remote_monitor.cpp

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#include <iostream>
#include <ros/ros.h>
#include <string>
#include <vector>

#include <stdio.h>
#include <time.h>


//icludes packages

#include <database_interface/db_class.h>
#include <boost/shared_ptr.hpp>
#include <database_interface/postgresql_database.h>
#include <libpq-fe.h>

//includes of the messages
#include <atlascar_base/ManagerStatus.h>
#include <sensor_msgs/NavSatFix.h>
#include <gps_common/GPSFix.h>

#include <boost/thread/thread.hpp>

using namespace std;


int argc_g;
char** argv_g;

//string for time and date 
const string currentDateTimedate();
const string currentDateTime();
class Database: public database_interface::PostgresqlDatabase
{
        public:
                Database(std::string server,std::string port,std::string username,std::string pass,std::string table):
                PostgresqlDatabase("lars.mec.ua.pt", "5432","atlas", "atlas2013", "atlas_monitoring")
                {
                        touch();
                }
                
                class PGresultAutoPtr
                {
                        private:
                                PGresult* result_;
                        public:
                                PGresultAutoPtr(PGresult *ptr):
                                result_(ptr)
                                {}
                                
                                ~PGresultAutoPtr()
                                {
                                        PQclear(result_);
                                }
                                
                                void reset(PGresult *ptr)
                                {
                                        PQclear(result_);
                                        result_=ptr;
                                }
                                
                                PGresult* operator * ()
                                {
                                        return result_;
                                }
                };
                //Função nova criada que apaga a tabela existente
                bool cleanTable()
                {
                        std::string query("DELETE FROM data_table_atlas;");
                        PGresultAutoPtr result(PQexec(connection_, query.c_str()));  
                        return true;
                }
                
                
                bool copyTable()
                {
                        std::string query("COPY data_table_atlas TO '/opt/atlascar/atlascar_" + currentDateTimedate()+"_"+currentDateTime()+".csv' DELIMITER ',' CSV HEADER;");
                        PGresultAutoPtr result(PQexec(connection_, query.c_str()));                     
                        return true;
                }
                
                void touch()
                {
                        tic_=ros::Time::now();
                }
                
                ros::Time tic_;
};
class DatabaseStructure : public database_interface::DBClass
{

//fields are made public in this toy example for easy access, but you
//can treat them as you would any member data of your C++ classes
public:

  //key requirement: all fields that are to be stored in the 
  //database must be wrapped as database_interface::DBField<>, 
  //templated on the type of data they hold
  
        database_interface::DBField<int> id_;
        database_interface::DBField<int> rpm_;
        database_interface::DBField<double> speed_;
        database_interface::DBField<std::string> db_time_;
        database_interface::DBField<std::string> atlas_time_;//ttime send by the car to the db to compare with
        database_interface::DBField<int> throttle_;
        database_interface::DBField<int> brake_;
        database_interface::DBField<int> clutch_;
        database_interface::DBField<int> gear_;
        database_interface::DBField<double> steering_;
        database_interface::DBField<double> throttle_press_;
        database_interface::DBField<double> brake_press_;
        database_interface::DBField<double> clutch_press_;
        database_interface::DBField<int> auto_throttle_;
        database_interface::DBField<int> auto_brake_;
        database_interface::DBField<int> auto_clutch_;
        database_interface::DBField<int> auto_steering_;
        database_interface::DBField<int> auto_ignition_;
        database_interface::DBField<int> handbrake_;
        database_interface::DBField<int> emergency_;
        database_interface::DBField<int> lights_minimum_;
        database_interface::DBField<int> lights_medium_;
        database_interface::DBField<int> lights_high_;
        database_interface::DBField<int> lights_left_;
        database_interface::DBField<int> lights_right_;
        database_interface::DBField<int> lights_brake_;
        database_interface::DBField<int> lights_reverse_;
        database_interface::DBField<int> lights_warning_;
        database_interface::DBField<int> horn_;
        database_interface::DBField<double> lat_gps_;
        database_interface::DBField<double> long_gps_;
        database_interface::DBField<double> alt_gps_;
        database_interface::DBField<double> track_gps_;
//      This are some empty fiels for future data
        
        
        database_interface::DBField<int> empty_field3_;
        database_interface::DBField<int> empty_field4_;
        
  
  
  
  /***
   This defines the type of fiels and the name of them in the table   
   ***/
  DatabaseStructure() : 
                id_(database_interface::DBFieldBase::TEXT,
                        this, "id", "data_table_atlas", true),
                rpm_(database_interface::DBFieldBase::TEXT, 
                        this, "rpm", "data_table_atlas", true),
                speed_(database_interface::DBFieldBase::TEXT, 
                        this, "speed", "data_table_atlas", true),
                db_time_(database_interface::DBFieldBase::TEXT, 
                        this, "db_time", "data_table_atlas", true),
                atlas_time_(database_interface::DBFieldBase::TEXT, 
                        this, "atlas_time", "data_table_atlas", true),
                throttle_(database_interface::DBFieldBase::TEXT, 
                        this, "throttle", "data_table_atlas", true),
                brake_(database_interface::DBFieldBase::TEXT, 
                        this, "brake", "data_table_atlas", true),
                clutch_(database_interface::DBFieldBase::TEXT, 
                        this, "clutch", "data_table_atlas", true),
                gear_(database_interface::DBFieldBase::TEXT, 
                        this, "gear", "data_table_atlas", true),
                steering_(database_interface::DBFieldBase::TEXT, 
                        this, "steering", "data_table_atlas", true),
                throttle_press_(database_interface::DBFieldBase::TEXT, 
                        this, "throttle_press", "data_table_atlas", true),
                brake_press_(database_interface::DBFieldBase::TEXT, 
                        this, "brake_press", "data_table_atlas", true),
                clutch_press_(database_interface::DBFieldBase::TEXT, 
                        this, "clutch_press", "data_table_atlas", true),
                auto_throttle_(database_interface::DBFieldBase::TEXT, 
                        this, "auto_throttle", "data_table_atlas", true),
                auto_brake_(database_interface::DBFieldBase::TEXT, 
                        this, "auto_brake", "data_table_atlas", true),          
                auto_clutch_(database_interface::DBFieldBase::TEXT, 
                        this, "auto_clutch", "data_table_atlas", true), 
                auto_steering_(database_interface::DBFieldBase::TEXT, 
                        this, "auto_steering", "data_table_atlas", true),       
                auto_ignition_(database_interface::DBFieldBase::TEXT, 
                        this, "auto_ignition", "data_table_atlas", true),
                handbrake_(database_interface::DBFieldBase::TEXT, 
                        this, "handbrake", "data_table_atlas", true),
                emergency_(database_interface::DBFieldBase::TEXT, 
                        this, "emergency", "data_table_atlas", true),
                lights_minimum_(database_interface::DBFieldBase::TEXT, 
                        this, "lights_minimum", "data_table_atlas", true),
                lights_medium_(database_interface::DBFieldBase::TEXT, 
                        this, "lights_medium", "data_table_atlas", true),
                lights_high_(database_interface::DBFieldBase::TEXT, 
                        this, "lights_high", "data_table_atlas", true), 
                lights_left_(database_interface::DBFieldBase::TEXT, 
                        this, "lights_left", "data_table_atlas", true), 
                lights_right_(database_interface::DBFieldBase::TEXT, 
                        this, "lights_right", "data_table_atlas", true),        
                lights_brake_(database_interface::DBFieldBase::TEXT, 
                        this, "lights_brake", "data_table_atlas", true),
                lights_reverse_(database_interface::DBFieldBase::TEXT, 
                        this, "lights_reverse", "data_table_atlas", true),
                lights_warning_(database_interface::DBFieldBase::TEXT, 
                        this, "lights_warning", "data_table_atlas", true),
                horn_(database_interface::DBFieldBase::TEXT, 
                        this, "horn", "data_table_atlas", true),
                lat_gps_(database_interface::DBFieldBase::TEXT, 
                        this, "lat_gps", "data_table_atlas", true),     
                long_gps_(database_interface::DBFieldBase::TEXT, 
                        this, "long_gps", "data_table_atlas", true),
                alt_gps_(database_interface::DBFieldBase::TEXT, 
                        this, "alt_gps", "data_table_atlas", true),     
                track_gps_(database_interface::DBFieldBase::TEXT, 
                        this, "track_gps", "data_table_atlas", true),
                empty_field3_(database_interface::DBFieldBase::TEXT, 
                        this, "empty_field3", "data_table_atlas", true),
                empty_field4_(database_interface::DBFieldBase::TEXT, 
                        this, "empty_field4", "data_table_atlas", true)
                
  {     
                        

  
    //finally, all fields must be registered with the DBClass itself
    //one field MUST be a primary key
    //all instances of DBClass have a primary_key_field_ pointer, 
    //which must be set on construction
    
    
    /***
     Defenition of all fiels, one of them must be the PRIMARY KEY, and definesd as it. 
     ***/
    primary_key_field_ = &id_;
        //all other fields go into the fields_ array of the DBClass
        fields_.push_back(&rpm_);
        fields_.push_back(&speed_);
        
        fields_.push_back(&db_time_);
        fields_.push_back(&atlas_time_);
        fields_.push_back(&throttle_);
        fields_.push_back(&brake_);
        fields_.push_back(&clutch_);
        fields_.push_back(&gear_);
        fields_.push_back(&steering_);
        fields_.push_back(&throttle_press_);
        fields_.push_back(&brake_press_);
        fields_.push_back(&clutch_press_);
        fields_.push_back(&auto_throttle_);
        fields_.push_back(&auto_brake_);
        fields_.push_back(&auto_clutch_);
        fields_.push_back(&auto_steering_);
        fields_.push_back(&auto_ignition_);
        fields_.push_back(&handbrake_);
        fields_.push_back(&emergency_);
        fields_.push_back(&lights_minimum_);
        fields_.push_back(&lights_medium_);
        fields_.push_back(&lights_high_);
        fields_.push_back(&lights_left_);
        fields_.push_back(&lights_right_);
        fields_.push_back(&lights_brake_);
        fields_.push_back(&lights_reverse_);
        fields_.push_back(&lights_warning_);
        fields_.push_back(&horn_);
        fields_.push_back(&lat_gps_);
        fields_.push_back(&long_gps_);
        fields_.push_back(&alt_gps_);
        fields_.push_back(&track_gps_);
        
        //empty fields for future
        
        fields_.push_back(&empty_field3_);
        fields_.push_back(&empty_field4_);
        
        db_time_.data()=currentDateTimedate();
        throttle_press_.data()=0;
        brake_press_.data()=0;
        clutch_press_.data()=0;
        lights_left_.data()=0;
        lights_right_.data()=0;
        horn_.data()=0;
        lat_gps_.data()=0;
        long_gps_.data()=0;
        alt_gps_.data()=0;
        track_gps_.data()=0;
        empty_field3_.data()=0;
        empty_field4_.data()=0;
        
        rpm_.data()=0;
        
        throttle_.data()=0;
        brake_.data()=0;
        clutch_.data()=0;
        gear_.data()=0;
        
        steering_.data()=0;
        
        auto_throttle_.data()=0;
        auto_brake_.data()=0;
        auto_clutch_.data()=0;
        auto_steering_.data()=0;
        auto_ignition_.data()=0;
        
        lights_minimum_.data()=0;
        lights_medium_.data()=0;
        lights_high_.data()=0;
        handbrake_.data()=0;
        
        lights_brake_.data()=0;
        lights_reverse_.data()=0;
        lights_warning_.data()=0;
        emergency_.data()=0;
        
    //optional: let all fields be read automatically when an instance 
    // is retrieved from the database
    setAllFieldsReadFromDatabase(true);
    //optional: let all fields be written automatically when an instance 
    //is saved the database
    setAllFieldsWriteToDatabase(true);
    //(these options are usful if you have a very large field (e.g. a 
    // binary bitmap with the picture of the student) which you do not 
    //want retrieved automatically whenever you get a student info 
    //from the database
  }
  

  /*** 
  Creation of the vector containing all the fiels of the database
 ***/
  std::vector<database_interface::DBFieldBase*> getFields()
  {
         return fields_; 
  }
  
};

typedef boost::shared_ptr<DatabaseStructure> DatabaseStructurePtr;



DatabaseStructurePtr getDatabaseStructureById(vector<DatabaseStructurePtr>& atlas_status,int id)
{
//      for(uint i=0;i<atlas_status.size();i++)
//              if(atlas_status[i]->id_.data()==id)
//                      return atlas_status[i];
//      if (!database.getList(atlas_status))
//              {
//                ROS_ERROR("Failed to get list of test objects");
//                return -1;
//              }
// 
//              ROS_INFO("Retrieved %zd objects", objects.size());
//              if ( objects.size() != NUM_OBJECTS)
//              {
//                ROS_ERROR("Expected %d objects", (int)NUM_OBJECTS);
//                return -1;
//              }
        DatabaseStructurePtr null;
        return null;
}
ostream& operator<<(ostream& o, vector<DatabaseStructurePtr>& v)
{
        o << "Atlas Status size: " << v.size() <<endl;

        for (size_t i=0; i<v.size(); i++)
        {
                o << "Variaveis do AtlasCar: \n";
                
                o << "  id: " << v[i]->id_.data() << "\n";
                o << "  rpm: " << v[i]->rpm_.data() << "\n";
                o << "  speed: " << v[i]->speed_.data() << "\n";
                o << "  db_time: " << v[i]->db_time_.data() << "\n";
                o << "  atlas_time: " << v[i]->atlas_time_.data() << "\n";
                o << "  throttle: " << v[i]->throttle_.data() << "\n";
                o << "  brake: " << v[i]->brake_.data() << "\n";
                o << "  clutch: " << v[i]->clutch_.data() << "\n";
                o << "  gear: " << v[i]->gear_.data() << "\n";
                o << "  steering: " << v[i]->steering_.data() << "\n";
                o << "  throttle press: " << v[i]->throttle_press_.data() << "\n";
                o << "  brake press: " << v[i]->brake_press_.data() << "\n";
                o << "  clutch press: " << v[i]->clutch_press_.data() << "\n";
                o << "  auto throttle: " << v[i]->auto_throttle_.data() << "\n";
                o << "  auto brake: " << v[i]->auto_brake_.data() << "\n";
                o << "  auto clutch: " << v[i]->auto_clutch_.data() << "\n";
                o << "  auto steering: " << v[i]->auto_steering_.data() << "\n";
                o << "  auto ignition: " << v[i]->auto_ignition_.data() << "\n";
                o << "  handbrake: " << v[i]->handbrake_.data() << "\n";
                o << "  emergency: " << v[i]->emergency_.data() << "\n";
                o << "  lights minimum: " << v[i]->lights_minimum_.data() << "\n";
                o << "  lights medium: " << v[i]->lights_medium_.data() << "\n";
                o << "  lights high: " << v[i]->lights_high_.data() << "\n";
                o << "  lights left: " << v[i]->lights_left_.data() << "\n";
                o << "  lights right: " << v[i]->lights_right_.data() << "\n";
                o << "  lights brake: " << v[i]->lights_brake_.data() << "\n";
                o << "  lights reverse: " << v[i]->lights_reverse_.data() << "\n";
                o << "  lights warning: " << v[i]->lights_warning_.data() << "\n";
                o << "  horn: " << v[i]->horn_.data() << "\n";
                o << "  lat gps: " << v[i]->lat_gps_.data() << "\n";
                o << "  long gps: " << v[i]->long_gps_.data() << "\n";
        }
        
        return o;
}

using namespace std;
DatabaseStructure atlas_insert;//variavel global para introduzir os dados na DB

// Get current date/time, format is YYYY-MM-DD.HH:mm:ss
const string currentDateTime()
{
    time_t     now = time(0);
    struct tm  tstruct;
    char       buf[80];
    tstruct = *localtime(&now);
    // Visit http://www.cplusplus.com/reference/clibrary/ctime/strftime/
    // for more information about date/time format
    strftime(buf, sizeof(buf), "%X", &tstruct);
    return buf;
}

const string currentDateTimedate()
{
    time_t     now = time(0);
    struct tm  tstruct;
    char       buf[80];
    tstruct = *localtime(&now);
    // Visit http://www.cplusplus.com/reference/clibrary/ctime/strftime/
    // for more information about date/time format
    strftime(buf, sizeof(buf), "%Y-%m-%d", &tstruct);
    return buf;
}

 void ManagerStatusCallback(const atlascar_base::ManagerStatusPtr& msg)
{
        atlas_insert.db_time_.data()=currentDateTimedate();
//      cout<<"data: "<<currentDateTimedate()<<endl;
        atlas_insert.rpm_.data()=msg->rpm;
        double velocidade;
        velocidade=((msg->velocity)*3600)/1000;

        atlas_insert.speed_.data()=velocidade;
        atlas_insert.throttle_.data()=msg->throttle;
        atlas_insert.brake_.data()=msg->brake;
        atlas_insert.clutch_.data()=msg->clutch;
        atlas_insert.gear_.data()=msg->gear;
        
        atlas_insert.steering_.data()=msg->steering_wheel;
        
        atlas_insert.auto_throttle_.data()=msg->auto_throttle;
        atlas_insert.auto_brake_.data()=msg->auto_brake;
        atlas_insert.auto_clutch_.data()=msg->auto_clutch;
        atlas_insert.auto_steering_.data()=msg->auto_direction;
        atlas_insert.auto_ignition_.data()=msg->auto_ignition;
        
        atlas_insert.lights_medium_.data()=msg->lights_medium;
        atlas_insert.lights_high_.data()=msg->lights_high;
        
        
        atlas_insert.lights_brake_.data()=msg->lights_brake;
        atlas_insert.lights_reverse_.data()=msg->lights_reverse;
        atlas_insert.lights_warning_.data()=msg->lights_warning;
        atlas_insert.emergency_.data()=msg->emergency;
        atlas_insert.throttle_press_.data()=msg->throttle;
        atlas_insert.brake_press_.data()=msg->brake;
        atlas_insert.clutch_press_.data()=msg->clutch;

        atlas_insert.lights_left_.data()=msg->lights_left;
        atlas_insert.lights_right_.data()=msg->lights_right;
        
        atlas_insert.horn_.data()=msg->horn;
        
        //messages for future handbrake and lights min non existing in manager
        atlas_insert.handbrake_.data()=0;
        atlas_insert.lights_minimum_.data()=0;
        atlas_insert.empty_field3_.data()=0;
        atlas_insert.empty_field4_.data()=0;
}


void NavSatFixCallback(const sensor_msgs::NavSatFixPtr& nav_sat)
{
//      atlas_insert.lat_gps_.data()=nav_sat->latitude;
//      atlas_insert.long_gps_.data()=nav_sat->longitude;
//      atlas_insert.alt_gps_.data()=nav_sat->altitude;
}

void GpsFixCallback(const gps_common::GPSFixPtr& gps)
{
        atlas_insert.lat_gps_.data()=gps->latitude;
        atlas_insert.long_gps_.data()=gps->longitude;
        atlas_insert.alt_gps_.data()=gps->altitude;
        atlas_insert.track_gps_.data()=gps->track;
}

void watchdog(Database**database)
{
        ros::Rate r(50);
        
        while(ros::ok())
        {
                r.sleep();
                
                if( (ros::Time::now() - (*database)->tic_).toSec() > 5. )
                {
                        cout<<"disconnected"<<endl;
                        cout<<"restarting process"<<endl;
                        if(execvp(argv_g[0],argv_g)<0)
                                perror("Cannot launch new process");
                }
                
        }
}

int main(int argc,char**argv)
{
        argc_g=argc;
        argv_g=argv;
        
        ros::init(argc, argv, "listener");
        ros::NodeHandle n("~");

        ros::Subscriber sub_driver = n.subscribe("manager_status", 1000, ManagerStatusCallback);
        ros::Subscriber sub_gps_fix = n.subscribe("gps_fix", 1000, GpsFixCallback);
        ros::Subscriber sub_nav_sat = n.subscribe("nav_sat_fix", 1000, NavSatFixCallback);

        //Connect to the database
        Database* database = new Database("lars.mec.ua.pt", "5432","atlas", "atlas2013", "atlas_monitoring");
        if (!database->isConnected())
        {
                std::cerr << "Database failed to connect \n";
        }else
        {
                std::cerr << "Database connected successfully \n";
                //check if database is empty, and if isn't make a copy
                std::vector< boost::shared_ptr<DatabaseStructure> > objects;
                
                if (!database->getList(objects))
                {
                  ROS_ERROR("Failed to get list of test objects");
                }else
                {
                        if(objects.size()>0)
                        {
                                cout<<" The database isn't empty "<<endl;
                                ROS_INFO("Retrieved %zd objects", objects.size());
                                database->copyTable();
                                cout<<" Database were copied "<<endl;   
                        }
                }
                //
                database->cleanTable();
                cout<<"Deleted database done! "<<endl;
        }
        
        //Launch the database watchdog
        boost::thread thread(boost::bind(watchdog,&database));
        
        int i=0;

        ros::Rate r(2);
        while(ros::ok())
        {
                r.sleep();
                ros::spinOnce();
                //cada vez que corre vai ter de se atualizar o id que vai na mensagem para escrever na base de dados

                if(!database->isConnected())
                {
                        delete database;
                        
                        //Connect to the database
                        database = new Database("lars.mec.ua.pt", "5432","atlas", "atlas2013", "atlas_monitoring");
                        if (!database->isConnected())
                        {
                                std::cerr << "Database failed to connect \n";
                                continue;
                        }else
                        {
                                std::cerr << "Database connected successfully \n";
                                //check if database is empty, and if isn't make a copy
                                std::vector< boost::shared_ptr<DatabaseStructure> > objects;
                                
                                if (!database->getList(objects))
                                {
                                  ROS_ERROR("Failed to get list of test objects");
                                  continue;
                                }
                                
                                if(objects.size()>0)
                                {
                                  cout<<" The database isn't empty "<<endl;
                                  ROS_INFO("Retrieved %zd objects", objects.size());
                                  database->copyTable();
                                  cout<<" Database were copied "<<endl;  
                                }
                                
                                database->cleanTable();
                                
                                cout<<"Deleted database done! "<<endl;
                                if (!database->getList(objects))
                                {
                                  ROS_ERROR("Failed to get list of test objects");
                                  continue;
                                }
                                ROS_INFO("Retrieved %zd objects", objects.size());
                        }
                }
                
                //time send by the car to the db to compare with
                atlas_insert.atlas_time_.data()=currentDateTime();
                atlas_insert.id_.data()=i++;
                
                //Remove the line from the database, and add it (it only deletes if the line is repeated, this sould not be needed)
                database->deleteFromDatabase((database_interface::DBClass*)&atlas_insert);
                database->insertIntoDatabase((database_interface::DBClass*)&atlas_insert);
                
                database->touch();
        }

        //Join the thread
        thread.join();

        database->copyTable();
        cout<<"Backup database done! "<<endl;
        
        database->cleanTable();
        cout<<"Deleted database done! "<<endl;

        return 0;
}