127 lines
3.9 KiB
C
127 lines
3.9 KiB
C
|
/*
|
||
|
|
Adept MobileRobots Robotics Interface for Applications (ARIA)
|
||
|
|
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
|
||
|
|
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
|
||
|
|
Copyright (C) 2011, 2012, 2013 Adept Technology
|
||
|
|
|
||
|
|
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 2 of the License, 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; if not, write to the Free Software
|
||
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
|
||
|
|
If you wish to redistribute ARIA under different terms, contact
|
||
|
|
Adept MobileRobots for information about a commercial version of ARIA at
|
||
|
|
robots@mobilerobots.com or
|
||
|
|
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
|
||
|
|
*/
|
||
|
|
#ifndef ARDATALOGGER_H
|
||
|
|
#define ARDATALOGGER_H
|
||
|
|
|
||
|
|
#include "ariaUtil.h"
|
||
|
|
#include "ArMutex.h"
|
||
|
|
#include "ArFunctor.h"
|
||
|
|
#include <vector>
|
||
|
|
|
||
|
|
class ArRobot;
|
||
|
|
class ArConfig;
|
||
|
|
|
||
|
|
|
||
|
|
/// This class will log data, but you have to use it through an ArConfig right now
|
||
|
|
/**
|
||
|
|
This class doesn't log anything by default, but can be set up to
|
||
|
|
log all sorts of data. Note that if you do an addString after you
|
||
|
|
do an addToConfig it'll automatically be enabled (since right now
|
||
|
|
we don't want to change config after loading since the values would
|
||
|
|
wind up wierd).
|
||
|
|
|
||
|
|
@ingroup OptionalClasses
|
||
|
|
**/
|
||
|
|
class ArDataLogger
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArDataLogger(ArRobot *robot, const char *fileName = NULL);
|
||
|
|
/// Destructor
|
||
|
|
AREXPORT ~ArDataLogger();
|
||
|
|
/// Adds the data logger information to the config
|
||
|
|
AREXPORT void addToConfig(ArConfig *config);
|
||
|
|
/// Adds a string to the list of options in the raw format
|
||
|
|
AREXPORT void addString(const char *name, ArTypes::UByte2 maxLen,
|
||
|
|
ArFunctor2<char *, ArTypes::UByte2> *functor);
|
||
|
|
|
||
|
|
/// Gets the functor for adding a string (for ArStringInfoGroup)
|
||
|
|
ArFunctor3<const char *, ArTypes::UByte2,
|
||
|
|
ArFunctor2<char *, ArTypes::UByte2> *> *
|
||
|
|
getAddStringFunctor(void) { return &myAddStringFunctor; }
|
||
|
|
|
||
|
|
protected:
|
||
|
|
AREXPORT void connectCallback(void);
|
||
|
|
AREXPORT bool processFile(char *errorBuffer, size_t errorBufferLen);
|
||
|
|
AREXPORT void userTask(void);
|
||
|
|
ArRobot *myRobot;
|
||
|
|
ArTime myLastLogged;
|
||
|
|
ArConfig *myConfig;
|
||
|
|
bool myAddToConfigAtConnect;
|
||
|
|
bool myAddedToConfig;
|
||
|
|
|
||
|
|
FILE *myFile;
|
||
|
|
bool myConfigLogging;
|
||
|
|
int myConfigLogInterval;
|
||
|
|
char myOpenedFileName[512];
|
||
|
|
char myConfigFileName[512];
|
||
|
|
std::string myPermanentFileName;
|
||
|
|
|
||
|
|
// for what we're logging
|
||
|
|
bool myLogVoltage;
|
||
|
|
bool myLogStateOfCharge;
|
||
|
|
bool myLogLeftVel;
|
||
|
|
bool myLogRightVel;
|
||
|
|
bool myLogTransVel;
|
||
|
|
bool myLogRotVel;
|
||
|
|
bool myLogLatVel;
|
||
|
|
bool myLogLeftStalled;
|
||
|
|
bool myLogRightStalled;
|
||
|
|
bool myLogStallBits;
|
||
|
|
bool myLogFlags;
|
||
|
|
bool myLogFaultFlags;
|
||
|
|
int myAnalogCount;
|
||
|
|
bool *myAnalogEnabled;
|
||
|
|
int myAnalogVoltageCount;
|
||
|
|
bool *myAnalogVoltageEnabled;
|
||
|
|
int myDigInCount;
|
||
|
|
bool *myDigInEnabled;
|
||
|
|
int myDigOutCount;
|
||
|
|
bool *myDigOutEnabled;
|
||
|
|
bool myLogPose;
|
||
|
|
bool myLogEncoderPose;
|
||
|
|
bool myLogCorrectedEncoderPose;
|
||
|
|
bool myLogEncoders;
|
||
|
|
bool myLogChargeState;
|
||
|
|
bool myLogBatteryInfo;
|
||
|
|
int myStringsCount;
|
||
|
|
std::vector<bool *> myStringsEnabled;
|
||
|
|
|
||
|
|
ArMutex myMutex;
|
||
|
|
|
||
|
|
std::vector<ArStringInfoHolder *> myStrings;
|
||
|
|
ArTypes::UByte2 myMaxMaxLength;
|
||
|
|
ArFunctor3C<ArDataLogger, const char *, ArTypes::UByte2,
|
||
|
|
ArFunctor2<char *, ArTypes::UByte2> *> myAddStringFunctor;
|
||
|
|
|
||
|
|
|
||
|
|
ArFunctorC<ArDataLogger> myConnectCB;
|
||
|
|
ArRetFunctor2C<bool, ArDataLogger, char *, size_t> myProcessFileCB;
|
||
|
|
ArFunctorC<ArDataLogger> myUserTaskCB;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // ARDATALOGGER_H
|