加入了分任务保存日志

launch/launch.moos

@@ -18,14 +18,14 @@ AltOrigin = 0
 VehicleName = lauv-150
 
 LogEnable = false
-LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/
+LogDir = /home/jhl/project/moos-ivp-pi/log/
 AuvDataLog = auvData.mdat
 MissionHistoryLog = missionHistory.txt
 ClientCommandLog = clientCommand.txt
 FaultLog = faultLog.txt
 MotionControlLog = motionControl.txt
 
-llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json
+llaOriginPath = /home/jhl/project/moos-ivp-pi/setting/Origin.json
 
 //------------------------------------------
 // Antler configuration  block
@@ -209,9 +209,9 @@ ProcessConfig = pTaskManagement
 {
   AppTick   = 8
   CommsTick = 8
-  planConfigPath  = /home/zjk/project/work/moos-ivp-pi/setting/PlanConfigure.json
+  planConfigPath  = /home/jhl/project/moos-ivp-pi/setting/PlanConfigure.json
-  safetyRulesPath  = /home/zjk/project/work/moos-ivp-pi/setting/SafetyRules.json
+  safetyRulesPath  = /home/jhl/project/moos-ivp-pi/setting/SafetyRules.json
-  wayConfigParamPath = /home/zjk/project/work/moos-ivp-pi/setting/WayConfigParam.json
+  wayConfigParamPath = /home/jhl/project/moos-ivp-pi/setting/WayConfigParam.json
 }
 
 ProcessConfig = pBoardSupportComm

src/pBoardSupportComm/BoardSupportComm.cpp

@@ -186,7 +186,7 @@ bool BoardSupportComm::OnNewMail(MOOSMSG_LIST &NewMail)
       {
         executeCommand.manual_mode = false;
 
-      }    
+      }
     }
 
     if(key == "uManual_drive_cmd")

src/pDataManagement/DataManagement.cpp

@@ -76,7 +76,7 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
       if (sval == "true")
       {
         logEnable = true;
-        OpenOutputStream();
+        OpenOutputStream("");
       }
       else
       {
@@ -84,6 +84,39 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
         CloseOutputStream();
       }
     }
+    if(key == "uMission_action_cmd") 
+    {
+      if (logEnable)
+      {
+        std::string err;
+        Json::Value recvCommand;
+        std::istringstream iss(sval);  
+        Json::CharReaderBuilder builder;  
+        try
+        {
+          bool parsingResult = Json::parseFromStream(builder, iss, &recvCommand, &err);
+          if (!parsingResult)
+          {
+            throw ("uMission_action_cmd parse error");
+          }
+
+          if (recvCommand["action"].asString() == "start")
+          {
+            CloseOutputStream();
+            OpenOutputStream(recvCommand["taskName"].asString());
+          }
+          else
+          {
+            CloseOutputStream();
+            OpenOutputStream("");
+          }
+        }
+        catch (std::string s)
+        {
+          std::cout << s << std::endl;
+        } 
+      }
+    }
 
     if(key == "uDevice_monitor_fb")
     {
@@ -264,7 +297,9 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
         << motionControlInfo.desiredSpeed << ","
         << motionControlInfo.desiredDepth;
       Notify("uMotion_desired_log", ss.str());        
-    }    
+    }
+ 
+
   }
 	
   return(true);
@@ -415,44 +450,7 @@ bool DataManagement::OnStartUp()
 
   if (logEnable)
   {
-    // std::string subDir;
+    OpenOutputStream("");
-    // std::string localTime;
-    // GenerateFileName(subDir, localTime);
-    // saveLogDir += "/" + subDir;    
-    // if (access(saveLogDir.c_str(), F_OK) == -1 )
-    // {
-    //   mode_t mode = 0775;
-    //   mkdir(saveLogDir.c_str(), mode);
-    // }
-    // saveLogDir += "/" + localTime;    
-    // if (access(saveLogDir.c_str(), F_OK) == -1 )
-    // {
-    //   mode_t mode = 0775;
-    //   mkdir(saveLogDir.c_str(), mode);
-    // }
-    // std::string auvDataSavePath = saveLogDir + "/" + auvDataFile;
-    // std::string missionHistorySavePath = saveLogDir + "/" + missionHistoryFile;
-    // std::string clientCommandSavePath = saveLogDir + "/" + clientCommandFile;
-    // std::string faultLogSavePath = saveLogDir + "/" + faultLogFile;
-    // std::string motionControlSavePath = saveLogDir + "/" + motionControlFile;
-
-    // if(!OpenFile(auvDataStream, auvDataSavePath))
-    //   return MOOSFail("Failed to Open auvData file");
-    // if(!OpenFile(missionHistoryStream, missionHistorySavePath))
-    //   return MOOSFail("Failed to Open missionHistory file");
-    // if(!OpenFile(clientCommandStream, clientCommandSavePath))
-    //   return MOOSFail("Failed to Open clientCommand file");
-    // if(!OpenFile(faultLogStream, faultLogSavePath))
-    //   return MOOSFail("Failed to Open faultLog file");
-    // if(!OpenFile(motionControlStream, motionControlSavePath))
-    //   return MOOSFail("Failed to Open faultLog file");
-
-    // DoAuvDataLogBanner(auvDataStream);
-    // DoMissionHistoryBanner(missionHistoryStream);
-    // DoFaultHandleBanner(faultLogStream);
-    // DoMotionControlBanner(motionControlStream);
-
-    OpenOutputStream();
   }
 
   RegisterVariables();
@@ -485,6 +483,7 @@ void DataManagement::RegisterVariables()
   Register("DESIRED_DEPTH", 0);
   Register("uMotion_desired_log", 0);
   Register("uClient_logEnable_cmd", 0); 
+  Register("uMission_action_cmd", 0); 
 }
 
 bool DataManagement::buildReport()
@@ -635,7 +634,7 @@ void DataManagement::GenerateFileName(std::string &fileDir, std::string &fileNam
   fileName = ss.str();  
 }
 
-bool DataManagement::OpenOutputStream()
+bool DataManagement::OpenOutputStream(std::string extraName)
 {
   std::string subDir;
   std::string localTime;
@@ -646,7 +645,14 @@ bool DataManagement::OpenOutputStream()
     mode_t mode = 0775;
     mkdir(saveSubLogDir.c_str(), mode);
   }
-  saveSubLogDir += "/" + localTime;    
+  if (extraName.size() == 0)
+  {
+    saveSubLogDir += "/" + localTime;
+  }
+  else
+  {
+    saveSubLogDir += "/" + localTime + "_" + extraName;
+  }  
   if (access(saveSubLogDir.c_str(), F_OK) == -1 )
   {
     mode_t mode = 0775;
@@ -712,4 +718,4 @@ void DataManagement::CloseOutputStream()
   {
     motionControlStream.close();
   }
-}
+}

src/pDataManagement/DataManagement.h

@@ -44,7 +44,7 @@ protected:
   void DoMotionControlBanner(std::ofstream &os);
 
   void GenerateFileName(std::string &fileDir, std::string &fileName);
-  bool OpenOutputStream();
+  bool OpenOutputStream(std::string extraName);
   void CloseOutputStream();
   double getTimeStamp();
   int nDoublePrecision;

src/pStateManagement/StateManagement.cpp

@@ -45,11 +45,9 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
     double mtime = msg.GetTime();
     bool   mdbl  = msg.IsDouble();
     bool   mstr  = msg.IsString();
-    
     Json::Value deviceState;
     std::string manualState;
     int missionState;
-    int missionState;
 
     if(key == "uManual_enable_cmd")
     {

src/pSurfaceSupportComm/SurfaceSupportComm.cpp

@@ -731,8 +731,10 @@ void SurfaceSupportComm::processMessage(DUNE::IMC::Message * message)
       << "SetEntityParameters" << ":"
       << MOOS::Time();
 
+
     try
     {
+      Json::Value calibrationCommand;
       for(; iter < msg->params.end(); iter++)
       {
         DUNE::IMC::EntityParameter *subEntityParameter = static_cast<DUNE::IMC::EntityParameter *>(*iter);
@@ -747,11 +749,11 @@ void SurfaceSupportComm::processMessage(DUNE::IMC::Message * message)
         {
           throw ("SetEntityParameters parse error");
         }
-        
         std::string parentName = msg->name;
         std::string childName = subEntityParameter->name;
         std::string dataType = parameterValue["type"].asString();
         std::string dataValueTemp = parameterValue["value"].asString();
+        calibrationCommand[parentName][childName] = subEntityParameter->value;
 #if 0
         if (dataType == "float")
         {
@@ -791,8 +793,10 @@ void SurfaceSupportComm::processMessage(DUNE::IMC::Message * message)
                   << std::string(msg->getName()) << ","
                   << ss1.str();
       appCastContent = appCastStream.str();
-
       Notify("uClient_parameterSet_log", ss1.str());
+
+      Json::StreamWriterBuilder builder2;
+      Notify("uClient_calibration_cmd", Json::writeString(builder2, calibrationCommand));
     }
     catch(std::string s)
     {