void DataTrace::stopTrace() {
// Bouml preserved body begin 000C9471
file.close();
parametersEndTraceFile.open((path+"ParametersAfterTrace").c_str(), std::fstream::out | std::fstream::trunc);
std::string parameterString;
parametersEndTraceFile << "Name: " << this->name << std::endl;
ptime today;
today = second_clock::local_time();
parametersEndTraceFile << "Date: " << boost::posix_time::to_simple_string(today) << std::endl;
JointName jointName;
joint.getConfigurationParameter(jointName);
jointName.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersEndTraceFile << parameterString << std::endl;
TorqueConstant torqueconst;
joint.getConfigurationParameter(torqueconst);
torqueconst.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersEndTraceFile << parameterString << std::endl;
JointLimits jointLimits;
joint.getConfigurationParameter(jointLimits);
jointLimits.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersEndTraceFile << parameterString << std::endl;
EncoderTicksPerRound encoderTicksPerRound;
joint.getConfigurationParameter(encoderTicksPerRound);
encoderTicksPerRound.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersEndTraceFile << parameterString << std::endl;
GearRatio gearRatio;
joint.getConfigurationParameter(gearRatio);
gearRatio.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersEndTraceFile << parameterString << std::endl;
InverseMovementDirection inverseMovementDirection;
joint.getConfigurationParameter(inverseMovementDirection);
inverseMovementDirection.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersEndTraceFile << parameterString << std::endl;
for (int i = 0; i < parameterVector.size(); i++) {
joint.getConfigurationParameter(*(parameterVector[i]));
parameterVector[i]->toString(parameterString);
parametersEndTraceFile << parameterString << std::endl;
delete parameterVector[i];
}
parametersEndTraceFile.close();
// Bouml preserved body end 000C9471
}
void DataTrace::startTrace()
{
// Bouml preserved body begin 000C93F1
timeDurationMicroSec = 0;
file.open((path + "jointDataTrace").c_str(), std::fstream::out | std::fstream::trunc);
ptime today;
today = second_clock::local_time();
file << "# Name: " << this->name << std::endl;
file << "# Date: " << boost::posix_time::to_simple_string(today) << std::endl;
JointName jointName;
FirmwareVersion firmwareParameter;
std::string parameterString;
joint.getConfigurationParameter(firmwareParameter);
joint.getConfigurationParameter(jointName);
jointName.toString(parameterString);
file << "# " << parameterString << std::endl;
firmwareParameter.toString(parameterString);
file << "# " << parameterString << std::endl;
file << "# time [milliseconds]" << " " << "angle setpoint [rad]" << " " << "velocity setpoint [rad/s]" << " "
<< "RPM setpoint" << " " << "current setpoint [A]" << " " << "torque setpoint [Nm]" << " "
<< "ramp generator setpoint [rad/s]" << " " << "encoder setpoint"
<< " " << "sensed angle [rad]" << " " << "sensed encoder ticks" << " " << "sensed velocity [rad/s]" << " "
<< "sensed RPM" << " " << "sensed current [A]" << " " << "sensed torque [Nm]" << " " << "actual PWM"
<< " " << "OVER_CURRENT" << " " << "UNDER_VOLTAGE" << " " << "OVER_VOLTAGE" << " " << "OVER_TEMPERATURE" << " "
<< "MOTOR_HALTED" << " " << "HALL_SENSOR_ERROR" << " " << "PWM_MODE_ACTIVE" << " " << "VELOCITY_MODE" << " "
<< "POSITION_MODE" << " " << "TORQUE_MODE" << " " << "POSITION_REACHED" << " " << "INITIALIZED" << " "
<< "TIMEOUT" << " " << "I2T_EXCEEDED" << " " << std::endl;
parametersBeginTraceFile.open((path + "ParametersAtBegin").c_str(), std::fstream::out | std::fstream::trunc);
parameterVector.push_back(new ActualMotorVoltage);
// parameterVector.push_back(new ErrorAndStatus);
parameterVector.push_back(new ActualMotorDriverTemperature);
parameterVector.push_back(new I2tSum);
parameterVector.push_back(new PositionError);
parameterVector.push_back(new PositionErrorSum);
parameterVector.push_back(new RampGeneratorSpeed);
parameterVector.push_back(new VelocityError);
parameterVector.push_back(new VelocityErrorSum);
// parameterVector.push_back(new CalibrateJoint);
parameterVector.push_back(new DParameterFirstParametersPositionControl);
parameterVector.push_back(new DParameterFirstParametersSpeedControl);
parameterVector.push_back(new DParameterCurrentControl);
parameterVector.push_back(new DParameterSecondParametersPositionControl);
parameterVector.push_back(new DParameterSecondParametersSpeedControl);
parameterVector.push_back(new IClippingParameterFirstParametersPositionControl);
parameterVector.push_back(new IClippingParameterFirstParametersSpeedControl);
parameterVector.push_back(new IClippingParameterCurrentControl);
parameterVector.push_back(new IClippingParameterSecondParametersPositionControl);
parameterVector.push_back(new IClippingParameterSecondParametersSpeedControl);
// parameterVector.push_back(new InitializeJoint);
parameterVector.push_back(new IParameterFirstParametersPositionControl);
parameterVector.push_back(new IParameterFirstParametersSpeedControl);
parameterVector.push_back(new IParameterCurrentControl);
parameterVector.push_back(new IParameterSecondParametersPositionControl);
parameterVector.push_back(new IParameterSecondParametersSpeedControl);
parameterVector.push_back(new MaximumPositioningVelocity);
parameterVector.push_back(new MotorAcceleration);
parameterVector.push_back(new PositionControlSwitchingThreshold);
parameterVector.push_back(new PParameterFirstParametersPositionControl);
parameterVector.push_back(new PParameterFirstParametersSpeedControl);
parameterVector.push_back(new PParameterCurrentControl);
parameterVector.push_back(new PParameterSecondParametersPositionControl);
parameterVector.push_back(new PParameterSecondParametersSpeedControl);
parameterVector.push_back(new RampGeneratorSpeedAndPositionControl);
parameterVector.push_back(new SpeedControlSwitchingThreshold);
parameterVector.push_back(new ActivateOvervoltageProtection);
parameterVector.push_back(new ActualCommutationOffset);
// parameterVector.push_back(new ApproveProtectedParameters);
parameterVector.push_back(new BEMFConstant);
// parameterVector.push_back(new ClearI2tExceededFlag);
// parameterVector.push_back(new ClearMotorControllerTimeoutFlag);
parameterVector.push_back(new CommutationMode);
parameterVector.push_back(new CommutationMotorCurrent);
parameterVector.push_back(new CurrentControlLoopDelay);
parameterVector.push_back(new EncoderResolution);
parameterVector.push_back(new EncoderStopSwitch);
parameterVector.push_back(new HallSensorPolarityReversal);
parameterVector.push_back(new I2tExceedCounter);
parameterVector.push_back(new I2tLimit);
parameterVector.push_back(new InitializationMode);
parameterVector.push_back(new InitSineDelay);
parameterVector.push_back(new MassInertiaConstant);
parameterVector.push_back(new MaximumMotorCurrent);
parameterVector.push_back(new MaximumVelocityToSetPosition);
parameterVector.push_back(new MotorCoilResistance);
parameterVector.push_back(new MotorControllerTimeout);
parameterVector.push_back(new MotorPoles);
parameterVector.push_back(new OperationalTime);
parameterVector.push_back(new PIDControlTime);
parameterVector.push_back(new PositionTargetReachedDistance);
parameterVector.push_back(new ReversingEncoderDirection);
parameterVector.push_back(new SetEncoderCounterZeroAtNextNChannel);
parameterVector.push_back(new SetEncoderCounterZeroAtNextSwitch);
parameterVector.push_back(new SetEncoderCounterZeroOnlyOnce);
parameterVector.push_back(new SineInitializationVelocity);
parameterVector.push_back(new StopSwitchPolarity);
parameterVector.push_back(new ThermalWindingTimeConstant);
parameterVector.push_back(new VelocityThresholdForHallFX);
parameterVector.push_back(new MotorHaltedVelocity);
// apiParameterVector.push_back(new JointName);
// apiParameterVector.push_back(new TorqueConstant);
// apiParameterVector.push_back(new JointLimits);
// apiParameterVector.push_back(new GearRatio);
// apiParameterVector.push_back(new EncoderTicksPerRound);
// apiParameterVector.push_back(new InverseMovementDirection);
// for (int i = 0; i < apiParameterVector.size(); i++) {
// joint.getConfigurationParameter(*(apiParameterVector[i]));
// apiParameterVector[i]->toString(parameterString);
// // std::cout << parameterString << std::endl;
// parametersBeginTraceFile << parameterString << std::endl;
// }
parametersBeginTraceFile << "Name: " << this->name << std::endl;
parametersBeginTraceFile << "Date: " << boost::posix_time::to_simple_string(today) << std::endl;
// joint.getConfigurationParameter(jointName);
jointName.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersBeginTraceFile << parameterString << std::endl;
firmwareParameter.toString(parameterString);
parametersBeginTraceFile << parameterString << std::endl;
TorqueConstant torqueconst;
joint.getConfigurationParameter(torqueconst);
torqueconst.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersBeginTraceFile << parameterString << std::endl;
JointLimits jointLimits;
joint.getConfigurationParameter(jointLimits);
jointLimits.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersBeginTraceFile << parameterString << std::endl;
EncoderTicksPerRound encoderTicksPerRound;
joint.getConfigurationParameter(encoderTicksPerRound);
encoderTicksPerRound.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersBeginTraceFile << parameterString << std::endl;
GearRatio gearRatio;
joint.getConfigurationParameter(gearRatio);
gearRatio.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersBeginTraceFile << parameterString << std::endl;
InverseMovementDirection inverseMovementDirection;
joint.getConfigurationParameter(inverseMovementDirection);
inverseMovementDirection.toString(parameterString);
// std::cout << parameterString << std::endl;
parametersBeginTraceFile << parameterString << std::endl;
for (unsigned int i = 0; i < parameterVector.size(); i++)
{
joint.getConfigurationParameter(*(parameterVector[i]));
parameterVector[i]->toString(parameterString);
// std::cout << parameterString << std::endl;
parametersBeginTraceFile << parameterString << std::endl;
}
parametersBeginTraceFile.close();
traceStartTime = microsec_clock::local_time();
// Bouml preserved body end 000C93F1
}