffix1);
strcat(ortho_data_file, "_");
strcat(ortho_data_file, suffix3);
strcat(ortho_data_file, "_");
strcat(ortho_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:ortho_file_tri", "ortho_tri");
if(string[0] == '/'){
strcpy(ortho_tri_data_file,string);
}else{
ortho_tri_data_file[0] = '\0';
strcat(ortho_tri_data_file, directory);
strcat(ortho_tri_data_file, string);
strcat(ortho_tri_data_file, "_");
strcat(ortho_tri_data_file, suffix1);
strcat(ortho_tri_data_file, "_");
strcat(ortho_tri_data_file, suffix3);
strcat(ortho_tri_data_file, "_");
strcat(ortho_tri_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:orthol_file", "orthol");
if(string[0] == '/'){
strcpy(orthol_data_file,string);
}else{
orthol_data_file[0] = '\0';
strcat(orthol_data_file, directory);
strcat(orthol_data_file, string);
strcat(orthol_data_file, "_");
strcat(orthol_data_file, suffix1);
strcat(orthol_data_file, "_");
strcat(orthol_data_file, suffix4);
strcat(orthol_data_file, "_");
strcat(orthol_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:orthol_file_tri", "orthol_tri");
if(string[0] == '/'){
strcpy(orthol_tri_data_file,string);
}else{
orthol_tri_data_file[0] = '\0';
strcat(orthol_tri_data_file, directory);
strcat(orthol_tri_data_file, string);
strcat(orthol_tri_data_file, "_");
strcat(orthol_tri_data_file, suffix1);
strcat(orthol_tri_data_file, "_");
strcat(orthol_tri_data_file, suffix4);
strcat(orthol_tri_data_file, "_");
strcat(orthol_tri_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:lambda_file", "lambda");
if(string[0] == '/'){
strcpy(lambda_data_file,string);
}else{
lambda_data_file[0] = '\0';
strcat(lambda_data_file, directory);
strcat(lambda_data_file, string);
strcat(lambda_data_file, "_");
strcat(lambda_data_file, suffix1);
strcat(lambda_data_file, "_");
strcat(lambda_data_file, suffix3);
strcat(lambda_data_file, "_");
strcat(lambda_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:lambda_file_tri", "lambda_tri");
if(string[0] == '/'){
strcpy(lambda_tri_data_file,string);
}else{
lambda_tri_data_file[0] = '\0';
strcat(lambda_tri_data_file, directory);
strcat(lambda_tri_data_file, string);
strcat(lambda_tri_data_file, "_");
strcat(lambda_tri_data_file, suffix1);
strcat(lambda_tri_data_file, "_");
strcat(lambda_tri_data_file, suffix3);
strcat(lambda_tri_data_file, "_");
strcat(lambda_tri_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:lambdal_file", "lambdal");
if(string[0] == '/'){
strcpy(lambdal_data_file,string);
}else{
lambdal_data_file[0] = '\0';
strcat(lambdal_data_file, directory);
strcat(lambdal_data_file, string);
strcat(lambdal_data_file, "_");
strcat(lambdal_data_file, suffix1);
strcat(lambdal_data_file, "_");
strcat(lambdal_data_file, suffix4);
strcat(lambdal_data_file, "_");
strcat(lambdal_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:lambdal_file_tri", "lambdal_tri");
if(string[0] == '/'){
strcpy(lambdal_tri_data_file,string);
}else{
lambdal_tri_data_file[0] = '\0';
strcat(lambdal_tri_data_file, directory);
strcat(lambdal_tri_data_file, string);
strcat(lambdal_tri_data_file, "_");
strcat(lambdal_tri_data_file, suffix1);
strcat(lambdal_tri_data_file, "_");
strcat(lambdal_tri_data_file, suffix4);
strcat(lambdal_tri_data_file, "_");
strcat(lambdal_tri_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:gamma_file", "gamma");
if(string[0] == '/'){
strcpy(gamma_data_file,string);
}else{
gamma_data_file[0] = '\0';
strcat(gamma_data_file, directory);
strcat(gamma_data_file, string);
strcat(gamma_data_file, "_");
strcat(gamma_data_file, suffix1);
strcat(gamma_data_file, "_");
strcat(gamma_data_file, suffix3);
strcat(gamma_data_file, "_");
strcat(gamma_data_file, suffix4);
strcat(gamma_data_file, "_");
strcat(gamma_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:gamma_tri_file", "gamma_tri");
if(string[0] == '/'){
strcpy(gamma_tri_data_file,string);
}else{
gamma_tri_data_file[0] = '\0';
strcat(gamma_tri_data_file, directory);
strcat(gamma_tri_data_file, string);
strcat(gamma_tri_data_file, "_");
strcat(gamma_tri_data_file, suffix1);
strcat(gamma_tri_data_file, "_");
strcat(gamma_tri_data_file, suffix3);
strcat(gamma_tri_data_file, "_");
strcat(gamma_tri_data_file, suffix4);
strcat(gamma_tri_data_file, "_");
strcat(gamma_tri_data_file, suffix2);
}
string = iniparser_getstring(d, "basis:proj_file", "proj");
if(string[0] == '/'){
strcpy(proj_data_file,string);
proj_size_file[0] = '\0';
strcat(proj_size_file, string);
strcat(proj_size_file, "_size");
}else{
proj_data_file[0] = '\0';
strcat(proj_data_file, directory);
strcat(proj_data_file, string);
strcat(proj_data_file, "_");
strcat(proj_data_file, suffix1);
strcat(proj_data_file, "_");
strcat(proj_data_file, suffix3);
proj_size_file[0] = '\0';
strcat(proj_size_file, directory);
strcat(proj_size_file, string);
strcat(proj_size_file, "_");
strcat(proj_size_file, suffix1);
strcat(proj_size_file, "_size");
}
string = iniparser_getstring(d, "basis:proj_tri_file", "proj_tri");
if(string[0] == '/'){
strcpy(proj_tri_data_file,string);
proj_tri_size_file[0] = '\0';
strcat(proj_tri_size_file, string);
strcat(proj_tri_size_file, "_size");
}else{
proj_tri_data_file[0] = '\0';
strcat(proj_tri_data_file, directory);
strcat(proj_tri_data_file, string);
strcat(proj_tri_data_file, "_");
strcat(proj_tri_data_file, suffix1);
strcat(proj_tri_data_file, "_");
strcat(proj_tri_data_file, suffix3);
proj_tri_size_file[0] = '\0';
strcat(proj_tri_size_file, directory);
strcat(proj_tri_size_file, string);
strcat(proj_tri_size_file, "_");
strcat(proj_tri_size_file, suffix1);
strcat(proj_tri_size_file, "_size");
}
// Transfer parameters
tflag_bessel = iniparser_getint(d, "transfer:flag_bessel", 0);
tflag_transfer = iniparser_getint(d, "transfer:flag_transfer", 0);
tflag_flat = iniparser_getint(d, "transfer:flag_flat", 0);
tflag_limber = iniparser_getint(d, "transfer:flag_limber", 0);
bessel_max = iniparser_getint(d, "transfer:bessel_max", 10000);
bessel_points = iniparser_getint(d, "transfer:bessel_points", 8000);
string = iniparser_getstring(d, "transfer:source_file", "source");
if(string[0] == '/'){
strcpy(source_data_file,string);
source_size_file[0] = '\0';
strcat(source_size_file, string);
strcat(source_size_file, "_size");
}else{
source_data_file[0] = '\0';
strcat(source_data_file, directory);
strcat(source_data_file, string);
source_size_file[0] = '\0';
strcat(source_size_file, directory);
strcat(source_size_file, string);
strcat(source_size_file, "_size");
}
string = iniparser_getstring(d, "transfer:bessel_file", "bessel");
if(string[0] == '/'){
strcpy(bessel_data_file,string);
bessel_size_file[0] = '\0';
strcat(bessel_size_file, string);
strcat(bessel_size_file, "_size");
}else{
bessel_data_file[0] = '\0';
strcat(bessel_data_file, directory);
strcat(bessel_data_file, string);
bessel_size_file[0] = '\0';
strcat(bessel_size_file, directory);
strcat(bessel_size_file, string);
strcat(bessel_size_file, "_size");
}
string = iniparser_getstring(d, "transfer:transfer_file", "transfer");
if(string[0] == '/'){
strcpy(transfer_data_file,string);
transfer_size_file[0] = '\0';
strcat(transfer_size_file, string);
strcat(transfer_size_file, "_size");
}else{
transfer_data_file[0] = '\0';
strcat(transfer_data_file, directory);
strcat(transfer_data_file, string);
transfer_size_file[0] = '\0';
strcat(transfer_size_file, directory);
strcat(transfer_size_file, string);
strcat(transfer_size_file, "_size");
}
string = iniparser_getstring(d, "transfer:flat_file", "flat");
if(string[0] == '/'){
strcpy(flat_data_file,string);
flat_size_file[0] = '\0';
strcat(flat_size_file, string);
strcat(flat_size_file, "_size");
}else{
flat_data_file[0] = '\0';
strcat(flat_data_file, directory);
strcat(flat_data_file, string);
flat_size_file[0] = '\0';
strcat(flat_size_file, directory);
strcat(flat_size_file, string);
strcat(flat_size_file, "_size");
}
string = iniparser_getstring(d, "transfer:limber_file", "limber");
if(string[0] == '/'){
strcpy(limber_data_file,string);
limber_size_file[0] = '\0';
strcat(limber_size_file, string);
strcat(limber_size_file, "_size");
}else{
limber_data_file[0] = '\0';
strcat(limber_data_file, directory);
strcat(limber_data_file, string);
limber_size_file[0] = '\0';
strcat(limber_size_file, directory);
strcat(limber_size_file, string);
strcat(limber_size_file, "_size");
}
// Bispectrum
bflag_lset = iniparser_getint(d, "bispectrum:flag_lset", 0);
bflag_load = iniparser_getint(d, "bispectrum:flag_load", 0);
multiplier = iniparser_getint(d, "bispectrum:multiplier", 20);
section_count = iniparser_getint(d, "bispectrum:section_count", 10000);
one_accuracy = iniparser_getdouble(d, "bispectrum:one_accuracy", 1e-6);
initial_grid_size = iniparser_getint(d, "bispectrum:initial_grid_size", 100);
depth = iniparser_getint(d, "bispectrum:depth", 3);
tri_accuracy = iniparser_getdouble(d, "bispectrum:tri_accuracy", 5e-2);
l_flat = iniparser_getint(d, "bispectrum:l_flat", 150);
string = iniparser_getstring(d, "bispectrum:l_file", "l_values");
if(string[0] == '/'){
strcpy(l_data_file,string);
l_size_file[0] = '\0';
strcat(l_size_file, string);
strcat(l_size_file, "_size");
}else{
l_data_file[0] = '\0';
strcat(l_data_file, directory);
strcat(l_data_file, string);
l_size_file[0] = '\0';
strcat(l_size_file, directory);
strcat(l_size_file, string);
strcat(l_size_file, "_size");
}
string = iniparser_getstring(d, "bispectrum:l_int_file", "l_values_int");
if(string[0] == '/'){
strcpy(interpolated_l_data_file,string);
interpolated_l_size_file[0] = '\0';
strcat(interpolated_l_size_file, string);
strcat(interpolated_l_size_file, "_size");
}else{
interpolated_l_data_file[0] = '\0';
strcat(interpolated_l_data_file, directory);
strcat(interpolated_l_data_file, string);
interpolated_l_size_file[0] = '\0';
strcat(interpolated_l_size_file, directory);
strcat(interpolated_l_size_file, string);
strcat(interpolated_l_size_file, "_size");
}
string = iniparser_getstring(d, "bispectrum:bispectrum_file", "bispectrum");
if(string[0] == '/'){
strcpy(bispectrum_file,string);
}else{
bispectrum_file[0] = '\0';
strcat(bispectrum_file, directory);
strcat(bispectrum_file, string);
}
string = iniparser_getstring(d, "bispectrum:bispectrum_int_file", "bispectrum_int");
if(string[0] == '/'){
strcpy(interpolated_bispectrum_file,string);
}else{
interpolated_bispectrum_file[0] = '\0';
strcat(interpolated_bispectrum_file, directory);
strcat(interpolated_bispectrum_file, string);
}
string = iniparser_getstring(d, "bispectrum:trispectrum_file", "trispectrum");
if(string[0] == '/'){
strcpy(trispectrum_file,string);
}else{
trispectrum_file[0] = '\0';
strcat(trispectrum_file, directory);
strcat(trispectrum_file, string);
}
string = iniparser_getstring(d, "bispectrum:bispectrum_file", "bispectrum_load");
if(string[0] == '/'){
strcpy(bload_file,string);
}else{
bload_file[0] = '\0';
strcat(bload_file, directory);
strcat(bload_file, string);
}
// Old parameters
step = iniparser_getint(d, "old:step", 20);
dflag_out = iniparser_getint(d, "old:dflag_out", 1);
dflag_dmax = iniparser_getint(d, "old:dflag_dmax", 10);
gflag_pca = iniparser_getint(d, "old:gflag_pca", 1);
tilt = iniparser_getdouble(d, "old:tilt", 0e0);
string = iniparser_getstring(d, "old:restart_file", "restart");
if(string[0] == '/'){
strcpy(restart_file,string);
}else{
restart_file[0] = '\0';
strcat(restart_file, directory);
strcat(restart_file, string);
}
string = iniparser_getstring(d, "old:alpha_file", "alpha");
if(string[0] == '/'){
strcpy(alpha_data_file,string);
alpha_size_file[0] = '\0';
strcat(alpha_size_file, string);
strcat(alpha_size_file, "_size");
}else{
alpha_data_file[0] = '\0';
strcat(alpha_data_file, directory);
strcat(alpha_data_file, string);
alpha_size_file[0] = '\0';
strcat(alpha_size_file, directory);
strcat(alpha_size_file, string);
strcat(alpha_size_file, "_size");
}
string = iniparser_getstring(d, "old:decompose_file", "decompose");
if(string[0] == '/'){
strcpy(decompose_data_file,string);
decompose_size_file[0] = '\0';
strcat(decompose_size_file, string);
strcat(decompose_size_file, "_size");
}else{
decompose_data_file[0] = '\0';
strcat(decompose_data_file, directory);
strcat(decompose_data_file, string);
decompose_size_file[0] = '\0';
strcat(decompose_size_file, directory);
strcat(decompose_size_file, string);
strcat(decompose_size_file, "_size");
}
return 0;
}
float MSG_db1_data::get_channel_Calibration_B( )
{
if (! is_data_ok( )) return 0;
return (float) iniparser_getdouble(Calibration, "Calibration:B", 0.0);
}
void
FwdParams_assign_from_file (FwdParams *params, const char *fname_params)
{
int itmp;
float ta_sx, ta_sy;
double dtmp;
dictionary *dict;
CAPTURE_NULL_VOID (params);
CAPTURE_NULL_VOID (fname_params);
if ((dict = iniparser_load (fname_params)) == NULL)
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Unable to read parameters from %s.", fname_params);
return;
}
/* VOLUME */
/* All these settings override MRC header */
params->vol_shape[0] = iniparser_getint (dict, "volume:nx", -1);
params->vol_shape[1] = iniparser_getint (dict, "volume:ny", -1);
params->vol_shape[2] = iniparser_getint (dict, "volume:nz", -1);
dtmp = iniparser_getdouble (dict, "volume:voxel_size", FLT_MAX);
vec3_set_all (params->vol_csize, (float) dtmp);
params->vol_shift_px[0] = (float) iniparser_getdouble (dict, "volume:shift_x", FLT_MAX);
params->vol_shift_px[1] = (float) iniparser_getdouble (dict, "volume:shift_y", FLT_MAX);
params->vol_shift_px[2] = (float) iniparser_getdouble (dict, "volume:shift_z", FLT_MAX);
/* GEOMETRY */
/* Single axis: parallel tilt axis shift */
dtmp = iniparser_getdouble (dict, "geometry:tilt_axis", 0.0);
if (fabsf (dtmp) < 45.0) /* Use "x" backprojection variant */
{
params->tilt_axis = 0;
params->tilt_axis_rotation = (float) dtmp;
}
else
{
params->tilt_axis = 1;
/* What's missing to +- 90 degrees */
params->tilt_axis_rotation = (dtmp > 0) ? (float)(dtmp - 90.0) : (float)(-dtmp + 90.0);
}
ta_sx = (float) iniparser_getdouble (dict, "geometry:axis_shift_x", 0.0);
ta_sy = (float) iniparser_getdouble (dict, "geometry:axis_shift_y", 0.0);
params->tilt_axis_par_shift_px = ta_sx * sinf (params->tilt_axis_rotation * ONE_DEGREE)
+ ta_sy * cosf (params->tilt_axis_rotation * ONE_DEGREE);
/* DETECTOR */
if ( (itmp = iniparser_getint (dict, "detector:det_pix_x", -1)) == -1 )
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'detector:det_pix_x' not found in %s.", fname_params);
return;
}
params->detector_shape[0] = itmp;
if ( (itmp = iniparser_getint (dict, "detector:det_pix_y", -1)) == -1 )
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'detector:det_pix_y' not found in %s.", fname_params);
return;
}
params->detector_shape[1] = itmp;
params->detector_shape[2] = 1;
if ( (dtmp = iniparser_getdouble (dict, "detector:pixel_size", FLT_MAX)) == FLT_MAX )
{
EXC_THROW_CUSTOMIZED_PRINT (EXC_IO, "Key 'detector:pixel_size' not found in %s.", fname_params);
return;
}
params->detector_px_size[0] = (float) dtmp * ONE_MICROMETER;
params->detector_px_size[1] = (float) dtmp * ONE_MICROMETER;
params->detector_px_size[2] = 1.0;
iniparser_freedict (dict);
return;
}
int main(int argc, const char *argv[]) {
const char* argument;
long int initial_timestamp;
float initial_lat, initial_lng, initial_alt;
float burst_alt, ascent_rate, drag_coeff, rmswinderror;
int descent_mode;
int scenario_idx, n_scenarios;
int alarm_time;
char* endptr; // used to check for errors on strtod calls
wind_file_cache_t* file_cache;
dictionary* scenario = NULL;
// configure command-line options parsing
void *options = gopt_sort(&argc, argv, gopt_start(
gopt_option('h', 0, gopt_shorts('h', '?'), gopt_longs("help")),
gopt_option('z', 0, gopt_shorts(0), gopt_longs("version")),
gopt_option('v', GOPT_REPEAT, gopt_shorts('v'), gopt_longs("verbose")),
gopt_option('o', GOPT_ARG, gopt_shorts('o'), gopt_longs("output")),
gopt_option('k', GOPT_ARG, gopt_shorts('k'), gopt_longs("kml")),
gopt_option('t', GOPT_ARG, gopt_shorts('t'), gopt_longs("start_time")),
gopt_option('i', GOPT_ARG, gopt_shorts('i'), gopt_longs("data_dir")),
gopt_option('d', 0, gopt_shorts('d'), gopt_longs("descending")),
gopt_option('e', GOPT_ARG, gopt_shorts('e'), gopt_longs("wind_error")),
gopt_option('a', GOPT_ARG, gopt_shorts('a'), gopt_longs("alarm"))
));
if (gopt(options, 'h')) {
// Help!
// Print usage information
printf("Usage: %s [options] [scenario files]\n", argv[0]);
printf("Options:\n\n");
printf(" -h --help Display this information.\n");
printf(" --version Display version information.\n");
printf(" -v --verbose Display more information while running,\n");
printf(" Use -vv, -vvv etc. for even more verbose output.\n");
printf(" -t --start_time <int> Start time of model, defaults to current time.\n");
printf(" Should be a UNIX standard format timestamp.\n");
printf(" -o --output <file> Output file for CSV data, defaults to stdout. Overrides scenario.\n");
printf(" -k --kml <file> Output KML file.\n");
printf(" -d --descending We are in the descent phase of the flight, i.e. after\n");
printf(" burst or cutdown. burst_alt and ascent_rate ignored.\n");
printf(" -i --data_dir <dir> Input directory for wind data, defaults to current dir.\n\n");
printf(" -e --wind_error <err> RMS windspeed error (m/s).\n");
printf(" -a --alarm <seconds> Use alarm() to kill pred incase it hangs.\n");
printf("The scenario file is an INI-like file giving the launch scenario. If it is\n");
printf("omitted, the scenario is read from standard input.\n");
exit(0);
}
if (gopt(options, 'z')) {
// Version information
printf("Landing Prediction version: %s\nCopyright (c) CU Spaceflight 2009\n", VERSION);
exit(0);
}
if (gopt_arg(options, 'a', &argument) && strcmp(argument, "-")) {
alarm_time = strtol(argument, &endptr, 0);
if (endptr == argument) {
fprintf(stderr, "ERROR: %s: invalid alarm length\n", argument);
exit(1);
}
alarm(alarm_time);
}
verbosity = gopt(options, 'v');
if (gopt(options, 'd'))
descent_mode = DESCENT_MODE_DESCENDING;
else
descent_mode = DESCENT_MODE_NORMAL;
if (gopt_arg(options, 'k', &argument) && strcmp(argument, "-")) {
kml_file = fopen(argument, "wb");
if (!kml_file) {
fprintf(stderr, "ERROR: %s: could not open KML file for output\n", argument);
exit(1);
}
}
else
kml_file = NULL;
if (gopt_arg(options, 't', &argument) && strcmp(argument, "-")) {
initial_timestamp = strtol(argument, &endptr, 0);
if (endptr == argument) {
fprintf(stderr, "ERROR: %s: invalid start timestamp\n", argument);
exit(1);
}
} else {
initial_timestamp = time(NULL);
}
if (!(gopt_arg(options, 'i', &data_dir) && strcmp(data_dir, "-")))
data_dir = "./";
// populate wind data file cache
file_cache = wind_file_cache_new(data_dir);
// read in flight parameters
n_scenarios = argc - 1;
if(n_scenarios == 0) {
// we'll parse from std in
n_scenarios = 1;
}
for(scenario_idx = 0; scenario_idx < n_scenarios; ++scenario_idx) {
char* scenario_output = NULL;
if(argc > scenario_idx+1) {
scenario = iniparser_load(argv[scenario_idx+1]);
} else {
scenario = iniparser_loadfile(stdin);
}
if(!scenario) {
fprintf(stderr, "ERROR: could not parse scanario file.\n");
exit(1);
}
if(verbosity > 1) {
fprintf(stderr, "INFO: Parsed scenario file:\n");
iniparser_dump_ini(scenario, stderr);
}
scenario_output = iniparser_getstring(scenario, "output:filename", NULL);
if (gopt_arg(options, 'o', &argument) && strcmp(argument, "-")) {
if(verbosity > 0) {
fprintf(stderr, "INFO: Writing output to file specified on command line: %s\n", argument);
}
output = fopen(argument, "wb");
if (!output) {
fprintf(stderr, "ERROR: %s: could not open CSV file for output\n", argument);
exit(1);
}
} else if (scenario_output != NULL) {
if(verbosity > 0) {
fprintf(stderr, "INFO: Writing output to file specified in scenario: %s\n", scenario_output);
}
output = fopen(scenario_output, "wb");
if (!output) {
fprintf(stderr, "ERROR: %s: could not open CSV file for output\n", scenario_output);
exit(1);
}
} else {
if(verbosity > 0) {
fprintf(stderr, "INFO: Writing output to stdout.\n");
}
output = stdout;
}
// write KML header
if (kml_file)
start_kml();
// The observant amongst you will notice that there are default values for
// *all* keys. This information should not be spread around too well.
// Unfortunately, this means we lack some error checking.
initial_lat = iniparser_getdouble(scenario, "launch-site:latitude", 0.0);
initial_lng = iniparser_getdouble(scenario, "launch-site:longitude", 0.0);
initial_alt = iniparser_getdouble(scenario, "launch-site:altitude", 0.0);
ascent_rate = iniparser_getdouble(scenario, "altitude-model:ascent-rate", 1.0);
// The 1.1045 comes from a magic constant buried in
// ~cuspaceflight/public_html/predict/index.php.
drag_coeff = iniparser_getdouble(scenario, "altitude-model:descent-rate", 1.0) * 1.1045;
burst_alt = iniparser_getdouble(scenario, "altitude-model:burst-altitude", 1.0);
rmswinderror = iniparser_getdouble(scenario, "atmosphere:wind-error", 0.0);
if(gopt_arg(options, 'e', &argument) && strcmp(argument, "-")) {
rmswinderror = strtod(argument, &endptr);
if (endptr == argument) {
fprintf(stderr, "ERROR: %s: invalid RMS wind speed error\n", argument);
exit(1);
}
}
{
int year, month, day, hour, minute, second;
year = iniparser_getint(scenario, "launch-time:year", -1);
month = iniparser_getint(scenario, "launch-time:month", -1);
day = iniparser_getint(scenario, "launch-time:day", -1);
hour = iniparser_getint(scenario, "launch-time:hour", -1);
minute = iniparser_getint(scenario, "launch-time:minute", -1);
second = iniparser_getint(scenario, "launch-time:second", -1);
if((year >= 0) && (month >= 0) && (day >= 0) && (hour >= 0)
&& (minute >= 0) && (second >= 0))
{
struct tm timeval = { 0 };
time_t scenario_launch_time = -1;
if(verbosity > 0) {
fprintf(stderr, "INFO: Using launch time from scenario: "
"%i/%i/%i %i:%i:%i\n",
year, month, day, hour, minute, second);
}
timeval.tm_sec = second;
timeval.tm_min = minute;
timeval.tm_hour = hour;
timeval.tm_mday = day; /* 1 - 31 */
timeval.tm_mon = month - 1; /* 0 - 11 */
timeval.tm_year = year - 1900; /* f**k you Millenium Bug! */
#ifndef _BSD_SOURCE
# warning This version of mktime does not allow explicit setting of timezone.
#else
timeval.tm_zone = "UTC";
#endif
scenario_launch_time = mktime(&timeval);
if(scenario_launch_time <= 0) {
fprintf(stderr, "ERROR: Launch time in scenario is invalid\n");
exit(1);
} else {
initial_timestamp = scenario_launch_time;
}
}
}
if(verbosity > 0) {
fprintf(stderr, "INFO: Scenario loaded:\n");
fprintf(stderr, " - Initial latitude : %lf deg N\n", initial_lat);
fprintf(stderr, " - Initial longitude : %lf deg E\n", initial_lng);
fprintf(stderr, " - Initial altitude : %lf m above sea level\n", initial_alt);
fprintf(stderr, " - Initial timestamp : %li\n", initial_timestamp);
fprintf(stderr, " - Drag coeff. : %lf\n", drag_coeff);
if(!descent_mode) {
fprintf(stderr, " - Ascent rate : %lf m/s\n", ascent_rate);
fprintf(stderr, " - Burst alt. : %lf m\n", burst_alt);
}
fprintf(stderr, " - Windspeed err. : %f m/s\n", rmswinderror);
}
{
// do the actual stuff!!
altitude_model_t* alt_model = altitude_model_new(descent_mode, burst_alt,
ascent_rate, drag_coeff);
if(!alt_model) {
fprintf(stderr, "ERROR: error initialising altitude profile\n");
exit(1);
}
if (!run_model(file_cache, alt_model,
initial_lat, initial_lng, initial_alt, initial_timestamp,
rmswinderror)) {
fprintf(stderr, "ERROR: error during model run!\n");
exit(1);
}
altitude_model_free(alt_model);
}
// release the scenario
iniparser_freedict(scenario);
// write footer to KML and close output files
if (kml_file) {
finish_kml();
fclose(kml_file);
}
if (output != stdout) {
fclose(output);
}
}
// release gopt data,
gopt_free(options);
// release the file cache resources.
wind_file_cache_free(file_cache);
return 0;
}
