zjk/moos-ivp-pi
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This commit is contained in:
zengxiaobin
2023-11-28 09:06:15 +08:00
parent 61c67ff7e2
commit 70008ee3d8
16 changed files with 506 additions and 1319 deletions
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277
src/pDataManagement/DataManagement.cpp
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@@ -17,6 +17,7 @@ using namespace std;
// Constructor
DataManagement::DataManagement()
{
logEnable = false;
motionControlInfo.desiredHeading = 0;
motionControlInfo.desiredSpeed = 0;
@@ -44,26 +45,7 @@ DataManagement::DataManagement()
// Destructor
DataManagement::~DataManagement()
{
if(auvDataStream.is_open())
{
auvDataStream.close();
}
if(missionHistoryStream.is_open())
{
missionHistoryStream.close();
}
if(clientCommandStream.is_open())
{
clientCommandStream.close();
}
if(faultLogStream.is_open())
{
faultLogStream.close();
}
if(motionControlStream.is_open())
{
motionControlStream.close();
}
CloseOutputStream();
}
//---------------------------------------------------------
@@ -89,11 +71,25 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
bool mdbl = msg.IsDouble();
bool mstr = msg.IsString();
if (key == "uClient_logEnable_cmd")
{
if (sval == "true")
{
logEnable = true;
OpenOutputStream();
}
else
{
logEnable = false;
CloseOutputStream();
}
}
if(key == "uDevice_monitor_fb")
{
std::string err;
Json::Value estimatedStateData;
std::istringstream iss(msg.GetString());
std::istringstream iss(sval);
Json::CharReaderBuilder builder;
bool parsingResult = Json::parseFromStream(builder, iss, &estimatedStateData, &err);
if (!parsingResult)
@@ -138,7 +134,7 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
{
std::string err;
Json::Value missionStatusObject;
std::istringstream iss(msg.GetString());
std::istringstream iss(sval);
Json::CharReaderBuilder builder;
bool parsingResult = Json::parseFromStream(builder, iss, &missionStatusObject, &err);
try
@@ -168,10 +164,9 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
{
std::string err;
Json::Value errorStatus;
std::istringstream iss(msg.GetString());
std::istringstream iss(sval);
Json::CharReaderBuilder builder;
bool parsingResult = Json::parseFromStream(builder, iss, &errorStatus, &err);
// std::cout << "uFH_errorMsg: " << msg.GetString() << std::endl;
try
{
if (!parsingResult)
@@ -242,7 +237,7 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
}
if(key == "DESIRED_HEADING")
{
motionControlInfo.desiredHeading = msg.GetDouble();
motionControlInfo.desiredHeading = dval;
std::stringstream ss;
ss << std::fixed << std::setprecision(6) << MOOS::Time() << ",";
ss << motionControlInfo.desiredHeading << ","
@@ -252,7 +247,7 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
}
if(key == "DESIRED_SPEED")
{
motionControlInfo.desiredSpeed = msg.GetDouble();
motionControlInfo.desiredSpeed = dval;
std::stringstream ss;
ss << std::fixed << std::setprecision(6) << MOOS::Time() << ",";
ss << motionControlInfo.desiredHeading << ","
@@ -262,7 +257,7 @@ bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail)
}
if(key == "DESIRED_DEPTH")
{
motionControlInfo.desiredDepth = msg.GetDouble();
motionControlInfo.desiredDepth = dval;
std::stringstream ss;
ss << std::fixed << std::setprecision(6) << MOOS::Time() << ",";
ss << motionControlInfo.desiredHeading << ","
@@ -372,92 +367,92 @@ bool DataManagement::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
list<string> sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) {
list<string>::iterator p;
for(p=sParams.begin(); p!=sParams.end(); p++) {
string line = *p;
string param = tolower(biteStringX(line, '='));
string value = line;
// list<string> sParams;
// m_MissionReader.EnableVerbatimQuoting(false);
// if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) {
// list<string>::iterator p;
// for(p=sParams.begin(); p!=sParams.end(); p++) {
// string line = *p;
// string param = tolower(biteStringX(line, '='));
// string value = line;
if(param == "foo") {
//handled
}
else if(param == "bar") {
//handled
}
}
}
std::string saveLogDir;
// if(param == "foo") {
// //handled
// }
// else if(param == "bar") {
// //handled
// }
// }
// }
m_MissionReader.GetValue("LogDir", saveLogDir);
std::string vehicleName;
m_MissionReader.GetValue("VehicleName", vehicleName);
bool logEnable = false;
m_MissionReader.GetValue("LogEnable", logEnable);
std::string auvDataFile;
m_MissionReader.GetValue("AuvDataLog", auvDataFile);
std::string missionHistoryFile;
m_MissionReader.GetValue("MissionHistoryLog", missionHistoryFile);
std::string clientCommandFile;
m_MissionReader.GetValue("ClientCommandLog", clientCommandFile);
std::string faultLogFile;
m_MissionReader.GetValue("FaultLog", faultLogFile);
std::string motionControlFile;
m_MissionReader.GetValue("MotionControlLog", motionControlFile);
// std::string auvDataFile;
// m_MissionReader.GetValue("AuvDataLog", auvDataFile);
// std::string missionHistoryFile;
// m_MissionReader.GetValue("MissionHistoryLog", missionHistoryFile);
// std::string clientCommandFile;
// m_MissionReader.GetValue("ClientCommandLog", clientCommandFile);
// std::string faultLogFile;
// m_MissionReader.GetValue("FaultLog", faultLogFile);
// std::string motionControlFile;
// m_MissionReader.GetValue("MotionControlLog", motionControlFile);
if (access(saveLogDir.c_str(), F_OK) == -1 )
{
mode_t mode = 0775;
mkdir(saveLogDir.c_str(), mode);
}
saveLogDir += "/" + vehicleName;
if (access(saveLogDir.c_str(), F_OK) == -1 )
{
mode_t mode = 0775;
mkdir(saveLogDir.c_str(), mode);
}
if (logEnable)
{
if (access(saveLogDir.c_str(), F_OK) == -1 )
{
mode_t mode = 0775;
mkdir(saveLogDir.c_str(), mode);
}
saveLogDir += "/" + vehicleName;
if (access(saveLogDir.c_str(), F_OK) == -1 )
{
mode_t mode = 0775;
mkdir(saveLogDir.c_str(), mode);
}
// std::string subDir;
// 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;
std::string subDir;
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");
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);
DoAuvDataLogBanner(auvDataStream);
DoMissionHistoryBanner(missionHistoryStream);
DoFaultHandleBanner(faultLogStream);
DoMotionControlBanner(motionControlStream);
OpenOutputStream();
}
RegisterVariables();
@@ -488,7 +483,8 @@ void DataManagement::RegisterVariables()
Register("DESIRED_HEADING", 0);
Register("DESIRED_SPEED", 0);
Register("DESIRED_DEPTH", 0);
Register("uMotion_desired_log", 0);
Register("uMotion_desired_log", 0);
Register("uClient_logEnable_cmd", 0);
}
bool DataManagement::buildReport()
@@ -638,3 +634,82 @@ void DataManagement::GenerateFileName(std::string &fileDir, std::string &fileNam
ss << hour << minute << second;
fileName = ss.str();
}
bool DataManagement::OpenOutputStream()
{
std::string subDir;
std::string localTime;
GenerateFileName(subDir, localTime);
std::string saveSubLogDir = saveLogDir + "/" + subDir;
if (access(saveSubLogDir.c_str(), F_OK) == -1 )
{
mode_t mode = 0775;
mkdir(saveSubLogDir.c_str(), mode);
}
saveSubLogDir += "/" + localTime;
if (access(saveSubLogDir.c_str(), F_OK) == -1 )
{
mode_t mode = 0775;
mkdir(saveSubLogDir.c_str(), mode);
}
std::string auvDataFile;
m_MissionReader.GetValue("AuvDataLog", auvDataFile);
std::string missionHistoryFile;
m_MissionReader.GetValue("MissionHistoryLog", missionHistoryFile);
std::string clientCommandFile;
m_MissionReader.GetValue("ClientCommandLog", clientCommandFile);
std::string faultLogFile;
m_MissionReader.GetValue("FaultLog", faultLogFile);
std::string motionControlFile;
m_MissionReader.GetValue("MotionControlLog", motionControlFile);
std::string auvDataSavePath = saveSubLogDir + "/" + auvDataFile;
std::string missionHistorySavePath = saveSubLogDir + "/" + missionHistoryFile;
std::string clientCommandSavePath = saveSubLogDir + "/" + clientCommandFile;
std::string faultLogSavePath = saveSubLogDir + "/" + faultLogFile;
std::string motionControlSavePath = saveSubLogDir + "/" + 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);
return true;
}
void DataManagement::CloseOutputStream()
{
if(auvDataStream.is_open())
{
auvDataStream.close();
}
if(missionHistoryStream.is_open())
{
missionHistoryStream.close();
}
if(clientCommandStream.is_open())
{
clientCommandStream.close();
}
if(faultLogStream.is_open())
{
faultLogStream.close();
}
if(motionControlStream.is_open())
{
motionControlStream.close();
}
}