127 lines
3.9 KiB
C++
127 lines
3.9 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARDATALOGGER_H
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#define ARDATALOGGER_H
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#include "ariaUtil.h"
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#include "ArMutex.h"
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#include "ArFunctor.h"
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#include <vector>
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class ArRobot;
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class ArConfig;
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/// This class will log data, but you have to use it through an ArConfig right now
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/**
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This class doesn't log anything by default, but can be set up to
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log all sorts of data. Note that if you do an addString after you
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do an addToConfig it'll automatically be enabled (since right now
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we don't want to change config after loading since the values would
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wind up wierd).
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@ingroup OptionalClasses
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**/
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class ArDataLogger
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{
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public:
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/// Constructor
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AREXPORT ArDataLogger(ArRobot *robot, const char *fileName = NULL);
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/// Destructor
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AREXPORT ~ArDataLogger();
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/// Adds the data logger information to the config
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AREXPORT void addToConfig(ArConfig *config);
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/// Adds a string to the list of options in the raw format
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AREXPORT void addString(const char *name, ArTypes::UByte2 maxLen,
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ArFunctor2<char *, ArTypes::UByte2> *functor);
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/// Gets the functor for adding a string (for ArStringInfoGroup)
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ArFunctor3<const char *, ArTypes::UByte2,
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ArFunctor2<char *, ArTypes::UByte2> *> *
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getAddStringFunctor(void) { return &myAddStringFunctor; }
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protected:
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AREXPORT void connectCallback(void);
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AREXPORT bool processFile(char *errorBuffer, size_t errorBufferLen);
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AREXPORT void userTask(void);
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ArRobot *myRobot;
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ArTime myLastLogged;
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ArConfig *myConfig;
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bool myAddToConfigAtConnect;
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bool myAddedToConfig;
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FILE *myFile;
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bool myConfigLogging;
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int myConfigLogInterval;
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char myOpenedFileName[512];
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char myConfigFileName[512];
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std::string myPermanentFileName;
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// for what we're logging
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bool myLogVoltage;
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bool myLogStateOfCharge;
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bool myLogLeftVel;
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bool myLogRightVel;
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bool myLogTransVel;
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bool myLogRotVel;
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bool myLogLatVel;
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bool myLogLeftStalled;
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bool myLogRightStalled;
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bool myLogStallBits;
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bool myLogFlags;
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bool myLogFaultFlags;
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int myAnalogCount;
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bool *myAnalogEnabled;
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int myAnalogVoltageCount;
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bool *myAnalogVoltageEnabled;
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int myDigInCount;
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bool *myDigInEnabled;
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int myDigOutCount;
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bool *myDigOutEnabled;
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bool myLogPose;
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bool myLogEncoderPose;
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bool myLogCorrectedEncoderPose;
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bool myLogEncoders;
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bool myLogChargeState;
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bool myLogBatteryInfo;
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int myStringsCount;
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std::vector<bool *> myStringsEnabled;
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ArMutex myMutex;
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std::vector<ArStringInfoHolder *> myStrings;
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ArTypes::UByte2 myMaxMaxLength;
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ArFunctor3C<ArDataLogger, const char *, ArTypes::UByte2,
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ArFunctor2<char *, ArTypes::UByte2> *> myAddStringFunctor;
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ArFunctorC<ArDataLogger> myConnectCB;
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ArRetFunctor2C<bool, ArDataLogger, char *, size_t> myProcessFileCB;
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ArFunctorC<ArDataLogger> myUserTaskCB;
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};
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#endif // ARDATALOGGER_H
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