本文整理汇总了C++中LogReader类的典型用法代码示例。如果您正苦于以下问题：C++ LogReader类的具体用法？C++ LogReader怎么用？C++ LogReader使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了LogReader类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: run
void MyThread::run(){
LogReader logreader;
LogSender logsender;
list<MatchedLogRec> matches=
logreader.readLogs();
/*准备发送数据*/
logsender.initNetWork();
char datastr[100]={0};
/*循环发送数据*/
while(matches.size()>0){
sleep(1);
bool f=logsender.sendMatche(*matches.begin());
if(f){
/*发射信号*/
sprintf(datastr,"%s:%d:%s",matches.begin()->logname,
matches.begin()->pid,matches.begin()->logip);
emit mySig(QString(datastr));
/*删除这条数据*/
matches.erase(matches.begin());
}else{
break;
}
}
/*关闭fd*/
logsender.saveSendFailed(&matches);
}示例2: main
int main(){
LogReader logreader;
LogSender logsender;
list<MatchedLogRec> matches=
logreader.readLogs();
logsender.sendMatches(&matches);
}示例3:
bool LogReader::StrEntry::process(LogReader &a_logReader, bool a_init)
{
if (m_resume < 0)
return false;
const __int64 l_fileSize = a_logReader.m_fileSize;
const unsigned int l_maxFindSize = a_logReader.m_maxFindSize;
while (true)
{
NewlineType l_newlineType;
const __int64 l_found = a_logReader.findNewline(m_resume, l_fileSize, l_newlineType);
if (l_found < 0)
{
const __int64 l_testClose = l_fileSize - l_maxFindSize;
if (m_resume < l_testClose)
m_resume = l_fileSize;
m_next->m_resume = m_resume;
a_logReader.m_maxClose = l_fileSize;
a_logReader.m_findEntry = m_resume;
if (m_resume >= l_fileSize)
m_resume = _I64_MIN;
else
m_resume = l_fileSize;
return true;
}
else
{
const __int64 l_testClose = l_found - l_maxFindSize;
if (m_resume >= l_testClose)
{
m_next->m_resume = m_resume;
a_logReader.m_maxClose = l_found;
a_logReader.m_findEntry = m_resume;
if (l_newlineType == nt_crlf)
m_resume = l_found + 2;
else
m_resume = l_found + 1;
return true;
}
if (l_newlineType == nt_crlf)
m_resume = l_found + 2;
else
m_resume = l_found + 1;
}
}
return false;
}示例4: main
int main()
{
DMSClient client;
LogReader reader;
reader.setLogfile("wtmpx");
LogNetSender sender;
sender.setServerip("127.0.0.1");
sender.setPort(9999);
client.setReader(&reader);
client.setSender(&sender);
try
{
client.mine();
}catch(DMSException e)
{
cout<<e.what()<<endl;
}
return 0;
}示例5: run
void MyThread::run(){
/*把发送的数据 通知给界面*/
LogReader logreader;
list<MatchedLogRec> matches=logreader.readLogs();
LogSender logsender;
// logsender.sendMatches(&matches);
/*让界面显示具体发送了那些数据*/
logsender.initNetWork();
/*循环发送数据*/
while(matches.size()>0){
char datastr[200]={0};
if(!logsender.sendMatche(*(matches.begin()))){
break;
}
/*把发送成功的数据通知界面*/
sprintf(datastr,"%s:%d:%s",matches.begin()->username,matches.begin()->pid,matches.begin()->logip);
emit mySig(QString(datastr));
matches.erase(matches.begin());
sleep(1);
}
}示例6: main
// Foreground waits for exit of the main persistent threads
// that are started here. The threads are created to manage
// UNIX domain client sockets for writing, reading and
// controlling the user space logger, and for any additional
// logging plugins like auditd and restart control. Additional
// transitory per-client threads are created for each reader.
int main(int argc, char *argv[]) {
fdDmesg = open("/dev/kmsg", O_WRONLY);
// issue reinit command. KISS argument parsing.
if ((argc > 1) && argv[1] && !strcmp(argv[1], "--reinit")) {
int sock = TEMP_FAILURE_RETRY(
socket_local_client("logd",
ANDROID_SOCKET_NAMESPACE_RESERVED,
SOCK_STREAM));
if (sock < 0) {
return -errno;
}
static const char reinit[] = "reinit";
ssize_t ret = TEMP_FAILURE_RETRY(write(sock, reinit, sizeof(reinit)));
if (ret < 0) {
return -errno;
}
struct pollfd p;
memset(&p, 0, sizeof(p));
p.fd = sock;
p.events = POLLIN;
ret = TEMP_FAILURE_RETRY(poll(&p, 1, 100));
if (ret < 0) {
return -errno;
}
if ((ret == 0) || !(p.revents & POLLIN)) {
return -ETIME;
}
static const char success[] = "success";
char buffer[sizeof(success) - 1];
memset(buffer, 0, sizeof(buffer));
ret = TEMP_FAILURE_RETRY(read(sock, buffer, sizeof(buffer)));
if (ret < 0) {
return -errno;
}
return strncmp(buffer, success, sizeof(success) - 1) != 0;
}
// Reinit Thread
sem_init(&reinit, 0, 0);
sem_init(&uidName, 0, 0);
pthread_attr_t attr;
if (!pthread_attr_init(&attr)) {
struct sched_param param;
memset(¶m, 0, sizeof(param));
pthread_attr_setschedparam(&attr, ¶m);
pthread_attr_setschedpolicy(&attr, SCHED_BATCH);
if (!pthread_attr_setdetachstate(&attr,
PTHREAD_CREATE_DETACHED)) {
pthread_t thread;
reinit_running = true;
if (pthread_create(&thread, &attr, reinit_thread_start, NULL)) {
reinit_running = false;
}
}
pthread_attr_destroy(&attr);
}
if (drop_privs() != 0) {
return -1;
}
// Serves the purpose of managing the last logs times read on a
// socket connection, and as a reader lock on a range of log
// entries.
LastLogTimes *times = new LastLogTimes();
// LogBuffer is the object which is responsible for holding all
// log entries.
logBuf = new LogBuffer(times);
signal(SIGHUP, reinit_signal_handler);
{
char property[PROPERTY_VALUE_MAX];
property_get("ro.build.type", property, "");
if (property_get_bool("logd.statistics",
!!strcmp(property, "user")
&& !property_get_bool("ro.config.low_ram", false))) {
logBuf->enableStatistics();
}
}
// LogReader listens on /dev/socket/logdr. When a client
// connects, log entries in the LogBuffer are written to the client.
LogReader *reader = new LogReader(logBuf);
if (reader->startListener()) {
exit(1);
}
//.........这里部分代码省略.........
示例7: clienStatePointer
DWORD WINAPI LolSceneSwitch::MonitorThread(_In_ LPVOID lpParam)
{
LolSceneSwitch * instance = static_cast<LolSceneSwitch *>(lpParam);
unsigned int const INTERVALL = instance->settings.intervall;
// Handles etc. for the client
HANDLE clientProcess = nullptr;
HWND clientWindow = nullptr;
DWORD clientPid = 0;
// Handles etc. for the game
HANDLE gameProcess = nullptr;
HWND gameWindow = nullptr;
DWORD gamePid;
FILETIME gameStartTime;
// temp var for saving the exit code
DWORD exitCode;
// Used to read the log file
LogReader * reader = nullptr;
// Stuff for reading memory
PointerPath32 clienStatePointer({ -0x658, 0x78, 0x610, 0x4, 0xe48 });
PointerPath32 map1Pointer({ -0x9C0, 0x20 });
PointerPath32 map2Pointer({ -0x9C4, 0x20 });
DWORD clientStateAddress = 0;
long clientState = 0;
DWORD mapAddress = 0;
// info variables of the state of LoL
bool ingame = false;
bool postGame = false;
State state = State::CLIENTOUT;
State oldState = State::CLIENTOUT;
bool newMapInfo = false;
// The main loop for monitoring LoL
while (instance->runMonitoring)
{
// Try to get handles for the client and game process
if (clientProcess == nullptr)
{
clientProcess = GetProcessByName(TEXT("LolClient.exe"), clientPid);
}
if (gameProcess == nullptr)
{
gameProcess = GetProcessByName(TEXT("League of Legends.exe"), gamePid);
if (gameProcess != nullptr)
{
ingame = true;
FILETIME temp;
GetProcessTimes(gameProcess, &gameStartTime, &temp, &temp, &temp);
}
}
// We have a client handle
if (clientProcess != nullptr)
{
// check if it's still running
if (GetExitCodeProcess(clientProcess, &exitCode) && exitCode == STILL_ACTIVE)
{
if (clientWindow == nullptr)
{
clientWindow = GetWindowById(clientPid);
}
if (clientStateAddress == 0)
{
clientStateAddress = PointerPath32::GetThreadAddress(clientProcess, clientPid, 0);
}
if (!ingame)
{
if (instance->settings.scenes[State::CLIENTOUT].single.IsEmpty() ||
(clientWindow != nullptr && HasFocus(clientWindow)))
{
if (clienStatePointer.Deref(clientProcess, clientStateAddress, clientState) && clientState == 1)
{
if (postGame)
{
state = State::POSTGAME;
}
else
{
state = State::CHAMPSELECT;
}
}
else
{
postGame = false;
state = State::CLIENT;
}
}
else
{
state = State::CLIENTOUT;
}
}
}
else
{
Log("INFO | LolSceneSwitch::MonitorThread | LoL client process exited!");
//.........这里部分代码省略.........
示例8: if
bool LogReader::Substit::process(LogReader &a_logReader, bool a_init)
{
if (m_resume < 0)
return false;
const __int64 l_fileSize = a_logReader.m_fileSize;
const unsigned int l_maxFindSize = a_logReader.m_maxFindSize;
__int64 &l_maxClose = a_logReader.m_maxClose;
const __int64 l_testClose = l_fileSize - l_maxFindSize;
if (m_prev == InvPtr)
{
if (m_resume >= l_testClose)
l_maxClose = l_fileSize;
else
l_maxClose = m_resume + l_maxFindSize;
}
const __int64 l_maxEntry = l_maxClose - m_singles;
if (m_resume > l_maxEntry)
return false;
if (m_anySeq)
{
if (m_next != InvPtr && m_next->type() == t_sample)
{
const Sample *const l_next = static_cast<const Sample *>(m_next);
const char l_firstChar = l_next->m_data[0];
const __int64 l_minClose = m_resume + m_singles;
if (m_prev == InvPtr)
{
const __int64 l_found = a_logReader.find(l_minClose, l_fileSize, l_firstChar);
if (a_logReader.m_status != s_ok || l_found < 0)
return false;
m_resume = l_found - m_singles;
if (m_resume >= l_testClose)
l_maxClose = l_fileSize;
else
l_maxClose = m_resume + l_maxFindSize;
}
else
{
const __int64 l_found = a_logReader.find(l_minClose, l_maxClose, l_firstChar);
if (a_logReader.m_status != s_ok || l_found < 0)
return false;
m_resume = l_found - m_singles;
}
}
}
else if (!a_init)
return false;
const __int64 l_close = m_resume + m_singles;
if (m_prev == InvPtr)
a_logReader.m_findEntry = m_resume;
if (m_next != InvPtr)
m_next->m_resume = l_close;
a_logReader.m_findClose = l_close;
m_resume++;
return true;
}示例9: main
//.........这里部分代码省略.........
if (!pthread_attr_setdetachstate(&attr,
PTHREAD_CREATE_DETACHED)) {
pthread_t thread;
reinit_running = true;
if (pthread_create(&thread, &attr, reinit_thread_start, NULL)) {
reinit_running = false;
}
}
pthread_attr_destroy(&attr);
}
if (drop_privs() != 0) {
return -1;
}
// Serves the purpose of managing the last logs times read on a
// socket connection, and as a reader lock on a range of log
// entries.
LastLogTimes *times = new LastLogTimes();
// LogBuffer is the object which is responsible for holding all
// log entries.
logBuf = new LogBuffer(times);
signal(SIGHUP, reinit_signal_handler);
if (property_get_bool("logd.statistics",
BOOL_DEFAULT_TRUE |
BOOL_DEFAULT_FLAG_PERSIST |
BOOL_DEFAULT_FLAG_ENG |
BOOL_DEFAULT_FLAG_SVELTE)) {
logBuf->enableStatistics();
}
// LogReader listens on /dev/socket/logdr. When a client
// connects, log entries in the LogBuffer are written to the client.
LogReader *reader = new LogReader(logBuf);
if (reader->startListener()) {
exit(1);
}
// LogListener listens on /dev/socket/logdw for client
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
LogListener *swl = new LogListener(logBuf, reader);
// Backlog and /proc/sys/net/unix/max_dgram_qlen set to large value
if (swl->startListener(600)) {
exit(1);
}
// Command listener listens on /dev/socket/logd for incoming logd
// administrative commands.
CommandListener *cl = new CommandListener(logBuf, reader, swl);
if (cl->startListener()) {
exit(1);
}
// LogAudit listens on NETLINK_AUDIT socket for selinux
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
bool auditd = property_get_bool("logd.auditd",
BOOL_DEFAULT_TRUE |
BOOL_DEFAULT_FLAG_PERSIST);
LogAudit *al = NULL;
if (auditd) {
al = new LogAudit(logBuf, reader,
property_get_bool("logd.auditd.dmesg",
BOOL_DEFAULT_TRUE |
BOOL_DEFAULT_FLAG_PERSIST)
? fdDmesg
: -1);
}
LogKlog *kl = NULL;
if (klogd) {
kl = new LogKlog(logBuf, reader, fdDmesg, fdPmesg, al != NULL);
}
readDmesg(al, kl);
// failure is an option ... messages are in dmesg (required by standard)
if (kl && kl->startListener()) {
delete kl;
}
if (al && al->startListener()) {
delete al;
}
TEMP_FAILURE_RETRY(pause());
exit(0);
}示例10: main
// Foreground waits for exit of the main persistent threads
// that are started here. The threads are created to manage
// UNIX domain client sockets for writing, reading and
// controlling the user space logger, and for any additional
// logging plugins like auditd and restart control. Additional
// transitory per-client threads are created for each reader.
int main(int argc, char* argv[]) {
// logd is written under the assumption that the timezone is UTC.
// If TZ is not set, persist.sys.timezone is looked up in some time utility
// libc functions, including mktime. It confuses the logd time handling,
// so here explicitly set TZ to UTC, which overrides the property.
setenv("TZ", "UTC", 1);
// issue reinit command. KISS argument parsing.
if ((argc > 1) && argv[1] && !strcmp(argv[1], "--reinit")) {
return issueReinit();
}
static const char dev_kmsg[] = "/dev/kmsg";
fdDmesg = android_get_control_file(dev_kmsg);
if (fdDmesg < 0) {
fdDmesg = TEMP_FAILURE_RETRY(open(dev_kmsg, O_WRONLY | O_CLOEXEC));
}
int fdPmesg = -1;
bool klogd = __android_logger_property_get_bool(
"logd.kernel", BOOL_DEFAULT_TRUE | BOOL_DEFAULT_FLAG_PERSIST |
BOOL_DEFAULT_FLAG_ENG | BOOL_DEFAULT_FLAG_SVELTE);
if (klogd) {
static const char proc_kmsg[] = "/proc/kmsg";
fdPmesg = android_get_control_file(proc_kmsg);
if (fdPmesg < 0) {
fdPmesg = TEMP_FAILURE_RETRY(
open(proc_kmsg, O_RDONLY | O_NDELAY | O_CLOEXEC));
}
if (fdPmesg < 0) android::prdebug("Failed to open %s\n", proc_kmsg);
}
// Reinit Thread
sem_init(&reinit, 0, 0);
sem_init(&uidName, 0, 0);
sem_init(&sem_name, 0, 1);
pthread_attr_t attr;
if (!pthread_attr_init(&attr)) {
struct sched_param param;
memset(¶m, 0, sizeof(param));
pthread_attr_setschedparam(&attr, ¶m);
pthread_attr_setschedpolicy(&attr, SCHED_BATCH);
if (!pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED)) {
pthread_t thread;
reinit_running = true;
if (pthread_create(&thread, &attr, reinit_thread_start, nullptr)) {
reinit_running = false;
}
}
pthread_attr_destroy(&attr);
}
bool auditd =
__android_logger_property_get_bool("ro.logd.auditd", BOOL_DEFAULT_TRUE);
if (drop_privs(klogd, auditd) != 0) {
return -1;
}
// Serves the purpose of managing the last logs times read on a
// socket connection, and as a reader lock on a range of log
// entries.
LastLogTimes* times = new LastLogTimes();
// LogBuffer is the object which is responsible for holding all
// log entries.
logBuf = new LogBuffer(times);
signal(SIGHUP, reinit_signal_handler);
if (__android_logger_property_get_bool(
"logd.statistics", BOOL_DEFAULT_TRUE | BOOL_DEFAULT_FLAG_PERSIST |
BOOL_DEFAULT_FLAG_ENG |
BOOL_DEFAULT_FLAG_SVELTE)) {
logBuf->enableStatistics();
}
// LogReader listens on /dev/socket/logdr. When a client
// connects, log entries in the LogBuffer are written to the client.
LogReader* reader = new LogReader(logBuf);
if (reader->startListener()) {
exit(1);
}
// LogListener listens on /dev/socket/logdw for client
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
LogListener* swl = new LogListener(logBuf, reader);
// Backlog and /proc/sys/net/unix/max_dgram_qlen set to large value
if (swl->startListener(600)) {
exit(1);
//.........这里部分代码省略.........
示例11: main
// Foreground waits for exit of the three main persistent threads that
// are started here. The three threads are created to manage UNIX
// domain client sockets for writing, reading and controlling the user
// space logger. Additional transitory per-client threads are created
// for each reader once they register.
int main() {
int fdDmesg = -1;
char dmesg[PROPERTY_VALUE_MAX];
property_get("logd.auditd.dmesg", dmesg, "1");
if (atol(dmesg)) {
fdDmesg = open("/dev/kmsg", O_WRONLY);
}
if (drop_privs() != 0) {
return -1;
}
// Serves the purpose of managing the last logs times read on a
// socket connection, and as a reader lock on a range of log
// entries.
LastLogTimes *times = new LastLogTimes();
// LogBuffer is the object which is responsible for holding all
// log entries.
LogBuffer *logBuf = new LogBuffer(times);
char dgram_qlen_statistics[PROPERTY_VALUE_MAX];
property_get("logd.dgram_qlen.statistics", dgram_qlen_statistics, "");
if (atol(dgram_qlen_statistics)) {
logBuf->enableDgramQlenStatistics();
}
// LogReader listens on /dev/socket/logdr. When a client
// connects, log entries in the LogBuffer are written to the client.
LogReader *reader = new LogReader(logBuf);
if (reader->startListener()) {
exit(1);
}
// LogListener listens on /dev/socket/logdw for client
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
LogListener *swl = new LogListener(logBuf, reader);
// Backlog and /proc/sys/net/unix/max_dgram_qlen set to large value
if (swl->startListener(300)) {
exit(1);
}
// Command listener listens on /dev/socket/logd for incoming logd
// administrative commands.
CommandListener *cl = new CommandListener(logBuf, reader, swl);
if (cl->startListener()) {
exit(1);
}
// LogAudit listens on NETLINK_AUDIT socket for selinux
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
// failure is an option ... messages are in dmesg (required by standard)
LogAudit *al = new LogAudit(logBuf, reader, fdDmesg);
if (al->startListener()) {
delete al;
close(fdDmesg);
}
pause();
exit(0);
}示例12: setup
void Replay::setup()
{
::printf("Starting\n");
uint8_t argc;
char * const *argv;
hal.util->commandline_arguments(argc, argv);
_parse_command_line(argc, argv);
if (!check_generate) {
logreader.set_save_chek_messages(true);
}
// _parse_command_line sets up an FPE handler. We can do better:
signal(SIGFPE, _replay_sig_fpe);
hal.console->printf("Processing log %s\n", filename);
// remember filename for reporting
log_filename = filename;
if (!find_log_info(log_info)) {
printf("Update to get log information\n");
exit(1);
}
hal.console->printf("Using an update rate of %u Hz\n", log_info.update_rate);
if (!logreader.open_log(filename)) {
perror(filename);
exit(1);
}
_vehicle.setup();
inhibit_gyro_cal();
set_ins_update_rate(log_info.update_rate);
feenableexcept(FE_INVALID | FE_OVERFLOW);
plotf = fopen("plot.dat", "w");
plotf2 = fopen("plot2.dat", "w");
ekf1f = fopen("EKF1.dat", "w");
ekf2f = fopen("EKF2.dat", "w");
ekf3f = fopen("EKF3.dat", "w");
ekf4f = fopen("EKF4.dat", "w");
fprintf(plotf, "time SIM.Roll SIM.Pitch SIM.Yaw BAR.Alt FLIGHT.Roll FLIGHT.Pitch FLIGHT.Yaw FLIGHT.dN FLIGHT.dE FLIGHT.Alt AHR2.Roll AHR2.Pitch AHR2.Yaw DCM.Roll DCM.Pitch DCM.Yaw EKF.Roll EKF.Pitch EKF.Yaw INAV.dN INAV.dE INAV.Alt EKF.dN EKF.dE EKF.Alt\n");
fprintf(plotf2, "time E1 E2 E3 VN VE VD PN PE PD GX GY GZ WN WE MN ME MD MX MY MZ E1ref E2ref E3ref\n");
fprintf(ekf1f, "timestamp TimeMS Roll Pitch Yaw VN VE VD PN PE PD GX GY GZ\n");
fprintf(ekf2f, "timestamp TimeMS AX AY AZ VWN VWE MN ME MD MX MY MZ\n");
fprintf(ekf3f, "timestamp TimeMS IVN IVE IVD IPN IPE IPD IMX IMY IMZ IVT\n");
fprintf(ekf4f, "timestamp TimeMS SV SP SH SMX SMY SMZ SVT OFN EFE FS DS\n");
}示例13: set_user_parameters
/*
setup user -p parameters
*/
void Replay::set_user_parameters(void)
{
for (uint8_t i=0; i<num_user_parameters; i++) {
if (!logreader.set_parameter(user_parameters[i].name, user_parameters[i].value)) {
::printf("Failed to set parameter %s to %f\n", user_parameters[i].name, user_parameters[i].value);
exit(1);
}
}
}示例14: log_check_solution
/*
check current solution against CHEK message
*/
void Replay::log_check_solution(void)
{
const LR_MsgHandler::CheckState &check_state = logreader.get_check_state();
Vector3f euler;
Vector3f velocity;
Location loc {};
_vehicle.EKF.getEulerAngles(euler);
_vehicle.EKF.getVelNED(velocity);
_vehicle.EKF.getLLH(loc);
float roll_error = degrees(fabsf(euler.x - check_state.euler.x));
float pitch_error = degrees(fabsf(euler.y - check_state.euler.y));
float yaw_error = wrap_180_cd(100*degrees(fabsf(euler.z - check_state.euler.z)))*0.01f;
float vel_error = (velocity - check_state.velocity).length();
float pos_error = get_distance(check_state.pos, loc);
check_result.max_roll_error = MAX(check_result.max_roll_error, roll_error);
check_result.max_pitch_error = MAX(check_result.max_pitch_error, pitch_error);
check_result.max_yaw_error = MAX(check_result.max_yaw_error, yaw_error);
check_result.max_vel_error = MAX(check_result.max_vel_error, vel_error);
check_result.max_pos_error = MAX(check_result.max_pos_error, pos_error);
}示例15: loop
void Replay::loop()
{
while (true) {
char type[5];
if (arm_time_ms >= 0 && AP_HAL::millis() > (uint32_t)arm_time_ms) {
if (!hal.util->get_soft_armed()) {
hal.util->set_soft_armed(true);
::printf("Arming at %u ms\n", (unsigned)AP_HAL::millis());
}
}
if (!logreader.update(type)) {
::printf("End of log at %.1f seconds\n", AP_HAL::millis()*0.001f);
fclose(plotf);
break;
}
read_sensors(type);
if (streq(type,"ATT")) {
Vector3f ekf_euler;
Vector3f velNED;
Vector3f posNED;
Vector3f gyroBias;
float accelWeighting;
float accelZBias1;
float accelZBias2;
Vector3f windVel;
Vector3f magNED;
Vector3f magXYZ;
Vector3f DCM_attitude;
Vector3f ekf_relpos;
Vector3f velInnov;
Vector3f posInnov;
Vector3f magInnov;
float tasInnov;
float velVar;
float posVar;
float hgtVar;
Vector3f magVar;
float tasVar;
Vector2f offset;
uint16_t faultStatus;
const Matrix3f &dcm_matrix = _vehicle.ahrs.AP_AHRS_DCM::get_rotation_body_to_ned();
dcm_matrix.to_euler(&DCM_attitude.x, &DCM_attitude.y, &DCM_attitude.z);
_vehicle.EKF.getEulerAngles(ekf_euler);
_vehicle.EKF.getVelNED(velNED);
_vehicle.EKF.getPosNED(posNED);
_vehicle.EKF.getGyroBias(gyroBias);
_vehicle.EKF.getIMU1Weighting(accelWeighting);
_vehicle.EKF.getAccelZBias(accelZBias1, accelZBias2);
_vehicle.EKF.getWind(windVel);
_vehicle.EKF.getMagNED(magNED);
_vehicle.EKF.getMagXYZ(magXYZ);
_vehicle.EKF.getInnovations(velInnov, posInnov, magInnov, tasInnov);
_vehicle.EKF.getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
_vehicle.EKF.getFilterFaults(faultStatus);
_vehicle.EKF.getPosNED(ekf_relpos);
Vector3f inav_pos = _vehicle.inertial_nav.get_position() * 0.01f;
float temp = degrees(ekf_euler.z);
if (temp < 0.0f) temp = temp + 360.0f;
fprintf(plotf, "%.3f %.1f %.1f %.1f %.2f %.1f %.1f %.1f %.2f %.2f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.2f %.2f %.2f %.2f %.2f %.2f\n",
AP_HAL::millis() * 0.001f,
logreader.get_sim_attitude().x,
logreader.get_sim_attitude().y,
logreader.get_sim_attitude().z,
_vehicle.barometer.get_altitude(),
logreader.get_attitude().x,
logreader.get_attitude().y,
wrap_180_cd(logreader.get_attitude().z*100)*0.01f,
logreader.get_inavpos().x,
logreader.get_inavpos().y,
logreader.get_ahr2_attitude().x,
logreader.get_ahr2_attitude().y,
wrap_180_cd(logreader.get_ahr2_attitude().z*100)*0.01f,
degrees(DCM_attitude.x),
degrees(DCM_attitude.y),
degrees(DCM_attitude.z),
degrees(ekf_euler.x),
degrees(ekf_euler.y),
degrees(ekf_euler.z),
inav_pos.x,
inav_pos.y,
inav_pos.z,
ekf_relpos.x,
ekf_relpos.y,
-ekf_relpos.z);
fprintf(plotf2, "%.3f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f\n",
AP_HAL::millis() * 0.001f,
degrees(ekf_euler.x),
degrees(ekf_euler.y),
temp,
velNED.x,
velNED.y,
velNED.z,
posNED.x,
posNED.y,
posNED.z,
//.........这里部分代码省略.........