orca-robotics INTRODUCTION Overview Download and Install Quick Start Documentation Publications REPOSITORY Interfaces Components Libraries Utilities Software Map DEVELOPER Tutorials Examples Dev Guide Dashboard Wiki login/pass: orca/orca PEOPLE Contributors Users Project Download Mailing lists

snapshotloggers.h #ifndef ORCALOGFACTORY_SNAPSHOTLOGGERS_H #define ORCALOGFACTORY_SNAPSHOTLOGGERS_H #include <IceUtil/Mutex.h> #include <orcalog/snapshotloggerfactory.h> #include <orcalog/snapshotlogbuffer.h> #include <orcalogfactory/logwriters.h> #include <orcaice/connectutils.h> namespace orcalogfactory { // // A set of SnapshotLoggers: ie loggers which run continuously as soon as they're // initialised // template<class DataType, class ConsumerType, class ConsumerPrxType, class PrxType, class LogWriterType> class GenericSnapshotLogger : public ConsumerType, public orcalog::SnapshotLogger { public: GenericSnapshotLogger() : isTakingSnapshot_(false) {} virtual ~GenericSnapshotLogger() {} // Assumes the ConsumerType's method is called setData virtual void setData(const DataType& data, const Ice::Current&) { { // Don't accept new data while taking a snapshot. IceUtil::Mutex::Lock lock(mutex_); if ( isTakingSnapshot_ ) return; } snapshotLogBuffer_->addItem( data ); } // Inherited from orcalog::SnapshotLogger virtual void init( const std::string &format, double timeWindowSec ) { LogWriterType dummyLogWriter; dummyLogWriter.checkFormat( format ); snapshotLogBuffer_.reset( new orcalog::SnapshotLogBuffer<DataType, LogWriterType>( timeWindowSec ) ); } virtual void subscribe( orcaice::Context &context, const std::string &interfaceTag ) { // may throw PrxType objectPrx; orcaice::connectToInterfaceWithTag<PrxType>( context, objectPrx, interfaceTag ); Ice::ObjectPtr consumer = this; ConsumerPrxType callbackPrx = orcaice::createConsumerInterface<ConsumerPrxType>( context, consumer ); objectPrx->subscribe( callbackPrx ); } virtual void prepareForSnapshot( const orcalog::LogWriterInfo &logWriterInfo, orcalog::MasterFileWriter &masterFileWriter ) { { IceUtil::Mutex::Lock lock(mutex_); isTakingSnapshot_ = true; } logWriter_.reset( new LogWriterType ); logWriter_->init( logWriterInfo, masterFileWriter ); // Allow interface-specific stuff to happen (eg getting description) doSpecialisedSnapshotPreparation( *logWriter_ ); } virtual void finaliseSnapshot() { { IceUtil::Mutex::Lock lock(mutex_); isTakingSnapshot_ = false; } } virtual uint snapshotBufferSize() const { return snapshotLogBuffer_->bufferSize(); } virtual const orca::Time &oldestArrivalTime() const { return snapshotLogBuffer_->oldestArrivalTime(); } virtual void writeOldestObjToLogAndDiscard() { snapshotLogBuffer_->writeOldestObjToLogAndDiscard(*logWriter_); } protected: // Called during initialisation virtual void doSpecialisedSnapshotPreparation( LogWriterType &logWriter ) {} private: bool isTakingSnapshot_; std::auto_ptr< orcalog::SnapshotLogBuffer<DataType,LogWriterType> > snapshotLogBuffer_; std::auto_ptr<LogWriterType> logWriter_; IceUtil::Mutex mutex_; }; typedef GenericSnapshotLogger<orca::CpuData, orca::CpuConsumer, orca::CpuConsumerPrx, orca::CpuPrx, CpuLogWriter> CpuSnapshotLogger; class DriveBicycleSnapshotLogger : public GenericSnapshotLogger<orca::DriveBicycleData, orca::DriveBicycleConsumer, orca::DriveBicycleConsumerPrx, orca::DriveBicyclePrx, DriveBicycleLogWriter> { private: void doSpecialisedSnapshotPreparation( DriveBicycleLogWriter &logWriter ) { // may throw orca::DriveBicyclePrx objectPrx; orcaice::connectToInterfaceWithTag( logWriter.logWriterInfo().context, objectPrx, logWriter.logWriterInfo().interfaceTag ); logWriter.write( objectPrx->getDescription() ); } }; typedef GenericSnapshotLogger<orca::ImuData, orca::ImuConsumer, orca::ImuConsumerPrx, orca::ImuPrx, ImuLogWriter> ImuSnapshotLogger; class LaserScanner2dSnapshotLogger : public orca::RangeScanner2dConsumer, public orcalog::SnapshotLogger { public: LaserScanner2dSnapshotLogger() : isTakingSnapshot_(false) {} virtual ~LaserScanner2dSnapshotLogger() {} virtual void setData(const orca::RangeScanner2dDataPtr& data, const Ice::Current &c) { { // Don't accept new data while taking a snapshot. IceUtil::Mutex::Lock lock(mutex_); if ( isTakingSnapshot_ ) return; } // special case: do not copy to other loggers! // we assume that the data is really LaserScanner2dDataPtr but it has to be cast // @todo: what if it's not the right type? orca::LaserScanner2dDataPtr laserData = orca::LaserScanner2dDataPtr::dynamicCast( data ); snapshotLogBuffer_->addItem( laserData ); } virtual void init( const std::string &format, double timeWindowSec ) { LaserScanner2dLogWriter dummyLogWriter; dummyLogWriter.checkFormat( format ); snapshotLogBuffer_.reset( new orcalog::SnapshotLogBuffer<orca::LaserScanner2dDataPtr, LaserScanner2dLogWriter>( timeWindowSec ) ); } virtual void subscribe( orcaice::Context &context, const std::string &interfaceTag ) { orca::LaserScanner2dPrx objectPrx; orcaice::connectToInterfaceWithTag( context, objectPrx, interfaceTag ); Ice::ObjectPtr consumer = this; orca::RangeScanner2dConsumerPrx callbackPrx = orcaice::createConsumerInterface<orca::RangeScanner2dConsumerPrx>( context, consumer ); objectPrx->subscribe( callbackPrx ); } virtual void prepareForSnapshot( const orcalog::LogWriterInfo &logWriterInfo, orcalog::MasterFileWriter &masterFileWriter ) { { IceUtil::Mutex::Lock lock(mutex_); isTakingSnapshot_ = true; } logWriter_.reset( new LaserScanner2dLogWriter ); logWriter_->init( logWriterInfo, masterFileWriter ); // Allow interface-specific stuff to happen (eg getting description) // doSpecialisedSnapshotPreparation( *logWriter_ ); // may throw orca::LaserScanner2dPrx objectPrx; orcaice::connectToInterfaceWithTag( logWriter_->logWriterInfo().context, objectPrx, logWriter_->logWriterInfo().interfaceTag ); logWriter_->write( objectPrx->getDescription() ); } virtual void finaliseSnapshot() { { IceUtil::Mutex::Lock lock(mutex_); isTakingSnapshot_ = false; } } virtual uint snapshotBufferSize() const { return snapshotLogBuffer_->bufferSize(); } virtual const orca::Time &oldestArrivalTime() const { return snapshotLogBuffer_->oldestArrivalTime(); } virtual void writeOldestObjToLogAndDiscard() { snapshotLogBuffer_->writeOldestObjToLogAndDiscard(*logWriter_); } private: bool isTakingSnapshot_; std::auto_ptr< orcalog::SnapshotLogBuffer<orca::LaserScanner2dDataPtr, LaserScanner2dLogWriter> > snapshotLogBuffer_; std::auto_ptr<LaserScanner2dLogWriter> logWriter_; IceUtil::Mutex mutex_; }; class Localise2dSnapshotLogger : public GenericSnapshotLogger<orca::Localise2dData, orca::Localise2dConsumer, orca::Localise2dConsumerPrx, orca::Localise2dPrx, Localise2dLogWriter> { private: void doSpecialisedSnapshotPreparation( Localise2dLogWriter &logWriter ) { // may throw orca::Localise2dPrx objectPrx; orcaice::connectToInterfaceWithTag( logWriter.logWriterInfo().context, objectPrx, logWriter.logWriterInfo().interfaceTag ); logWriter.write( objectPrx->getVehicleGeometry() ); } }; class Localise3dSnapshotLogger : public GenericSnapshotLogger<orca::Localise3dData, orca::Localise3dConsumer, orca::Localise3dConsumerPrx, orca::Localise3dPrx, Localise3dLogWriter> { private: void doSpecialisedSnapshotPreparation( Localise3dLogWriter &logWriter ) { // may throw orca::Localise3dPrx objectPrx; orcaice::connectToInterfaceWithTag( logWriter.logWriterInfo().context, objectPrx, logWriter.logWriterInfo().interfaceTag ); logWriter.write( objectPrx->getVehicleGeometry() ); } }; class Odometry2dSnapshotLogger : public GenericSnapshotLogger<orca::Odometry2dData, orca::Odometry2dConsumer, orca::Odometry2dConsumerPrx, orca::Odometry2dPrx, Odometry2dLogWriter> { private: void doSpecialisedSnapshotPreparation( Odometry2dLogWriter &logWriter ) { // may throw orca::Odometry2dPrx objectPrx; orcaice::connectToInterfaceWithTag( logWriter.logWriterInfo().context, objectPrx, logWriter.logWriterInfo().interfaceTag ); logWriter.write( objectPrx->getDescription() ); } }; class Odometry3dSnapshotLogger : public GenericSnapshotLogger<orca::Odometry3dData, orca::Odometry3dConsumer, orca::Odometry3dConsumerPrx, orca::Odometry3dPrx, Odometry3dLogWriter> { private: void doSpecialisedSnapshotPreparation( Odometry3dLogWriter &logWriter ) { // may throw orca::Odometry3dPrx objectPrx; orcaice::connectToInterfaceWithTag( logWriter.logWriterInfo().context, objectPrx, logWriter.logWriterInfo().interfaceTag ); logWriter.write( objectPrx->getDescription() ); } }; typedef GenericSnapshotLogger<orca::PolarFeature2dData, orca::PolarFeature2dConsumer, orca::PolarFeature2dConsumerPrx, orca::PolarFeature2dPrx, PolarFeature2dLogWriter> PolarFeature2dSnapshotLogger; typedef GenericSnapshotLogger<orca::PowerData, orca::PowerConsumer, orca::PowerConsumerPrx, orca::PowerPrx, PowerLogWriter> PowerSnapshotLogger; typedef GenericSnapshotLogger<orca::WifiData, orca::WifiConsumer, orca::WifiConsumerPrx, orca::WifiPrx, WifiLogWriter> WifiSnapshotLogger; class GpsSnapshotLogger : public GenericSnapshotLogger<orca::GpsData, orca::GpsConsumer, orca::GpsConsumerPrx, orca::GpsPrx, GpsLogWriter> { private: void doSpecialisedSnapshotPreparation( GpsLogWriter &logWriter ) { // may throw orca::GpsPrx objectPrx; orcaice::connectToInterfaceWithTag( logWriter.logWriterInfo().context, objectPrx, logWriter.logWriterInfo().interfaceTag ); logWriter.write( objectPrx->getDescription() ); } }; } #endif

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

---