Speedup

EscReader.cpp

@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2011 Aliaksei Stratsilatau <[email protected]>
+ *
+ * This file is part of the UAV Open System Project
+ *  http://www.uavos.com/
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 3, 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 GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; see the file COPYING.  If not, write to
+ * the Free Software Foundation, Inc., 51 Franklin Street, Fifth
+ * Floor, Boston, MA 02110-1301, USA.
+ *
+ */
+#include "EscReader.h"
+//=============================================================================
+EscReader::EscReader(QObject *parent)
+  : QObject(parent), _escaped()
+{}
+void EscReader::push(const QByteArray ba)
+{
+  data.append(ba);
+  while(!data.isEmpty()){
+    uint cnt=readEscaped();
+    if(!cnt)continue;
+    emit packet_read(QByteArray((const char*)esc_rx,cnt));
+    //qDebug("pkt");
+  }
+}
+//_escaped override
+uint EscReader::read(uint8_t *buf,uint sz)
+{
+  if(data.isEmpty())return 0;
+  if((int)sz>data.size())sz=data.size();
+  memcpy(buf,data.data(),sz);
+  data=data.mid(sz);
+  return sz;
+}
+bool EscReader::write_byte(const uint8_t v)
+{
+  Q_UNUSED(v);
+  return true;
+}
+void EscReader::escError(void)
+{
+  //qWarning("ESC reader error");
+}
+//=============================================================================

EscReader.h

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2011 Aliaksei Stratsilatau <[email protected]>
+ *
+ * This file is part of the UAV Open System Project
+ *  http://www.uavos.com/
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 3, 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 GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; see the file COPYING.  If not, write to
+ * the Free Software Foundation, Inc., 51 Franklin Street, Fifth
+ * Floor, Boston, MA 02110-1301, USA.
+ *
+ */
+#ifndef EscReader_H
+#define EscReader_H
+#include <QtCore>
+#include "escaped.h"
+//=============================================================================
+class EscReader: public QObject, public _escaped
+{
+  Q_OBJECT
+public:
+  explicit EscReader(QObject *parent=0);
+  void push(const QByteArray ba);
+  //_escaped override
+  uint read(uint8_t *buf,uint sz);
+  bool write_byte(const uint8_t v);
+  void escError(void);
+private:
+  QByteArray data;
+signals:
+  void packet_read(const QByteArray &ba);
+};
+//=============================================================================
+#endif

bbreader.pro

@@ -23,7 +23,7 @@ RCC_DIR = $$OBJ_DIR
 SOURCES += \
     mainwindow.cpp \
     bbreaderplugin.cpp \
-    escparser.cpp
+    EscReader.cpp
 
 INCLUDEPATH += /usr/share/uavos/gcu/sdk/inc/
 INCLUDEPATH += ../../share/tcpclient
@@ -35,7 +35,7 @@ HEADERS  += \
     /usr/share/uavos/gcu/sdk/inc/plugin_interface.h \
     mainwindow.h \
     bbreaderplugin.h \
-    escparser.h
+    EscReader.h
 
 FORMS += \
     mainwindow.ui

mainwindow.cpp

@@ -5,7 +5,7 @@
 #include <QFileDialog>
 
 #include <QMandala.h>
-#include "escparser.h"
+#include "EscReader.h"
 
 #include <iostream>
 
@@ -27,53 +27,32 @@ void MainWindow::on_pushButton_clicked()
     if(filename.isEmpty())
         return;
 
-    ui->labelErrorsCount->setText(QString("Errors: %1").arg(0));
-    ui->labelPacketsCount->setText(QString("Packets: %1").arg(0));
-
     QFile file(filename);
     file.open(QIODevice::ReadOnly);
 
-    EscParser parser;
-    QByteArray data = file.readAll();
-    EscParser::DataBuffer dataBuffer;
-    std::copy(data.begin(), data.end(), std::back_inserter(dataBuffer));
+    EscReader reader;
+    QMandalaItem m(nullptr, true);
+    connect(&reader, &EscReader::packet_read, &m, &QMandalaItem::downlinkReceived);
+
+    m.rec->setRecording(true);
 
-    var->rec->setRecording(true);
-    int errorsCount = 0;
-    int packetsCount = 0;
-    int packetsMeasure = 0;
     auto tp1 = std::chrono::high_resolution_clock::now();
-    while(true)
+    size_t bytesReaded = 0;
+    while(!file.atEnd())
     {
-        EscParser::DataBuffer packet;
-        auto result = parser.extractData(dataBuffer, packet);
-        if(result == EscParser::erDataEnd)
-            break;
-        else if(result == EscParser::erCrcError || result == EscParser::erUnknownError)
-            errorsCount++;
-        else if(result == EscParser::erOk)
-        {
-            if(packet[0] == idx_downstream)
-            {
-                packetsCount++;
-                packetsMeasure++;
-                QByteArray ba;
-                std::copy(packet.begin(), packet.end(), std::back_inserter(ba));
-                mandala->downlinkReceived(ba);
-            }
-        }
+        QByteArray data = file.read(512);
+        bytesReaded += data.size();
+        reader.push(data);
+
         auto tp2 = std::chrono::high_resolution_clock::now();
         if(std::chrono::duration_cast<std::chrono::milliseconds>(tp2 - tp1).count() > 100)
         {
             tp1 = tp2;
             qApp->processEvents();
-            packetsMeasure = 0;
         }
-        ui->labelErrorsCount->setText(QString("Errors: %1").arg(errorsCount));
-        ui->labelPacketsCount->setText(QString("Packets: %1").arg(packetsCount));
-        ui->labelBytes->setText(QString("Bytes processed: %1/%2").arg(file.size() - dataBuffer.size()).arg(file.size()));
+        ui->labelBytes->setText(QString("Bytes processed: %1/%2").arg(bytesReaded).arg(file.size()));
     }
-    var->rec->setRecording(false);
-    var->rec->close();
+    m.rec->setRecording(false);
+    m.rec->close();
     ui->labelBytes->setText("FINISHED");
 }

mainwindow.ui

@@ -6,29 +6,15 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>591</width>
-    <height>281</height>
+    <width>608</width>
+    <height>231</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>BlackBox Reader</string>
   </property>
   <widget class="QWidget" name="centralwidget">
-   <layout class="QVBoxLayout" name="verticalLayout" stretch="0,0,0,0">
-    <item>
-     <widget class="QLabel" name="labelErrorsCount">
-      <property name="text">
-       <string>Errors: 0</string>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="labelPacketsCount">
-      <property name="text">
-       <string>Packets: 0</string>
-      </property>
-     </widget>
-    </item>
+   <layout class="QVBoxLayout" name="verticalLayout" stretch="0,0">
     <item>
      <widget class="QLabel" name="labelBytes">
       <property name="text">
@@ -53,7 +39,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>591</width>
+     <width>608</width>
      <height>31</height>
     </rect>
    </property>