ArDataLogger.h

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#ifndef ARDATALOGGER_H
#define ARDATALOGGER_H

#include "ariaUtil.h"
#include "ArMutex.h"
#include <vector>

class ArRobot;
class ArConfig;



class ArDataLogger
{
public:
  ArDataLogger(ArRobot *robot, const char *fileName = NULL);
  ~ArDataLogger();
  void addToConfig(ArConfig *config);

  void addString(const char *name, ArTypes::UByte2 maxLen, 
                          ArFunctor2<char *, ArTypes::UByte2> *functor);

  void addStringInt(const char *name, ArTypes::UByte2 maxLen, 
                             ArRetFunctor<int> *functor, 
                             const char *format = "%d");

  void addStringDouble(const char *name, ArTypes::UByte2 maxLen, 
                                ArRetFunctor<double> *functor, 
                                const char *format = "%g");

  void addStringBool(const char *name, ArTypes::UByte2 maxLen, 
                              ArRetFunctor<bool> *functor,
                              const char *format = "%s");

  void addStringString(const char *name, ArTypes::UByte2 maxLen, 
                              ArRetFunctor<const char *> *functor,
                              const char *format = "%s");

protected:
  void connectCallback(void);
  bool processFile(char *errorBuffer, size_t errorBufferLen);
  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 myLogLeftVel;
  bool myLogRightVel;
  bool myLogTransVel;
  bool myLogRotVel;
  bool myLogLeftStalled;
  bool myLogRightStalled;
  bool myLogStallBits;
  bool myLogFlags;
  int myAnalogCount;
  bool *myAnalogEnabled;
  int myAnalogVoltageCount;
  bool *myAnalogVoltageEnabled;
  int myDigInCount;
  bool *myDigInEnabled;
  int myDigOutCount;
  bool *myDigOutEnabled;
  bool myLogPose;
  bool myLogEncoderPose;
  bool myLogCorrectedEncoderPose;
  bool myLogEncoders;
  int myStringsCount;
  bool *myStringsEnabled;
  ArMutex myMutex;

  std::vector<ArStringInfoHolder *> myStrings;
  ArTypes::UByte2 myMaxMaxLength;
  
  ArFunctorC<ArDataLogger> myConnectCB;  
  ArRetFunctor2C<bool, ArDataLogger, char *, size_t> myProcessFileCB;
  ArFunctorC<ArDataLogger> myUserTaskCB;
};

#endif // ARDATALOGGER_H

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