From 3934c9c7580cec3776cd0eb21874035696c8baac Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 28 Aug 2015 10:06:43 +1000
Subject: [PATCH] la: add a timestamp, version and duration

---
 analyze.cpp                 | 3 +++
 analyze.h                   | 5 +++++
 analyzer_attitude_control.h | 1 -
 analyzer_notcrashed.h       | 4 ++--
 analyzer_util.cpp           | 7 +++++++
 analyzer_util.h             | 2 ++
 mavlink_reader.cpp          | 2 --
 7 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/analyze.cpp b/analyze.cpp
index 5dae524..3ea5434 100644
--- a/analyze.cpp
+++ b/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);
 
diff --git a/analyze.h b/analyze.h
index 021bc90..c5fae27 100644
--- a/analyze.h
+++ b/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;
diff --git a/analyzer_attitude_control.h b/analyzer_attitude_control.h
index 9b12a33..efead68 100644
--- a/analyzer_attitude_control.h
+++ b/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:
diff --git a/analyzer_notcrashed.h b/analyzer_notcrashed.h
index 81fe5d4..cc5b6d9 100644
--- a/analyzer_notcrashed.h
+++ b/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;
diff --git a/analyzer_util.cpp b/analyzer_util.cpp
index aef3877..e86936b 100644
--- a/analyzer_util.cpp
+++ b/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;
+}
diff --git a/analyzer_util.h b/analyzer_util.h
index 7dfb67c..4a01aca 100644
--- a/analyzer_util.h
+++ b/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
diff --git a/mavlink_reader.cpp b/mavlink_reader.cpp
index cbddbd5..942b4a9 100644
--- a/mavlink_reader.cpp
+++ b/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)
 {