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; }