198 lines
7.0 KiB
C++
198 lines
7.0 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 ARLASERLOGGER_H
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#define ARLASERLOGGER_H
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#include <stdio.h>
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#include "ariaUtil.h"
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#include "ArFunctor.h"
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class ArLaser;
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class ArRobot;
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class ArJoyHandler;
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class ArRobotJoyHandler;
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class ArRobotPacket;
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/// This class can be used to create log files for the laser mapper
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/**
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This class has a pointer to a robot and a laser... every time the
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robot has EITHER moved the distDiff, or turned the degDiff, it will
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take the current readings from the laser and log them into the log
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file given as the fileName to the constructor. Readings can also
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be taken by calling takeReading which explicitly tells the logger
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to take a reading.
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The class can also add goals, see the constructor arg addGoals for
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information about that... you can also explicitly have it add a
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goal by calling addGoal.
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@see @ref LaserLogFileFormat for details on the laser scan log output file format.
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**/
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class ArLaserLogger
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{
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public:
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/// Constructor
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AREXPORT ArLaserLogger(
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ArRobot *robot, ArLaser *laser, double distDiff,
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double degDiff, const char *fileName,
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bool addGoals = false,
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ArJoyHandler *joyHandler = NULL,
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const char *baseDirectory = NULL,
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bool useReflectorValues = false,
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ArRobotJoyHandler *robotJoyHandler = NULL,
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const std::map<std::string,
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ArRetFunctor3<int, ArTime, ArPose *, ArPoseWithTime *> *,
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ArStrCaseCmpOp> *extraLocationData = NULL,
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std::list<ArLaser *> *extraLasers = NULL);
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/// Destructor
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AREXPORT virtual ~ArLaserLogger();
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#ifndef SWIG
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/** @brief Adds a string to the log file with a tag at the given moment
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* @swigomit
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*/
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AREXPORT void addTagToLog(const char *str, ...);
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#endif
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/// Same ass addToLog, but no varargs, wrapper for java
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AREXPORT void addTagToLogPlain(const char *str);
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#ifndef SWIG
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/** @brief Adds a string to the log file without a tag for where or when we are
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* @swigomit
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*/
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AREXPORT void addInfoToLog(const char *str, ...);
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#endif
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/// Same as addToInfo, but does it without marking robot position
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AREXPORT void addInfoToLogPlain(const char *str);
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/// Sets the distance at which the robot will take a new reading
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void setDistDiff(double distDiff) { myDistDiff = ArMath::fabs(distDiff); }
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/// Gets the distance at which the robot will take a new reading
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double getDistDiff(void) { return myDistDiff; }
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/// Sets the degrees to turn at which the robot will take a new reading
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void setDegDiff(double degDiff) { myDistDiff = ArMath::fabs(degDiff); }
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/// Gets the degrees to turn at which the robot will take a new reading
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double getDegDiff(void) { return myDegDiff; }
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/// Explicitly tells the robot to take a reading
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void takeReading(void) { myTakeReadingExplicit = true; }
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/// Adds a goal where the robot is at the moment
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void addGoal(void) { myAddGoalExplicit = true; }
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/// Sees if the file was opened successfully
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bool wasFileOpenedSuccessfully(void)
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{ if (myFile != NULL) return true; else return false; }
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/// Gets if we're taking old (sick1:) readings
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bool takingOldReadings(void) { return myOldReadings; }
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/// Sets if we're taking old (sick1:) readings
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void takeOldReadings(bool takeOld) { myOldReadings = takeOld; }
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/// Gets if we're taking new (scan1:) readings
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bool takingNewReadings(void) { return myNewReadings; }
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/// Sets if we're taking old (scan1:) readings
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void takeNewReadings(bool takeNew) { myNewReadings = takeNew; }
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protected:
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/// The task which gets attached to the robot
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AREXPORT void robotTask(void);
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// internal function that adds goals if needed (and specified)
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void internalAddGoal(void);
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// internal function that writes tags
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void internalWriteTags(void);
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// internal function that takes a reading
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void internalTakeReading(void);
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// internal function that takes a reading from one laser
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void internalTakeLaserReading(ArLaser *laser, int laserNumber);
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// internal function that prints the position
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void internalPrintPos(ArPose encoderPoseTaken, ArPose goalPoseTaken,
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ArTime timeTaken);
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// internal function that logs the pose and conf
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void internalPrintLaserPoseAndConf(ArLaser *laser, int laserNumber);
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// internal packet for handling the loop packets
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AREXPORT bool loopPacketHandler(ArRobotPacket *packet);
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// what type of readings we are taking
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bool myOldReadings;
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// what type of readings we are taking
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bool myNewReadings;
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// if we're taking reflector values too
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bool myUseReflectorValues;
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std::list<std::string> myTags;
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std::list<std::string> myInfos;
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bool myWrote;
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ArRobot *myRobot;
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// note that this is now in the list of lasers, but this pointer is
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// kept to denote the primary laser (so that it can always be called
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// number 1)
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ArLaser *myLaser;
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bool myAddGoals;
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ArJoyHandler *myJoyHandler;
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ArRobotJoyHandler *myRobotJoyHandler;
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std::string myFileName;
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std::string myBaseDirectory;
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FILE *myFile;
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bool myFirstTaken;
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ArPose myLast;
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double myLastVel;
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double myDistDiff;
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double myDegDiff;
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ArSectors mySectors;
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ArFunctorC<ArLaserLogger> myTaskCB;
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int myScanNumber;
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ArTime myStartTime;
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bool myTakeReadingExplicit;
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bool myAddGoalExplicit;
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bool myAddGoalKeyboard;
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bool myLastAddGoalKeyboard;
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bool myLastJoyButton;
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bool myLastRobotJoyButton;
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bool myFirstGoalTaken;
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int myNumGoal;
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ArPose myLastGoalTakenPose;
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ArTime myLastGoalTakenTime;
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void goalKeyCallback(void);
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unsigned char myLastLoops;
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// the lasers all have this, so shouldn't need it anymore...
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//bool myFlipped;
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bool myIncludeRawEncoderPose;
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std::map<std::string, ArRetFunctor3<int, ArTime, ArPose *, ArPoseWithTime *> *,
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ArStrCaseCmpOp> myExtraLocationData;
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// holders for the extra lasers
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std::list<ArLaser *> myLasers;
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ArFunctorC<ArLaserLogger> myGoalKeyCB;
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ArRetFunctor1C<bool, ArLaserLogger, ArRobotPacket *> myLoopPacketHandlerCB;
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};
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/// @deprecated
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typedef ArLaserLogger ArSickLogger;
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#endif // ARLASERLOGGER_H
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