int
main( void )
{
v_t angles;
uint32_t start;
uint32_t stop;
init_uart();
init_timer();
sbi( TIMSK, TOIE1 );
sei();
puts( "ahrs_init()\r\n" );
ahrs_init( 0, 0, 1, 0 );
while(1)
{
puts( "\r\nstep: " );
start = high_time();
ahrs_step( angles, 0.1, 0, 0, 0, 0, 0, 1, 0 );
stop = high_time();
put_uint16_t( (stop >> 16) & 0xFFFF );
put_uint16_t( (stop >> 0) & 0xFFFF );
puts( " - " );
put_uint16_t( (start >> 16) & 0xFFFF );
put_uint16_t( (start >> 0) & 0xFFFF );
stop -= start;
puts( " = " );
put_uint16_t( (stop >> 16) & 0xFFFF );
put_uint16_t( (stop >> 0) & 0xFFFF );
}
}
/**
* Checks the downloaded data to see if it is all valid.
*/
void genericSurfInitialization::checkForValidData()
{
//just make up a "dummy" timezone for use here
boost::local_time::time_zone_ptr zone(new boost::local_time::posix_time_zone("MST-07"));
//get time list
std::vector<boost::local_time::local_date_time> timeList( getTimeList(zone) );
boost::posix_time::ptime pt_low(boost::gregorian::date(1900,boost::gregorian::Jan,1), boost::posix_time::hours(12));
boost::posix_time::ptime pt_high(boost::gregorian::date(2100,boost::gregorian::Jan,1), boost::posix_time::hours(12));
boost::local_time::local_date_time low_time(pt_low, zone);
boost::local_time::local_date_time high_time(pt_high, zone);
//check times
for(unsigned int i = 0; i < timeList.size(); i++)
{
if(timeList[i].is_special()) //if time is any special value (not_a_date_time, infinity, etc.)
throw badForecastFile("Bad time in forecast file.");
if(timeList[i] < low_time || timeList[i] > high_time)
throw badForecastFile("Bad time in forecast file.");
}
// open ds variable by variable
GDALDataset *srcDS;
std::string temp;
std::string srcWkt;
int nBands = 0;
bool noDataValueExists;
bool noDataIsNan;
std::vector<std::string> varList = getVariableList();
//Acquire a lock to protect the non-thread safe netCDF library
#ifdef _OPENMP
omp_guard netCDF_guard(netCDF_lock);
#endif
for( unsigned int i = 0;i < varList.size();i++ ) {
temp = "NETCDF:" + wxModelFileName + ":" + varList[i];
srcDS = (GDALDataset*)GDALOpen( temp.c_str(), GA_ReadOnly );
if( srcDS == NULL )
throw badForecastFile("Cannot open forecast file.");
srcWkt = srcDS->GetProjectionRef();
if( srcWkt.empty() )
throw badForecastFile("Forecast file doesn't have projection information.");
//Get total bands (time steps)
nBands = srcDS->GetRasterCount();
int nXSize, nYSize;
GDALRasterBand *poBand;
int pbSuccess;
double dfNoData;
double *padfScanline;
nXSize = srcDS->GetRasterXSize();
nYSize = srcDS->GetRasterYSize();
//loop over all bands for this variable (bands are time steps)
for(int j = 1; j <= nBands; j++)
{
poBand = srcDS->GetRasterBand( j );
pbSuccess = 0;
dfNoData = poBand->GetNoDataValue( &pbSuccess );
if( pbSuccess == false )
noDataValueExists = false;
else
{
noDataValueExists = true;
noDataIsNan = CPLIsNan(dfNoData);
}
//set the data
padfScanline = new double[nXSize*nYSize];
poBand->RasterIO(GF_Read, 0, 0, nXSize, nYSize, padfScanline, nXSize, nYSize,
GDT_Float64, 0, 0);
for(int k = 0;k < nXSize*nYSize; k++)
{
//Check if value is no data (if no data value was defined in file)
if(noDataValueExists)
{
if(noDataIsNan)
{
if(CPLIsNan(padfScanline[k]))
throw badForecastFile("Forecast file contains no_data values.");
}else
{
if(padfScanline[k] == dfNoData)
throw badForecastFile("Forecast file contains no_data values.");
}
}
if( varList[i] == "Temperature_height_above_ground" ) //units are Kelvin
{
if(padfScanline[k] < 180.0 || padfScanline[k] > 340.0) //these are near the most extreme temperatures ever recored on earth
throw badForecastFile("Temperature is out of range in forecast file.");
}
else if( varList[i] == "V-component_of_wind_height_above_ground" ) //units are m/s
{
if(std::abs(padfScanline[k]) > 220.0)
throw badForecastFile("V-velocity is out of range in forecast file.");
}
else if( varList[i] == "U-component_of_wind_height_above_ground" ) //units are m/s
{
if(std::abs(padfScanline[k]) > 220.0)
throw badForecastFile("U-velocity is out of range in forecast file.");
}
else if( varList[i] == "Total_cloud_cover" ) //units are percent
{
if(padfScanline[k] < 0.0 || padfScanline[k] > 100.0)
throw badForecastFile("Total cloud cover is out of range in forecast file.");
}
}
delete [] padfScanline;
}
GDALClose((GDALDatasetH) srcDS );
}
}
