/** Canvi el la data de modificació de l'inode.
* @path: camí del fitxer
* @date: data epoch a posar
* @return: 0 si èxit
*/
int emofs_update_time(const char *path, time_t date) {
int inode = 0;
int inode_dir = 0;
int entry = 0;
emofs_find_entry(path, &inode_dir, &inode, &entry);
timestamp_file(inode, date);
return 0;
}
/** Extracts imu out of a log file. */
void ExtractImu() {
std::ofstream accel_file(FLAGS_out + "/accel.txt", std::ios_base::trunc);
std::ofstream gyro_file(FLAGS_out + "/gyro.txt", std::ios_base::trunc);
std::ofstream mag_file(FLAGS_out + "/mag.txt", std::ios_base::trunc);
std::ofstream timestamp_file(FLAGS_out + "/timestamp.txt",
std::ios_base::trunc);
static const int kNoRange = -1;
int frame_min = kNoRange, frame_max = kNoRange;
std::vector<int> frames;
Split(TrimQuotes(FLAGS_extract_frame_range), ',', &frames);
if (!frames.empty()) {
CHECK_EQ(2, frames.size()) << "extract_frame_range must be frame PAIR";
frame_min = frames[0];
frame_max = frames[1];
CHECK_LE(frame_min, frame_max)
<< "Minimum frame index must be <= than max frame index.";
}
hal::Reader reader(FLAGS_in);
reader.Enable(hal::Msg_Type_IMU);
int idx = 0;
std::unique_ptr<hal::Msg> msg;
while (frame_min != kNoRange && idx < frame_min) {
if ((msg = reader.ReadMessage()) && msg->has_camera()) {
++idx;
}
}
while ((frame_max == kNoRange ||
idx <= frame_max) &&
(msg = reader.ReadMessage())) {
if (msg->has_imu()) {
const hal::ImuMsg& imu_msg = msg->imu();
if (imu_msg.has_accel()) {
// Write the accel to the accel csv
accel_file << imu_msg.accel().data(0) << ", " <<
imu_msg.accel().data(1) << ", " <<
imu_msg.accel().data(2) << std::endl;
} else {
accel_file << "0, 0, 0" << std::endl;
}
if (imu_msg.has_gyro()) {
// Write the accel to the accel csv
gyro_file << imu_msg.gyro().data(0) << ", " <<
imu_msg.gyro().data(1) << ", " <<
imu_msg.gyro().data(2) << std::endl;
} else {
gyro_file << "0, 0, 0" << std::endl;
}
if (imu_msg.has_mag()) {
// Write the accel to the accel csv
mag_file << imu_msg.mag().data(0) << ", " <<
imu_msg.mag().data(1) << ", " <<
imu_msg.mag().data(2) << std::endl;
} else {
mag_file << "0, 0, 0" << std::endl;
}
timestamp_file << std::fixed << std::setprecision(9) << imu_msg.system_time() << ", "
<< std::setprecision(9) << imu_msg.device_time()
<< std::endl;
// WRITE THE IMU
++idx;
}
}
}
