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* Copyright (C) 2011 by Jerome Maye *
* jerome.maye@gmail.com *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the Lesser GNU General Public License as published by*
* the Free Software Foundation; either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* Lesser GNU General Public License for more details. *
* *
* You should have received a copy of the Lesser GNU General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
******************************************************************************/
#include "Platform.h"
#include <iostream>
#include <stdlib.h>
#include <sys/time.h>
#include <stdio.h>
#include <errno.h>
#include <sys/signal.h>
#include <limits.h>
using namespace std;
static vector<uint32_t> timeVector;
static uint32_t getMsCount() {
struct timeval now;
if (gettimeofday(&now, 0L)) {
perror("get_ms_count");
raise(SIGINT);
return 0;
}
else
return ((now.tv_sec * 1000000) + (now.tv_usec)) / 1000;
}
static void terminationHandler(int signum, siginfo_t *siginfo, void* data)
{
double f64Mean = 0;
uint32_t u32Max = 0;
uint32_t u32Min = INT_MAX;
for (uint32_t i = 0; i < timeVector.size(); i++) {
f64Mean += timeVector[i];
if (timeVector[i] > u32Max)
u32Max = timeVector[i];
if (timeVector[i] < u32Min)
u32Min = timeVector[i];
}
f64Mean /= (double)timeVector.size();
double f64Variance = 0;
for (uint32_t i = 0; i < timeVector.size(); i++)
f64Variance += (timeVector[i] - f64Mean) * (timeVector[i] - f64Mean);
f64Variance /= (double)timeVector.size();
cout << "Mean time: " << f64Mean << endl;
cout << "Variance time: " << f64Variance << endl;
cout << "Min time: " << u32Min << endl;
cout << "Max time: " << u32Max << endl;
exit(0);
}
int main(int argc, char **argv) {
if (argc != 3) {
cerr << "Usage: " << argv[0] << " <IP> <Port>" << endl;
return -1;
}
Platform proxy(argv[1], atoi(argv[2]));
proxy.open();
proxy.login("User", "none");
proxy.configureLocalization(false);
struct sigaction signal_handling;
signal_handling.sa_sigaction = terminationHandler;
signal_handling.sa_flags = SA_SIGINFO;
if (sigaction(SIGINT, &signal_handling, NULL)) {
perror("sigaction");
return -1;
}
while (1) {
uint32_t u32Before = getMsCount();
try {
Pose pose = proxy.odometryGetPose();
} catch (IOException &e) {
cout << "Exception occured" << endl;
cout << "Closing proxy" << endl;
proxy.close();
cout << "Opening proxy" << endl;
proxy.open();
cout << "Login proxy" << endl;
proxy.login("User", "none");
cout << "Confiure loc" << endl;
proxy.configureLocalization(false);
continue;
}
uint32_t u32After = getMsCount();
timeVector.push_back(u32After - u32Before);
//proxy.motionSetSpeed(0, 0);
}
return 0;
}
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