la: add a timestamp, version and duration

analyze.cpp

@@ -350,6 +350,9 @@ void Analyze::end_of_log(uint32_t packet_count) {
     }
 
     Json::Value root;
+    root["format-version"] = "0.1";
+    root["timestamp"] = (Json::UInt64)start_time;
+    root["duration"] = (Json::UInt64)(now() - start_time);
 
     results_json(root);
 

analyze.h

@@ -5,6 +5,8 @@
 #include "analyzer.h"
 #include "analyzervehicle_copter.h"
 
+#include "analyzer_util.h"
+
 class Analyze : public MAVLink_Message_Handler {
 
 public:
@@ -14,6 +16,7 @@ class Analyze : public MAVLink_Message_Handler {
         _output_style(OUTPUT_JSON),
         next_analyzer(0)
         {
+            start_time = now();
         }
     void instantiate_analyzers(INIReader *config);
 
@@ -28,6 +31,8 @@ class Analyze : public MAVLink_Message_Handler {
     void set_output_style(output_style_option option) { _output_style = option;}
 
 private:
+    uint64_t start_time;
+
     AnalyzerVehicle::Base *vehicle;
 
     output_style_option _output_style;

analyzer_attitude_control.h

@@ -28,7 +28,6 @@ class Analyzer_Attitude_Control : public Analyzer {
     void handle_decoded_message(uint64_t T, mavlink_nav_controller_output_t &param);
     void handle_decoded_message(uint64_t T, mavlink_attitude_t &msg);
 
-    bool is_zero(double x) { return x < 0.00001; } // FIXME
     void evaluate(uint64_t T);
 
 private:

analyzer_notcrashed.h

@@ -15,8 +15,8 @@ class Analyzer_NotCrashed : public Analyzer {
 public:
     Analyzer_NotCrashed(int fd, struct sockaddr_in &sa, AnalyzerVehicle::Base *&vehicle) :
 	Analyzer(fd, sa, vehicle),
-        seen_packets_attitude(false),
-        notcrashed_results_offset(0)
+        notcrashed_results_offset(0),
+        seen_packets_attitude(false)
     { }
 
     const uint16_t servo_output_threshold = 1250;

analyzer_util.cpp

@@ -1,4 +1,5 @@
 #include "analyzer_util.h"
+#include <sys/time.h>
 
 void format_timestamp(char *buf, const uint8_t buflen, const uint64_t T)
 {
@@ -7,3 +8,9 @@ void format_timestamp(char *buf, const uint8_t buflen, const uint64_t T)
     tmp = localtime(&t);
     ::strftime(buf, buflen, "%Y%m%d%H%M%S", tmp);
 }
+
+uint64_t now() {
+    struct timeval tv;
+    gettimeofday(&tv,NULL);
+    return tv.tv_sec*(uint64_t)1000000 + tv.tv_usec;
+}

analyzer_util.h

@@ -31,4 +31,6 @@ std::string string_format( const char* format, Args ... args )
 
 void format_timestamp(char *buf, uint8_t buflen, uint64_t T);
 
+uint64_t now();
+
 #endif

mavlink_reader.cpp

@@ -24,8 +24,6 @@
 
 #include <dirent.h>
 
-#define streq(a, b) (!strcmp(a, b))
-
 static bool sighup_received = false;
 void sighup_handler(int signal)
 {