From 6f54646482e44051af1d3e2965012888b00e2038 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Wed, 21 Mar 2018 14:41:16 -0600 Subject: Internalize data recorder details --- data_recorder.c | 126 ++------------------------------------------------------ 1 file changed, 4 insertions(+), 122 deletions(-) (limited to 'data_recorder.c') diff --git a/data_recorder.c b/data_recorder.c index 7e5384a..f2d89e7 100644 --- a/data_recorder.c +++ b/data_recorder.c @@ -22,134 +22,16 @@ struct SurviveContext *ctx; -bool alwaysWriteStdOut = false; -FILE *output_file = 0; - -double timestamp_in_us() { - static double start_time_us = 0; - if (start_time_us == 0) - start_time_us = OGGetAbsoluteTime(); - return OGGetAbsoluteTime() - start_time_us; -} - -void write_to_output(const char *format, ...) { - double ts = timestamp_in_us(); - - va_list args; - va_start(args, format); - fprintf(output_file, "%0.6f ", ts); - vfprintf(output_file, format, args); - va_end(args); - - if (alwaysWriteStdOut) { - va_list args; - va_start(args, format); - fprintf(stdout, "%0.6f ", ts); - vfprintf(stdout, format, args); - va_end(args); - } -} -int my_config_process(SurviveObject *so, char *ct0conf, int len) { - char *buffer = malloc(len); - memcpy(buffer, ct0conf, len); - for (int i = 0; i < len; i++) - if (buffer[i] == '\n') - buffer[i] = ' '; - - write_to_output("%s CONFIG ", so->codename); - fwrite(buffer, 1, len, output_file); - fwrite("\n", 1, 1, output_file); - return survive_default_htc_config_process(so, ct0conf, len); -} - -void my_lighthouse_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lh_pose, SurvivePose *obj) { - survive_default_lighthouse_pose_process(ctx, lighthouse, lh_pose, obj); - write_to_output("%d LH_POSE %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f\n", lighthouse, lh_pose->Pos[0], - lh_pose->Pos[1], lh_pose->Pos[2], lh_pose->Rot[0], lh_pose->Rot[1], lh_pose->Rot[2], - lh_pose->Rot[3]); -} -void my_raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) { - survive_default_raw_pose_process(so, lighthouse, pose); - write_to_output("%s POSE %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f\n", so->codename, pose->Pos[0], pose->Pos[1], - pose->Pos[2], pose->Rot[0], pose->Rot[1], pose->Rot[2], pose->Rot[3]); -} - -void my_info_process(SurviveContext *ctx, const char *fault) { write_to_output("INFO LOG %s\n", fault); } -void my_angle_process(struct SurviveObject *so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, - uint32_t lh) { - survive_default_angle_process(so, sensor_id, acode, timecode, length, angle, lh); - write_to_output("%s A %d %d %u %0.6f %0.6f %u\n", so->codename, sensor_id, acode, timecode, length, angle, lh); -} - -void my_light_process(struct SurviveObject *so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, - uint32_t length, uint32_t lh) { - survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lh); - - if (acode == -1) { - write_to_output("%s S %d %d %d %u %u %u\n", so->codename, sensor_id, acode, timeinsweep, timecode, length, lh); - return; - } - - const char *LH_ID = 0; - const char *LH_Axis = 0; - - switch (acode) { - case 0: - case 2: - LH_ID = "L"; - LH_Axis = "X"; - break; - case 1: - case 3: - LH_ID = "L"; - LH_Axis = "Y"; - break; - case 4: - case 6: - LH_ID = "R"; - LH_Axis = "X"; - break; - case 5: - case 7: - LH_ID = "R"; - LH_Axis = "Y"; - break; - } - write_to_output("%s %s %s %d %d %d %u %u %u\n", so->codename, LH_ID, LH_Axis, sensor_id, acode, timeinsweep, - timecode, length, lh); -} - -void my_imu_process(struct SurviveObject *so, int mask, FLT *accelgyro, uint32_t timecode, int id) { - survive_default_imu_process(so, mask, accelgyro, timecode, id); - write_to_output("%s I %d %u %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f %d\n", so->codename, mask, timecode, accelgyro[0], - accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id); -} - int main(int argc, char **argv) { ctx = survive_init(argc, argv); if (ctx == 0) // implies -help or similiar return 0; - const char *outfile = survive_configs(ctx, "o", SC_GET, ""); - if (strlen(outfile) > 0) { - output_file = fopen(outfile, "w"); - if (output_file == 0) { - fprintf(stderr, "Could not open %s for writing\n", argv[1]); - return -1; - } - alwaysWriteStdOut = survive_configi(ctx, "stdout", SC_GET, 0); - } else { - output_file = stdout; - alwaysWriteStdOut = false; - } + const char *outfile = survive_configs(ctx, "dataoutfile", SC_GET, ""); - survive_install_htc_config_fn(ctx, my_config_process); - survive_install_light_fn(ctx, my_light_process); - survive_install_imu_fn(ctx, my_imu_process); - survive_install_lighthouse_pose_fn(ctx, my_lighthouse_process); - survive_install_raw_pose_fn(ctx, my_raw_pose_process); - survive_install_angle_fn(ctx, my_angle_process); - survive_install_info_fn(ctx, my_info_process); + if (strlen(outfile) == 0) { + survive_configi(ctx, "datastdout", SC_SETCONFIG | SC_OVERRIDE, 1); + } survive_startup(ctx); if (survive_configi(ctx, "calibrate", SC_GET, 1)) { -- cgit v1.2.3