Shell script automatically called in the code to compress all output files into one file after record mode and to de-crompress and the compressed file before proceeding to visualize in offline mode

Author: s-nepal

candump.cpp

@@ -520,7 +520,8 @@ int can_main(int argc, char **argv)
 				setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 					   rfilter, numfilter * sizeof(struct can_filter));
 
-			free(rfilter);
+			//free(rfilter);
+			delete [] rfilter;
 
 		} /* if (nptr) */
 

data_structures.cpp

@@ -1,3 +1,5 @@
+#ifndef DATA_STRUCTURES_CPP
+#define DATA_STRUCTURES_CPP
 struct fire_data {
 	uint16_t block_id;
 	double azimuth;
@@ -9,4 +11,5 @@ struct data_packet {
 	uint8_t header[42];
 	fire_data payload[12];
 	uint8_t footer[6];
-};
+};
+#endif

functions.cpp

@@ -1,3 +1,5 @@
+#ifndef FUNCTIONS_CPP
+#define FUNCTIONS_CPP
 #include <pcl/visualization/cloud_viewer.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/io/io.h>
@@ -26,10 +28,14 @@
 #include <vector>
 #include "data_structures.cpp"
 #include "video.cpp"
+#include <cstdlib>
 
 #include <sys/types.h>
 #include <sys/mman.h>
 
+#include "lib.c"
+#include "candump.cpp"
+
 #define PI 3.14159265
 // list elevation angles corresponding to each of the 32 laser beams for the HDL-32
 // const double elev_angles[32] = {-30.67, -9.33, -29.33, -8, -28, -6.66,
@@ -49,7 +55,46 @@ const int cycle_num = 50;
 const int delay_us = 50000;	
 int user_data;
 
+/* -------------------------------------------------------------
+   -------------Functions to compress files into tar------------
+   -------------------------------------------------------------*/
+inline
+void compressFunct(){
+	if(system("tar -czvf data.tar.gz Sample_1.pcap Sample_2.pcap out.avi ") < 0){
+	cout << "error in compressing files" << endl;
+	exit(0);
+	}
+	if(system("rm Sample_1.pcap Sample_2.pcap out.avi") < 0){
+		cout << "error in deleting pcap files" << endl;
+		exit(0);
+	}
+}
+
+void compressFiles(int signum){
+	exit_thread = true;
+	cout << "\nCompressing files into data.tar.gz file ..." << endl;
+	sleep(1);
+	compressFunct();
+	exit(0);
+}
+
+void deleteFiles(int signum){
+	exit_thread = true;
+	cout << "deleting pcap and video files" << endl;
+	if( system("rm Sample_1.pcap Sample_2.pcap out.avi") < 0){
+		cout << "error in deleting files" << endl;	
+	}
+	cout << "done!" << endl;
+	exit(0);
+}
 
+inline
+void canData(){
+	char *myargv[4] = {"./candump", "-tz", "vcan0", NULL};
+	int myargc = 3;
+	int can_return = can_main(myargc, myargv);
+	cout << "return from can_main function: " << can_return << endl;
+}
 
 void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,
                             void* viewer_void)
@@ -74,7 +119,7 @@ void mouseEventOccurred (const pcl::visualization::MouseEvent &event,
   if (event.getButton () == pcl::visualization::MouseEvent::LeftButton &&
       event.getType () == pcl::visualization::MouseEvent::MouseButtonPress)
   {
-    std::cout << "Left mouse button released at position (" << event.getX () << ", " << event.getY () << ")" << std::endl;
+    //std::cout << "Left mouse button released at position (" << event.getX () << ", " << event.getY () << ")" << std::endl;
 
     char str[512];
     //sprintf (str, "text#%03d", text_id ++);
@@ -107,8 +152,6 @@ void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
 	user_data++;	
 }
 
-/* ------------------------------------------------------------*/
-
 /* -------------------------------------------------------------
    -------------data_structure_builder--------------------------
    -------------------------------------------------------------*/
@@ -166,11 +209,11 @@ namespace data_structure
 		if (pkthdr->len != pkthdr->caplen)
 	    	printf("Warning! Capture size different than packet size: %ld bytes\n", (long)pkthdr->len);
 
-		// return an empty struct if the packet length is not 1248 bytes
-		// if(pkthdr -> len != 1248){
-		// 	processed_packet = (const struct data_packet){0};
-		// 	return;
-		// }
+		// // return an empty struct if the packet length is not 1248 bytes
+		if(pkthdr -> len != 1248){
+			processed_packet = (const struct data_packet){0};
+			return;
+		}
 
 		for(int i = 0; i < 42; i++){
 			processed_packet.header[i] = data[i]; // fill in the header
@@ -381,8 +424,9 @@ namespace live
 
 		//end the program if the viewer was closed by the user
 		if(viewer->wasStopped()){
-			cout << "Viewer Stopped" << endl;
-			exit(0);
+			//cout << "Viewer Stopped" << endl;
+			//exit(0);
+			return;
 		}    
 	}
 
@@ -403,8 +447,9 @@ namespace live
 
 		//end the program if the viewer was closed by the user
 		if(viewer->wasStopped()){
-			cout << "Viewer Stopped" << endl;
-			exit(0);
+			//cout << "Viewer Stopped" << endl;
+			//exit(0);	//disabled temporarily; making child exit which makes parent to wait for child forever;
+			return;
 		}    
 	}
 }
@@ -492,5 +537,6 @@ namespace offline
 
 }
 
+#endif
 
 

main.cpp

@@ -14,8 +14,6 @@
 //#include "data_structures.cpp"
 #include "functions.cpp"
 #include <signal.h>
-#include "lib.c"
-#include "candump.cpp"
 #include <fstream>
 
 using namespace std;
@@ -69,8 +67,14 @@ int main(int argc, char *argv[])
 		}
 		else {
 
+			int pid1 = fork();
+			if(pid1 == 0){
+				canData();
+			}
+			else{
 				pcl::visualization::CloudViewer viewer("Data from eth10");
 				std::thread t1(video::playback_video, 1);
+				//std::thread t2(canData);
 				descr = pcap_open_live(eth_port_2, 1248, 1, 1, errbuf);
 				if (descr == NULL) {
 					cout << "pcap_open_live() failed: " << errbuf << endl;
@@ -79,12 +83,17 @@ int main(int argc, char *argv[])
 				viewer.runOnVisualizationThreadOnce (viewerOneOff);
 				viewer.runOnVisualizationThread (viewerPsycho);
 				pcap_loop(descr, 0, live::packetHandler_II, (u_char *) &viewer);
-				int w = wait(NULL);
+				
+				//t2.join();
 				t1.join();
-				while(!viewer.wasStopped()){
-					//do nothing
-				}
+				int w = wait(NULL);
+				int w1 = wait(NULL);
+				// while(!viewer.wasStopped()){
+				// 	//do nothing
+				// }
+
 			}
+		}
 	}
 
 	if(argv[1] == s[1]) // record mode
@@ -95,41 +104,42 @@ int main(int argc, char *argv[])
 			exit(0);
 		}
 		else if(ret == 0){
-			close(1);
+			
+			close(1); //redirecting the ouput
 			int fd = open("canData.txt", O_WRONLY | O_CREAT | O_TRUNC, 0660);
 			if(fd < 0){
 				cout << "cannot open file canData.txt" << endl;
 				exit(0);
 			}
-			/*char *myargs[3];
-			myargs[0] = (const char *) "candump";
-			myargs[1] = (const char *) "can0";
-			myargs[2] = NULL;
-			int exec_return = execvp(myargs[0], myargs);
-			*/
-
+			
 			char *myargv[4] = {"./candump", "-tz", can_port, NULL};
 			int myargc = 3;
 			int can_return = can_main(myargc, myargv);
 			cout << "return from can_main function: " << can_return << endl;
 
 		}
 		else{
+			signal(SIGINT, compressFiles);
 			thread t1(video::capture_video);
 			thread t2(record::save_pcap, eth_port_1, "Sample_1.pcap");
 			thread t3(record::save_pcap, eth_port_2, "Sample_2.pcap");
 
 			t2.join();
 			t3.join();
 			t1.join();
-			int w1 = wait(NULL);
+			int w = wait(NULL);
+			compressFunct();
 		}
 
 	}
 
 	if(argv[1] == s[2]) // offline mode
 	{
 		cout << "Offline Mode Entered" << endl;
+		if(system("tar -xzvf data.tar.gz") < 0){
+			cout << "error in extracting the data from tar file" << endl;
+			return 0;
+		}
 
 		// Fill 2 giant vectors with the contents of the 2 pcap files
 		pcap_t *descr_I;
@@ -140,26 +150,26 @@ int main(int argc, char *argv[])
 			cout << "pcap_open_offline() failed: " << errbuf << endl;
 			return 1;
 			}
-			vector<struct data_packet> giant_vector_I;
-			pcap_loop(descr_I, 0, offline::pcap_copier_I, (u_char *) &giant_vector_I);
+		vector<struct data_packet> giant_vector_I;
+		pcap_loop(descr_I, 0, offline::pcap_copier_I, (u_char *) &giant_vector_I);
 
-			descr_II = pcap_open_offline("Sample_2.pcap", errbuf);	
-			if (descr_II == NULL) {
-			cout << "pcap_open_offline() failed: " << errbuf << endl;
-			return 1;
-			}
-			vector<struct data_packet> giant_vector_II;	
-			pcap_loop(descr_II, 0, offline::pcap_copier_II, (u_char *) &giant_vector_II);
+		descr_II = pcap_open_offline("Sample_2.pcap", errbuf);	
+		if (descr_II == NULL) {
+		cout << "pcap_open_offline() failed: " << errbuf << endl;
+		return 1;
+		}
+		vector<struct data_packet> giant_vector_II;	
+		pcap_loop(descr_II, 0, offline::pcap_copier_II, (u_char *) &giant_vector_II);
 
-			int pid = fork();
-			if(pid < 0){
-				cout << "fork error" << endl;
-				exit(0);
-			}
+		int pid = fork();
+		if(pid < 0){
+			cout << "fork error in offline mode" << endl;
+			exit(0);
+		}
 
 		else if(pid == 0){
 			pcl::visualization::CloudViewer viewer("Sample_1");
-			//viewer.registerMouseCallback (mouseEventOccurred, (void*) &viewer);
+			viewer.registerMouseCallback (mouseEventOccurred, (void*) &viewer);
 			viewer.registerKeyboardCallback (keyboardEventOccurred, (void*) &viewer);
 			viewer.runOnVisualizationThreadOnce (viewerOneOff);
 			viewer.runOnVisualizationThread (viewerPsycho);
@@ -175,7 +185,7 @@ int main(int argc, char *argv[])
 			 	cout << "fork error" << endl;
 			 	exit(0);
 			 }
-			 else if(pid1 == 0){
+			 else if(pid1 == 0){		//displaying canData on terminal
 
 			 	ifstream canData("canData.txt");
 			 	string line, tempStrTime, strTime;
@@ -200,10 +210,10 @@ int main(int argc, char *argv[])
 			 }
 
 			else{
-
-				thread t1(video::playback_video, 0);
+				signal(SIGINT, deleteFiles);
+				thread t1(video::playback_video, 0);		
 				pcl::visualization::CloudViewer viewer("Sample_2");
-				//viewer.registerMouseCallback (mouseEventOccurred, (void*) &viewer);
+				viewer.registerMouseCallback (mouseEventOccurred, (void*) &viewer);
 				viewer.registerKeyboardCallback (keyboardEventOccurred, (void*) &viewer);
 				viewer.runOnVisualizationThreadOnce (viewerOneOff);
 				viewer.runOnVisualizationThread (viewerPsycho);
@@ -212,7 +222,8 @@ int main(int argc, char *argv[])
 						//do nothing
 					}
 				t1.join();
-				int w = wait(NULL);	
+				int w = wait(NULL);
+				int w1 = wait(NULL);	
 			}
 		}
 	cout << "------------" << endl;

video.cpp

@@ -1,5 +1,8 @@
+#ifndef VIDEO_CPP
+#define VIDEO_CPP
 #include "opencv2/opencv.hpp"
 volatile unsigned int *pause_sim_kb = 0;
+int exit_thread = false;
 bool play_cloud = true;
 /* ------------------------------------------------------------*/
 
@@ -24,7 +27,7 @@ namespace video
 		VideoWriter video("out.avi",CV_FOURCC('M','J','P','G'),10, Size(frame_width,frame_height),true);
 
 		for(;;){
-
+			if(exit_thread == true){break;}	//return to main thread
 	    	Mat frame;
 	    	cap >> frame; 		// get a new frame from camera
 
@@ -54,6 +57,7 @@ namespace video
 
 		for(;;){	
 			while(*pause_sim_kb == 1){}
+			if(exit_thread){break;}
 			if(playVideo)
 	    		cap >> frame; // get a new frame from camera
 	    	if(!frame.data) break;
@@ -71,3 +75,4 @@ namespace video
 
 	}
 }
+#endif