Orca log format

Logfile Format

The logger writes a single master file containing all relevant information to replay the data using the LogPlayer.

Example for a set of files (3 interfaces were logged on 04/08/06 at 15:33:21):

060804_153321_master.log
060804_153321_laser0.log
060804_153321_laser1.log
060804_153321_camera0.log

Detailed descriptions of master and subfiles are given next.

Master File

Note: lines in the master file starting with '#+blank' are regarded as comments and skipped when playing back. The logger adds certain meta data like the Orca version as comments to the master file header.

Header

The header is expected at the beginning of the master file. It specifies all the subfiles (one per line). Each lines containes the following information:

• interface type ( e.g. orca::Laser, orca::Camera )
• encoding type ( see subfiles )
• subfile name (see subfiles )

Example:

::orca::Laser ice 060804_153321_laser0.log
::orca::Laser ice 060804_153321_laser1.log
::orca::Camera ice 060804_153321_camera0.log

Data

The beginning of the data field (end of the header) is indicated by a special tag: 'data' (no blank between '#' and 'data'!). The data is represented by one object per line in the following format:

• timestamp (seconds)
• timestamp (microseconds)
• subfile number (reference to the the subfiles specified in the header)
• index (reference to the record number in the subfile)

Example:

1154412007          971772              0           1
1154412007          955644              2           1
1154412008          22                  2           2
1154412008          22356               1           1