int
main(int32_t argc, char** argv)
{
if (argc < 2)
{
std::cerr << "Usage: " << argv[0] << " <abbrev of imc message 1>,<abbrev of imc message 2>,..,"
<< "<abbrev of imc message n> Data.lsf[.gz] .. Data.lsf[.gz]"
<< std::endl;
std::cerr << argv[0] << " accepts multiple IMC messages comma separated and "
<< "multiple Data.lsf files space separated." << std::endl;
std::cerr << "This program does not sort the input Data.lsf files." << std::endl;
return 1;
}
ByteBuffer buffer;
std::ofstream lsf("FilteredData.lsf", std::ios::binary);
IMC::Message* msg;
uint32_t accum = 0;
bool done_first = false;
std::set<uint32_t> ids;
std::vector<std::string> msgs;
Utils::String::split(argv[1], ",", msgs);
for (unsigned k = 0; k < msgs.size(); ++k)
{
uint32_t got = IMC::Factory::getIdFromAbbrev(Utils::String::trim(msgs[k]));
ids.insert(got);
}
for (uint32_t j = 2; j < (uint32_t)argc; ++j)
{
std::istream* is = 0;
Compression::Methods method = Compression::Factory::detect(argv[j]);
if (method == METHOD_UNKNOWN)
is = new std::ifstream(argv[j], std::ios::binary);
else
is = new Compression::FileInput(argv[j], method);
uint32_t i = 0;
try
{
while ((msg = IMC::Packet::deserialize(*is)) != 0)
{
if (!done_first)
{
// place an empty estimatedstate message in the log
IMC::EstimatedState state;
state.setTimeStamp(msg->getTimeStamp());
IMC::Packet::serialize(&state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
done_first = true;
}
std::set<uint32_t>::const_iterator it;
it = ids.find(msg->getId());
if (it != ids.end())
{
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
++i;
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return -1;
}
std::cerr << i << " messages in " << argv[j] << std::endl;
accum += i;
delete is;
}
lsf.close();
std::cerr << "Total of " << accum << " " << argv[1] << " messages." << std::endl;
return 0;
}
int
main(int32_t argc, char** argv)
{
if (argc != 3)
{
std::cerr << "Usage: " << argv[0] << " <config ini file> <path_to_log.lsf[.gz]>"
<< std::endl;
return 1;
}
Arguments m_args;
readArgs(argv[1], m_args);
m_args.filter_args.decay_factor *= 0.01f;
//! Array of entities
unsigned m_eids[BatteryData::BM_TOTAL];
// Filter pointer
FuelFilter* m_fuel_filter = NULL;
bool resolved_entities[BatteryData::BM_TOTAL];
for (unsigned i = 0; i < BatteryData::BM_TOTAL; ++i)
resolved_entities[i] = false;
EPMap m_epower;
bool got_entities = false;
PseudoTimer timer;
PeriodicRun pr(1.0);
ByteBuffer buffer;
std::ofstream lsf("NewFuel.lsf", std::ios::binary);
std::istream* is = 0;
DUNE::Compression::Methods method = DUNE::Compression::Factory::detect(argv[2]);
if (method == DUNE::Compression::METHOD_UNKNOWN)
is = new std::ifstream(argv[2], std::ios::binary);
else
is = new DUNE::Compression::FileInput(argv[2], method);
if (!is)
{
std::cerr << "bad file" << std::endl;
return 1;
}
is->seekg(0, is->end);
unsigned file_length = is->tellg();
is->seekg(0, is->beg);
Time::Counter<float> prog_timer(5.0);
DUNE::IMC::Message* msg = NULL;
DUNE::IMC::FuelLevel* ptr = NULL;
bool got_first = false;
try
{
while ((msg = DUNE::IMC::Packet::deserialize(*is)) != 0)
{
bool log_it = false;
timer.update(msg->getTimeStamp());
if (!got_first)
{
IMC::EstimatedState state;
state.setTimeStamp(msg->getTimeStamp());
IMC::Packet::serialize(&state, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
got_first = true;
std::cerr << "got first timestamp" << std::endl;
m_fuel_filter = new FuelFilter(&m_args.filter_args, m_eids, &m_epower,
NULL, true, msg->getTimeStamp());
}
if (msg->getId() == DUNE_IMC_ENTITYINFO)
{
IMC::EntityInfo* ent = static_cast<IMC::EntityInfo*>(msg);
if (!got_entities)
{
bool got_all = true;
for (unsigned i = 0; i < BatteryData::BM_TOTAL; ++i)
{
if (ent->label == m_args.elb[i])
{
m_eids[i] = ent->id;
resolved_entities[i] = true;
}
if (resolved_entities[i] == false)
got_all = false;
}
got_entities = got_all;
if (got_entities)
std::cerr << "Got all entities" << std::endl;
}
for (unsigned i = 0; i < m_args.est_list.size(); i++)
{
if (ent->label == m_args.est_list[i])
m_epower.insert(EPPair(ent->id, EntityPower(m_args.est_power[i])));
}
if (m_args.est_list.size() < m_epower.size())
std::cerr << "TOO MANY ENTRIES!" << std::endl;
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
delete msg;
continue;
}
if (msg->getId() == DUNE_IMC_VOLTAGE)
{
m_fuel_filter->onVoltage(static_cast<IMC::Voltage*>(msg));
log_it = true;
}
else if (msg->getId() == DUNE_IMC_CURRENT)
{
m_fuel_filter->onCurrent(static_cast<IMC::Current*>(msg));
log_it = true;
}
else if (msg->getId() == DUNE_IMC_TEMPERATURE)
{
m_fuel_filter->onTemperature(static_cast<IMC::Temperature*>(msg));
log_it = true;
}
else if (msg->getId() == DUNE_IMC_VEHICLESTATE)
{
m_fuel_filter->onVehicleState(static_cast<IMC::VehicleState*>(msg));
log_it = true;
}
else if (msg->getId() == DUNE_IMC_FUELLEVEL)
{
log_it = true;
}
else if (msg->getId() == DUNE_IMC_ENTITYACTIVATIONSTATE)
{
m_fuel_filter->onEntityActivationState(static_cast<IMC::EntityActivationState*>(msg));
log_it = true;
}
if (timer.isValid() && pr.doRun(timer.getTime()))
{
// Update fuel filter
if (m_fuel_filter->update())
{
IMC::FuelLevel fl;
fl.setSourceEntity(250);
fl.setTimeStamp(msg->getTimeStamp());
m_fuel_filter->fillMessage(fl, m_args.op_labels, m_args.op_values);
if (ptr != NULL)
{
float diff = ptr->value - fl.value;
char sign = (diff > 0)? '-' : '+';
if (std::fabs(diff) > 1.0)
std::cerr << "jumped " << sign
<< std::fabs(diff) / 100 * m_args.filter_args.full_capacity
<< " (" << std::fabs(diff) << "%)" << std::endl;
}
Memory::clear(ptr);
ptr = static_cast<IMC::FuelLevel*>(fl.clone());
IMC::Packet::serialize(&fl, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
}
}
if (log_it)
{
IMC::Packet::serialize(msg, buffer);
lsf.write(buffer.getBufferSigned(), buffer.getSize());
}
if (prog_timer.overflow())
{
std::cerr << (float)is->tellg() / file_length * 100.0 << "%" << std::endl;
prog_timer.reset();
}
delete msg;
}
}
catch (std::runtime_error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
Memory::clear(m_fuel_filter);
Memory::clear(ptr);
delete is;
return 0;
}