PhasespaceCore::~PhasespaceCore() {
ros::Time elapsed_time = ros::Time::now();
std::cout << "\n\n";
// closes log files
if (!log_multi_files_) {
std::string complete_path;
std::ifstream last_file;
complete_path = log_file_base_path_ + date_time_ + log_file_name_ + ".dat";
if (log_file_.is_open()) {
num_log_files_++;
std::cout << "[ INFO] [" << elapsed_time << "]: [PhaseSpace] Log file generated: " << complete_path << '\n';
log_file_.close();
}
// checks for emptiness (in case removes the file)
last_file.open(complete_path);
if (last_file.peek() == std::ifstream::traits_type::eof() && std::remove(complete_path.c_str()) == 0) {
std::cout << "[ INFO] [" << elapsed_time
<< "]: [PhaseSpace] Log file was empty, thus has been removed: " << complete_path << '\n';
}
complete_path = log_file_base_path_ + date_time_ + log_file_name_old_ + ".dat";
if (log_file_old_.is_open()) {
num_log_files_++;
std::cout << "[ INFO] [" << elapsed_time << "]: [PhaseSpace] Log file generated: " << complete_path << '\n';
log_file_old_.close();
}
// checks for emptiness
last_file.open(complete_path);
if (last_file.peek() == std::ifstream::traits_type::eof() && std::remove(complete_path.c_str()) == 0) {
std::cout << "[ INFO] [" << elapsed_time
<< "]: [PhaseSpace] Log file was empty, thus has been removed: " << complete_path << '\n';
}
}
// prints statistics (can't use rosconsole macros due to ros::shutdown() callback)
std::cout << "[ INFO] [" << elapsed_time << "]: [PhaseSpace] Final statistics..." << '\n';
int marker_id = 0;
for (auto const& occurrences : *markers_count_) {
if (occurrences > 0) {
int perc = 100*occurrences/num_data_retrieved_;
std::cout << " + Marker[" << marker_id << "]: " << occurrences << " occurrences (" << perc << " %)" << '\n';
}
marker_id++;
}
std::cout << " + Total elapsed time: " << elapsed_time - start_time_ << '\n';
std::cout << " + Total data acquired: " << num_data_retrieved_ << '\n';
std::cout << " + Total data rate: " << (double)num_data_retrieved_ / (elapsed_time-start_time_).toSec() << '\n';
std::cout << " + Total log files created: " << num_log_files_ << std::endl;
// performs system cleanup and client connection termination
owlDone();
delete private_node_handle_;
delete markers_;
delete markers_count_;
}
void
phasespace_close()
{
PhaseSpaceData *d = data();
owlDone();
(*d->destroy)();
d->status = PHASESPACE_CLEAN;
}
vrpn_Tracker_PhaseSpace::~vrpn_Tracker_PhaseSpace()
{
#ifdef DEBUG
printf("%s\n", __PRETTY_FUNCTION__);
#endif
if(owlRunning)
owlDone();
}
