C++ imc::Message类代码示例

 //! Dispatch message to the message bus in reply to another
 //! message.
 //! @param[in] original original message.
 //! @param[in] msg message reference.
 //! @param[in] flags bitfield with flags (see Tasks::DispatchFlags).
 void
 dispatchReply(const IMC::Message& original, IMC::Message& msg, unsigned int flags = 0)
 {
   msg.setDestination(original.getSource());
   msg.setDestinationEntity(original.getSourceEntity());
   dispatch(msg, flags);
 }

static void
sendMsg(IMC::Message& msg, UDPSocket& sock, Address& dest, int port)
{
    DUNE::Utils::ByteBuffer bb;
    msg.setTimeStamp();
    IMC::Packet::serialize(&msg, bb);
    sock.write((const uint8_t*)bb.getBuffer(), msg.getSerializationSize(), dest, port);
    msg.toText(std::cout);
}

    void
    MessageMonitor::updateMessage(const IMC::Message* msg)
    {
      ScopedMutex l(m_mutex);

      IMC::Message* tmsg = msg->clone();
      unsigned key = tmsg->getId() << 24 | tmsg->getSubId() << 8 | tmsg->getSourceEntity();

      if (m_msgs[key])
        delete m_msgs[key];

      m_msgs[key] = tmsg;
    }

void
sendMessage(IMC::Message& msg)
{
  uint16_t rv = IMC::Packet::serialize(&msg, (uint8_t*)g_buffer, sizeof(g_buffer));
  g_sock.write(g_buffer, rv, g_addr, g_port);
  msg.toText(std::cerr);
}

    void
    MessageMonitor::updateMessage(const IMC::Message* msg)
    {
      ScopedMutex l(m_mutex);

      if (msg->getId() == DUNE_IMC_POWERCHANNELSTATE)
        updatePowerChannel(static_cast<const IMC::PowerChannelState*>(msg));

      IMC::Message* tmsg = msg->clone();
      unsigned key = tmsg->getId() << 24 | tmsg->getSubId() << 8 | tmsg->getSourceEntity();

      if (m_msgs[key])
        delete m_msgs[key];

      m_msgs[key] = tmsg;
    }

void
GraphicsScene::handleInputData(void)
{
  while (m_sock->hasPendingDatagrams())
  {
    m_dgram.resize(m_sock->pendingDatagramSize());
    m_sock->readDatagram(m_dgram.data(), m_dgram.size());

    IMC::Message* msg = IMC::Packet::deserialize((uint8_t*)m_dgram.data(), m_dgram.size());
    if (msg == 0)
      continue;

    if (msg->getId() == DUNE_IMC_COMPRESSEDIMAGE)
    {
      ++m_fps;

      IMC::CompressedImage* img = static_cast<IMC::CompressedImage*>(msg);

      QPixmap pix;
      pix.loadFromData((uchar*)img->data.data(), img->data.size(), "JPEG");

      QTransform t;
      pix = pix.transformed(t.rotate(m_rotate));

      m_item.setPixmap(pix);

      setMinimumSize(pix.width() + c_pad, pix.height() + c_pad);

      if (m_grid)
      {
        m_vline->setLine(0, pix.height() / 2, pix.width(), pix.height() / 2);
        m_hline->setLine(pix.width() / 2, 0, pix.width() / 2, pix.height());
      }
    }
    else if (msg->getId() == DUNE_IMC_EULERANGLES)
    {
      IMC::EulerAngles* ang = static_cast<IMC::EulerAngles*>(msg);
      // QString str("Roll: %0.2f | Pitch: %0.2f");
      // m_text.setText(str.arg(Angles::degrees(ang->roll), Angles::degrees(ang->pitch)));
    }
  }
}

int
main(int argc, char** argv)
{
  if (argc < 4)
  {
    fprintf(stderr, "Usage: %s <destination host> <destination port> <abbrev> [arguments]\n", argv[0]);
    return 1;
  }

  Address dest(argv[1]);

  // Parse port.
  unsigned port = 0;
  if (!castLexical(argv[2], port))
  {
    fprintf(stderr, "ERROR: invalid port '%s'\n", argv[2]);
    return 1;
  }

  if (port > 65535)
  {
    fprintf(stderr, "ERROR: invalid port '%s'\n", argv[2]);
    return 1;
  }

  IMC::Message* msg = NULL;

  if (strcmp(argv[3], "Heartbeat") == 0)
  {
    IMC::Heartbeat* tmsg = new IMC::Heartbeat;
    msg = tmsg;
  }
  if (strcmp(argv[3], "RestartSystem") == 0)
  {
    IMC::RestartSystem* tmsg = new IMC::RestartSystem;
    msg = tmsg;
  }
  else if (strcmp(argv[3], "Sms") == 0)
  {
    IMC::Sms* tmsg = new IMC::Sms;
    tmsg->number = argv[4];
    tmsg->timeout = atoi(argv[5]);
    tmsg->contents = argv[6];
    msg = tmsg;
  }
  else if (strcmp(argv[3], "EntityState") == 0)
  {
    IMC::EntityState* tmsg = new IMC::EntityState;
    msg = tmsg;
    tmsg->setSourceEntity(atoi(argv[4]));
    tmsg->state = atoi(argv[5]);
  }
  else if (strcmp(argv[3], "EntityActivationState") == 0)
  {
    IMC::EntityActivationState* tmsg = new IMC::EntityActivationState;
    msg = tmsg;
    tmsg->setSourceEntity(atoi(argv[4]));
    tmsg->state = IMC::EntityActivationState::EAS_ACTIVE;
  }
  else if (strcmp(argv[3], "MagneticField") == 0)
  {
    IMC::MagneticField* tmsg = new IMC::MagneticField;
    msg = tmsg;
    tmsg->setSourceEntity(atoi(argv[4]));
    tmsg->x = atof(argv[5]);
    tmsg->y = atof(argv[6]);
    tmsg->z = atof(argv[7]);
  }
  else if (strcmp(argv[3], "DataSanity") == 0)
  {
    IMC::DataSanity* tmsg = new IMC::DataSanity;
    msg = tmsg;
    tmsg->setSourceEntity(atoi(argv[4]));
    tmsg->sane = atoi(argv[5]);
  }
  else if (strcmp(argv[3], "MonitorEntityState") == 0)
  {
    IMC::MonitorEntityState* tmsg = new IMC::MonitorEntityState;
    msg = tmsg;
    tmsg->command = atoi(argv[4]);
    if (argc >= 6)
      tmsg->entities = argv[5];
  }
  else if (strcmp(argv[3], "Abort") == 0)
  {
    msg = new IMC::Abort;
  }
  else if (strcmp(argv[3], "LoggingControl") == 0)
  {
    IMC::LoggingControl* tmsg = new IMC::LoggingControl;
    msg = tmsg;
    tmsg->op = atoi(argv[4]);
    tmsg->name = argv[5];
  }
  else if (strcmp(argv[3], "CacheControl") == 0)
  {
    IMC::CacheControl* tmsg = new IMC::CacheControl;
    msg = tmsg;
    tmsg->op = atoi(argv[4]);
  }
//.........这里部分代码省略.........

    Duration::ManeuverDuration::const_iterator
    Duration::parse(const std::vector<IMC::PlanManeuver*>& nodes,
                    const IMC::EstimatedState* state)
    {
      Position pos;
      extractPosition(state, pos);

      std::vector<IMC::PlanManeuver*>::const_iterator itr = nodes.begin();

      for (; itr != nodes.end(); ++itr)
      {
        if ((*itr)->data.isNull())
          return m_durations.end();

        IMC::Message* msg = (*itr)->data.get();

        float last_duration = -1.0;
        if (m_accum_dur != NULL)
        {
          if (m_accum_dur->size())
            last_duration = m_accum_dur->getLastDuration();
        }

        Memory::clear(m_accum_dur);
        m_accum_dur = new AccumulatedDurations(last_duration);

        bool parsed = false;

        switch (msg->getId())
        {
          case DUNE_IMC_GOTO:
            parsed = parse(static_cast<IMC::Goto*>(msg), pos);
            break;

          case DUNE_IMC_STATIONKEEPING:
            parsed = parse(static_cast<IMC::StationKeeping*>(msg), pos);
            break;

          case DUNE_IMC_LOITER:
            parsed = parse(static_cast<IMC::Loiter*>(msg), pos);
            break;

          case DUNE_IMC_FOLLOWPATH:
            parsed = parse(static_cast<IMC::FollowPath*>(msg), pos);
            break;

          case DUNE_IMC_ROWS:
            parsed = parse(static_cast<IMC::Rows*>(msg), pos);
            break;

          case DUNE_IMC_YOYO:
            parsed = parse(static_cast<IMC::YoYo*>(msg), pos);
            break;

          case DUNE_IMC_ELEVATOR:
            parsed = parse(static_cast<IMC::Elevator*>(msg), pos);
            break;

          case DUNE_IMC_POPUP:
            parsed = parse(static_cast<IMC::PopUp*>(msg), pos);
            break;

          case DUNE_IMC_COMPASSCALIBRATION:
            parsed = parse(static_cast<IMC::CompassCalibration*>(msg), pos);
            break;

          default:
            parsed = false;
            break;
        }

        if (!parsed)
        {
          if (m_durations.empty() || itr == nodes.begin())
            return m_durations.end();

          // return the duration from the previously computed maneuver
          ManeuverDuration::const_iterator dtr;
          dtr = m_durations.find((*(--itr))->maneuver_id);

          if (dtr->second.empty())
            return m_durations.end();

          return dtr;
        }

        std::pair<std::string, std::vector<float> > ent((*itr)->maneuver_id,
                                                        m_accum_dur->vec);
        m_durations.insert(ent);
      }

      Memory::clear(m_accum_dur);

      return m_durations.find(nodes.back()->maneuver_id);
    }

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 <= 1)
  {
    std::cerr << "Usage: " << argv[0] << " [options] <path_to_log_1/Data.lsf[.gz]> ... <path_to_log_n/Data.lsf[.gz]>"
              << std::endl
              << "Options:" << std::endl
              << "-i    Process idles. Idle logs are ignored by default."
              << std::endl;
    return 1;
  }

  std::ofstream csv("AllData.csv");
  csv << "timestamp (s), latitude (deg), longitude (deg), conductivity (S/m), temperature (ºC), depth (m)" << std::endl;

  for (int32_t i = 1; i < argc; ++i)
  {
    std::istream* is = 0;
    Compression::Methods method = Compression::Factory::detect(argv[i]);
    if (method == METHOD_UNKNOWN)
      is = new std::ifstream(argv[i], std::ios::binary);
    else
      is = new Compression::FileInput(argv[i], method);

    IMC::Message* msg = NULL;

    bool got_name = false;
    std::string log_name = "unknown";

    bool got_ent = false;
    unsigned ctd_ent = 0;

    bool ignore = false;

    RData rdata;
    rdata.clearData();
    std::stringstream ss_data;

    try
    {
      while ((msg = IMC::Packet::deserialize(*is)) != 0)
      {
        if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
        {
          IMC::LoggingControl* ptr = dynamic_cast<IMC::LoggingControl*>(msg);

          if (ptr->op == IMC::LoggingControl::COP_STARTED)
          {
            log_name = ptr->name;
            got_name = true;
          }
        }
        else if (msg->getId() == DUNE_IMC_ENTITYINFO)
        {
          IMC::EntityInfo *ptr = dynamic_cast<IMC::EntityInfo*>(msg);

          if (ptr->label.compare(c_ctd_label) == 0)
          {
            ctd_ent = ptr->id;
            got_ent = true;
          }
        }
        else if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
        {
          IMC::EstimatedState* ptr = dynamic_cast<IMC::EstimatedState*>(msg);

          Coordinates::toWGS84(*ptr, rdata.lat, rdata.lon);
          rdata.timestamp = ptr->getTimeStamp();

          rdata.cnt |= GOT_STATE;
        }
        else if (rdata.gotState() && got_ent)
        {
          if (msg->getId() == DUNE_IMC_CONDUCTIVITY)
          {
            IMC::Conductivity* ptr = dynamic_cast<IMC::Conductivity*>(msg);
            if (ptr->getSourceEntity() == ctd_ent)
            {
              rdata.cond = ptr->value;
              rdata.cnt |= GOT_COND;
            }
          }
          else if (msg->getId() == DUNE_IMC_TEMPERATURE)
          {
            IMC::Temperature* ptr = dynamic_cast<IMC::Temperature*>(msg);
            if (ptr->getSourceEntity() == ctd_ent)
            {
              rdata.temp = ptr->value;
              rdata.cnt |= GOT_TEMP;
            }
          }
          else if (msg->getId() == DUNE_IMC_DEPTH)
          {
            IMC::Depth* ptr = dynamic_cast<IMC::Depth*>(msg);
            if (ptr->getSourceEntity() == ctd_ent)
            {
              rdata.depth = ptr->value;
              rdata.cnt |= GOT_DEPTH;
            }
//.........这里部分代码省略.........

int
main(int32_t argc, char** argv)
{
  if (argc <= 1)
  {
    std::cerr << "Usage: " << argv[0] << " <path_to_log/Data.lsf[.gz]>"
              << std::endl;
    return 1;
  }

  std::istream* is = 0;
  Compression::Methods method = Compression::Factory::detect(argv[1]);
  if (method == METHOD_UNKNOWN)
    is = new std::ifstream(argv[1], std::ios::binary);
  else
    is = new Compression::FileInput(argv[1], method);

  IMC::Message* msg = NULL;

  std::ofstream lsf("Data.lsf", std::ios::binary);

  DUNE::Utils::ByteBuffer buffer;

  float bottom_follow_depth = -1.0;
  float vertical_ref = -1.0;

  // Control parcel for debug
  IMC::ControlParcel parcel;

  // Last EstimatedState
  IMC::EstimatedState last_state;
  bool got_state = false;

  // Coarse altitude control
  DUNE::Control::CoarseAltitude::Arguments args;
  createCA(&args);
  DUNE::Control::CoarseAltitude ca(&args);

  try
  {
    while ((msg = IMC::Packet::deserialize(*is)) != 0)
    {
      if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
      {
        IMC::EstimatedState* state = dynamic_cast<IMC::EstimatedState*>(msg);

        if (!got_state)
        {
          last_state = *state;
          got_state = true;
        }
        else
        {
          IMC::Packet::serialize(state, buffer);
          lsf.write(buffer.getBufferSigned(), buffer.getSize());
          buffer.resetBuffer();

          if (bottom_follow_depth > 0.0)
          {
            bottom_follow_depth = state->depth + (state->alt - vertical_ref);
            parcel.p = bottom_follow_depth;
            parcel.i = ca.update(state->getTimeStamp() - last_state.getTimeStamp(),
                                 state->depth, bottom_follow_depth);
            parcel.d = state->depth - bottom_follow_depth;
            // parcel.a = state->depth - parcel.i;
            parcel.a = ca.getCorridor();

            parcel.setTimeStamp(state->getTimeStamp());

            IMC::Packet::serialize(&parcel, buffer);
            lsf.write(buffer.getBufferSigned(), buffer.getSize());
            buffer.resetBuffer();
          }

          last_state = *state;
        }
      }
      else if (msg->getId() == DUNE_IMC_DESIREDZ)
      {
        IMC::DesiredZ* ptr = dynamic_cast<IMC::DesiredZ*>(msg);

        if (ptr->z_units == IMC::Z_ALTITUDE)
        {
          vertical_ref = ptr->value;
          bottom_follow_depth = last_state.depth;
        }

        IMC::Packet::serialize(ptr, buffer);
        lsf.write(buffer.getBufferSigned(), buffer.getSize());
        buffer.resetBuffer();
      }
      else if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
      {
        IMC::LoggingControl* ptr = dynamic_cast<IMC::LoggingControl*>(msg);
        IMC::Packet::serialize(ptr, buffer);
        lsf.write(buffer.getBufferSigned(), buffer.getSize());
        buffer.resetBuffer();
      }

      delete msg;
//.........这里部分代码省略.........

//.........这里部分代码省略.........

  UDPSocket sock;
  Address dest(argv[0]);
  uint16_t port = std::atoi(argv[1]);

  argv += 2;

  std::cout << std::fixed << std::setprecision(4);

  for (; *argv != 0; argv++)
  {
    Path file(*argv);
    std::istream* is;

    if (file.isDirectory())
    {
      file = file / "Data.lsf";
      if (!file.isFile())
        file += ".gz";
    }

    if (!file.isFile())
    {
      std::cerr << file << " does not exist\n";
      return 1;
    }

    Compression::Methods method = Compression::Factory::detect(file.c_str());
    if (method == METHOD_UNKNOWN)
      is = new std::ifstream(file.c_str(), std::ios::binary);
    else
      is = new Compression::FileInput(file.c_str(), method);

    IMC::Message* m;

    m = IMC::Packet::deserialize(*is);
    if (!m)
    {
      std::cerr << file << " contains no messages\n";
      delete is;
      continue;
    }

    DUNE::Utils::ByteBuffer bb;

    double time_origin = m->getTimeStamp();
    if (begin >= 0)
    {
      do
      {
        if (m->getTimeStamp() - time_origin >= begin)
          break;
        delete m;
        m = IMC::Packet::deserialize(*is);
      }
      while (m);

      if (!m)
      {
        std::cerr << "no messages for specified time range" << std::endl;
        return 1;
      }
    }
    else
      begin = 0;

int
main(int32_t argc, char** argv)
{
  if (argc <= 1)
  {
    std::cerr << "Usage: " << argv[0] << " <path_to_log_1/Data.lsf[.gz]> ... <path_to_log_n/Data.lsf[.gz]>"
              << std::endl;
    return 1;
  }

  double total_accum = 0;

  for (int32_t i = 1; i < argc; ++i)
  {
    std::istream* is = 0;
    Compression::Methods method = Compression::Factory::detect(argv[i]);
    if (method == METHOD_UNKNOWN)
      is = new std::ifstream(argv[i], std::ios::binary);
    else
      is = new Compression::FileInput(argv[i], method);

    IMC::Message* msg = NULL;

    uint16_t curr_rpm = 0;

    bool got_state = false;
    IMC::EstimatedState estate;
    double last_lat;
    double last_lon;

    // Accumulated travelled distance
    double accum = 0;

    bool got_name = false;
    std::string log_name = "unknown";

    bool ignore = false;

    try
    {
      while ((msg = IMC::Packet::deserialize(*is)) != 0)
      {

        if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
        {
          if (!got_name)
          {
            IMC::LoggingControl* ptr = dynamic_cast<IMC::LoggingControl*>(msg);

            if (ptr->op == IMC::LoggingControl::COP_STARTED)
            {
              log_name = ptr->name;
              got_name = true;
            }
          }
        }
        else if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
        {
          if (msg->getTimeStamp() - estate.getTimeStamp() > c_timestep)
          {
            IMC::EstimatedState* ptr = dynamic_cast<IMC::EstimatedState*>(msg);

            if (!got_state)
            {
              estate = *ptr;
              Coordinates::toWGS84(*ptr, last_lat, last_lon);

              got_state = true;
            }
            else if (curr_rpm > c_min_rpm)
            {
              double lat, lon;
              Coordinates::toWGS84(*ptr, lat, lon);

              double dist = Coordinates::WGS84::distance(last_lat, last_lon, 0.0,
                                                         lat, lon, 0.0);

              // Not faster than maximum considered speed
              if (dist / (ptr->getTimeStamp() - estate.getTimeStamp()) < c_max_speed)
                accum += dist;

              estate = *ptr;
              Coordinates::toWGS84(*ptr, last_lat, last_lon);
            }
          }
        }
        else if (msg->getId() == DUNE_IMC_RPM)
        {
          IMC::Rpm* ptr = dynamic_cast<IMC::Rpm*>(msg);
          curr_rpm = ptr->value;
        }
        else if (msg->getId() == DUNE_IMC_SIMULATEDSTATE)
        {
          // since it has simulated state let us ignore this log
          ignore = true;
          delete msg;
          std::cerr << "this is a simulated log";
          break;
        }

//.........这里部分代码省略.........

    void
    TimeProfile::parse(const std::vector<IMC::PlanManeuver*>& nodes,
                       const IMC::EstimatedState* state)
    {
      if (!m_valid_model)
      {
        m_last_valid.clear();
        return;
      }

      Position pos;
      extractPosition(state, pos);

      std::vector<IMC::PlanManeuver*>::const_iterator itr = nodes.begin();

      for (; itr != nodes.end(); ++itr)
      {
        if ((*itr)->data.isNull())
          return;

        IMC::Message* msg = (*itr)->data.get();

        float last_duration = -1.0;
        if (m_accum_dur != NULL)
        {
          if (m_accum_dur->size())
            last_duration = m_accum_dur->getLastDuration();
        }

        Memory::clear(m_accum_dur);
        m_accum_dur = new TimeProfile::AccumulatedDurations(last_duration);

        Memory::clear(m_speed_vec);
        m_speed_vec = new std::vector<SpeedProfile>();

        bool parsed = false;

        switch (msg->getId())
        {
          case DUNE_IMC_GOTO:
            parsed = parse(static_cast<IMC::Goto*>(msg), pos);
            break;

          case DUNE_IMC_STATIONKEEPING:
            parsed = parse(static_cast<IMC::StationKeeping*>(msg), pos);
            break;

          case DUNE_IMC_LOITER:
            parsed = parse(static_cast<IMC::Loiter*>(msg), pos);
            break;

          case DUNE_IMC_FOLLOWPATH:
            parsed = parse(static_cast<IMC::FollowPath*>(msg), pos);
            break;

          case DUNE_IMC_ROWS:
            parsed = parse(static_cast<IMC::Rows*>(msg), pos);
            break;

          case DUNE_IMC_YOYO:
            parsed = parse(static_cast<IMC::YoYo*>(msg), pos);
            break;

          case DUNE_IMC_ELEVATOR:
            parsed = parse(static_cast<IMC::Elevator*>(msg), pos);
            break;

          case DUNE_IMC_POPUP:
            parsed = parse(static_cast<IMC::PopUp*>(msg), pos);
            break;

          case DUNE_IMC_COMPASSCALIBRATION:
            parsed = parse(static_cast<IMC::CompassCalibration*>(msg), pos);
            break;

          default:
            parsed = false;
            break;
        }

        if (!parsed)
        {
          if (m_profiles.empty() || itr == nodes.begin())
            return;

          // return the duration from the previously computed maneuver
          const_iterator dtr;
          dtr = m_profiles.find((*(--itr))->maneuver_id);

          if (dtr->second.durations.empty())
            return;

          m_last_valid = dtr->first;
          return;
        }

        // Update speeds and durations
        Profile prof;
        prof.durations = m_accum_dur->vec;
        prof.speeds = *m_speed_vec;
//.........这里部分代码省略.........

int
main(int32_t argc, char** argv)
{
  if (argc <= 1)
  {
    std::cerr << "Usage: " << argv[0] << " <path_to_log_1/Data.lsf[.gz]> ... <path_to_log_n/Data.lsf[.gz]>"
              << std::endl;
    return 1;
  }

  std::map<std::string, Vehicle> vehicles;

  for (int32_t i = 1; i < argc; ++i)
  {
    std::istream* is = 0;
    Compression::Methods method = Compression::Factory::detect(argv[i]);
    if (method == METHOD_UNKNOWN)
      is = new std::ifstream(argv[i], std::ios::binary);
    else
      is = new Compression::FileInput(argv[i], method);

    IMC::Message* msg = NULL;

    uint16_t curr_rpm = 0;

    bool got_state = false;
    IMC::EstimatedState estate;
    double last_lat;
    double last_lon;

    // Accumulated travelled distance
    double distance = 0.0;
    // Accumulated travelled time
    double duration = 0.0;

    bool got_name = false;
    std::string log_name = "unknown";

    bool ignore = false;
    uint16_t sys_id = 0xffff;
    std::string sys_name;

    try
    {
      while ((msg = IMC::Packet::deserialize(*is)) != 0)
      {
        if (msg->getId() == DUNE_IMC_ANNOUNCE)
        {
          IMC::Announce* ptr = static_cast<IMC::Announce*>(msg);
          if (sys_id == ptr->getSource())
          {
            sys_name = ptr->sys_name;
          }
        }
        else if (msg->getId() == DUNE_IMC_LOGGINGCONTROL)
        {
          if (!got_name)
          {
            IMC::LoggingControl* ptr = static_cast<IMC::LoggingControl*>(msg);

            if (ptr->op == IMC::LoggingControl::COP_STARTED)
            {
              sys_id = ptr->getSource();
              log_name = ptr->name;
              got_name = true;
            }
          }
        }
        else if (msg->getId() == DUNE_IMC_ESTIMATEDSTATE)
        {
          if (msg->getTimeStamp() - estate.getTimeStamp() > c_timestep)
          {
            IMC::EstimatedState* ptr = static_cast<IMC::EstimatedState*>(msg);

            if (!got_state)
            {
              estate = *ptr;
              Coordinates::toWGS84(*ptr, last_lat, last_lon);

              got_state = true;
            }
            else if (curr_rpm > c_min_rpm)
            {
              double lat, lon;
              Coordinates::toWGS84(*ptr, lat, lon);

              double dist = Coordinates::WGS84::distance(last_lat, last_lon, 0.0,
                                                         lat, lon, 0.0);

              // Not faster than maximum considered speed
              if (dist / (ptr->getTimeStamp() - estate.getTimeStamp()) < c_max_speed)
              {
                distance += dist;
                duration += msg->getTimeStamp() - estate.getTimeStamp();
              }

              estate = *ptr;
              last_lat = lat;
              last_lon = lon;
            }
//.........这里部分代码省略.........