void DataLogger::maxLength(unsigned int len)
{
suspendLogging();
for (unsigned int i=0; i<m_ports.size(); i++){
m_ports[i]->maxLength(len);
}
resumeLogging();
}
bool DataLogger::clear()
{
suspendLogging();
for (unsigned int i=0; i<m_ports.size(); i++){
m_ports[i]->clear();
}
resumeLogging();
return true;
}
/* ---------------------------------------------------------------------
* funct : Verbose printing
* args : Data to print
* ret : None.
*
* Detail: This function print verbose info if verbose mode is on.
*
* --------------------------------------------------------------------*/
void verPrint( char *data )
{
if(isVerboseOn==TRUE)
{
//Verbose print should not go to logfile
pauseLogging();
usleep(1000);
printf( data );
//Revert to previous settings
usleep(1000);
resumeLogging();
}
}
bool DataLogger::save(const char *i_basename)
{
suspendLogging();
bool ret = true;
for (unsigned int i=0; i<m_ports.size(); i++){
std::string fname = i_basename;
fname.append(".");
fname.append(m_ports[i]->name());
std::ofstream ofs(fname.c_str());
if (ofs.is_open()){
m_ports[i]->dumpLog(ofs);
}else{
std::cerr << "failed to open(" << fname << ")" << std::endl;
ret = false;
}
}
resumeLogging();
return ret;
}
bool DataLogger::add(const char *i_type, const char *i_name)
{
suspendLogging();
for (unsigned int i=0; i<m_ports.size(); i++){
if (strcmp(m_ports[i]->name(),i_name) == 0){
std::cerr << "Logger port named \"" << i_name << "\" already exists"
<< std::endl;
resumeLogging();
return false;
}
}
LoggerPortBase *new_port=NULL;
if (strcmp(i_type, "TimedDoubleSeq")==0){
LoggerPort<TimedDoubleSeq> *lp = new LoggerPort<TimedDoubleSeq>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedLongSeq")==0){
LoggerPort<TimedLongSeq> *lp = new LoggerPort<TimedLongSeq>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedBooleanSeq")==0){
LoggerPort<TimedBooleanSeq> *lp = new LoggerPort<TimedBooleanSeq>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedLongSeqSeq")==0){
LoggerPort<OpenHRP::TimedLongSeqSeq> *lp = new LoggerPort<OpenHRP::TimedLongSeqSeq>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedPoint3D")==0){
LoggerPort<TimedPoint3D> *lp = new LoggerPort<TimedPoint3D>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedOrientation3D")==0){
LoggerPort<TimedOrientation3D> *lp = new LoggerPort<TimedOrientation3D>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedAcceleration3D")==0){
LoggerPort<TimedAcceleration3D> *lp = new LoggerPort<TimedAcceleration3D>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedAngularVelocity3D")==0){
LoggerPort<TimedAngularVelocity3D> *lp = new LoggerPort<TimedAngularVelocity3D>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedVelocity2D")==0){
LoggerPort<TimedVelocity2D> *lp = new LoggerPort<TimedVelocity2D>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "TimedPose3D")==0){
LoggerPort<TimedPose3D> *lp = new LoggerPort<TimedPose3D>(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else if (strcmp(i_type, "PointCloud")==0){
LoggerPort<PointCloudTypes::PointCloud> *lp = new LoggerPortForPointCloud(i_name);
new_port = lp;
if (!addInPort(i_name, lp->port())) {
resumeLogging();
return false;
}
}else{
std::cout << "DataLogger: unsupported data type(" << i_type << ")"
<< std::endl;
resumeLogging();
return false;
}
m_ports.push_back(new_port);
resumeLogging();
return true;
}
