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ElmoRecorder.cpp

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob3_common
 * ROS package name: canopen_motor
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Philipp Köhler
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Mar 2010
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *         notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *         notice, this list of conditions and the following disclaimer in the
 *         documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Fraunhofer Institute for Manufacturing 
 *         Engineering and Automation (IPA) nor the names of its
 *         contributors may be used to endorse or promote products derived from
 *         this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#include <math.h>
#include <vector>
#include <stdio.h>
#include <sstream>
#include <cob_canopen_motor/ElmoRecorder.h>
#include <cob_canopen_motor/CanDriveHarmonica.h>

ElmoRecorder::ElmoRecorder(CanDriveHarmonica * pParentHarmonicaDrive) {
        m_pHarmonicaDrive = pParentHarmonicaDrive;
        
        m_bIsInitialized = false;
        m_iReadoutRecorderTry = 0;
}

ElmoRecorder::~ElmoRecorder() {
}

bool ElmoRecorder::isInitialized(bool initNow) {
        if(initNow) m_bIsInitialized = true;
        return m_bIsInitialized;
}

int ElmoRecorder::configureElmoRecorder(int iRecordingGap, int driveID, int startImmediately){ //iRecordingGap = N indicates that a new sample should be taken once per N time quanta
        m_iDriveID = driveID;
        
        if(startImmediately >=2 ) startImmediately = 1;

        m_pHarmonicaDrive->IntprtSetInt(8, 'R', 'R', 0, 0);     // Stop Recorder if it's active 
        // Record Main speed (index 0, ID1) 
        // Active Current (index 9, ID10)
        // Main Position (index 1, ID2)
        // Speed Command (index 15, ID16)
        // RC = 2^(Signal1Index) + 2^(Signal2Index) + ..; e.g.: 2^0 + 2^1 + 2^9 + 2^15 = 33283;
        m_pHarmonicaDrive->IntprtSetInt(8, 'R', 'C', 0, 33283);
        // Set trigger type to immediate
        m_pHarmonicaDrive->IntprtSetInt(8, 'R', 'P', 3, 0);
        // Set Recording Gap
        m_pHarmonicaDrive->IntprtSetInt(8, 'R', 'G', 0, iRecordingGap);
        // Set Recording Length
        // RL = (4096 / Number of Signals)
        m_pHarmonicaDrive->IntprtSetInt(8, 'R', 'L', 0, 1024);
        
        // Set Time Quantum, Default: RP=0 -> TS * 4; TS is 90us by default
        // m_pHarmonicaDrive->IntprtSetInt(8, 'R', 'P', 0, 0);
        // ----> Total Recording Time = 90us * 4 * RG * RL

        m_pHarmonicaDrive->IntprtSetInt(8, 'R', 'R', 0, startImmediately + 1); //2 launches immediately (8, 'R', 'R', 0, 1) launches at next BG
        
        m_fRecordingStepSec = 0.000090 * 4 * iRecordingGap;
        
        return 0;
}

int ElmoRecorder::readoutRecorderTry(int iObjSubIndex) {
        //Request the SR (status register) and begin all the read-out process with this action.
        //SDOData.statusFlag is segData::SDO_SEG_WAITING;
        
        m_iReadoutRecorderTry = 1;
        m_iCurrentObject = iObjSubIndex;
        
        m_pHarmonicaDrive->requestStatus();
        
        return 0;
}

int ElmoRecorder::readoutRecorderTryStatus(int iStatusReg, segData& SDOData) {
        if(m_iReadoutRecorderTry == 0) return 0; //only evaluate the SR, if we are really waiting for it (to save time and not to unintionally start a read-out)

        m_iReadoutRecorderTry = 0;
        
        //Bits 16-17 of status register contain recorder information
        int iRecorderStatus = (0x30000 & iStatusReg) >> 16;

        if(iRecorderStatus == 0) {
                std::cout << "Recorder " << m_iDriveID << " inactive with no valid data to upload" << std::endl;
                SDOData.statusFlag = segData::SDO_SEG_FREE;
        } else if(iRecorderStatus == 1) {
                std::cout << "Recorder " << m_iDriveID << " waiting for a trigger event" << std::endl;
                SDOData.statusFlag = segData::SDO_SEG_FREE;
        } else if(iRecorderStatus == 2) {
                std::cout << "Recorder " << m_iDriveID << " finished, valid data ready for use" << std::endl;
                readoutRecorder(m_iCurrentObject);
                //already set to SDOData.statusFlag = segData::SDO_SEG_WAITING;
        } else if(iRecorderStatus == 3) {
                std::cout << "Recorder " << m_iDriveID << " is still recording" << std::endl;
                SDOData.statusFlag = segData::SDO_SEG_FREE;
        }
        
        return 0;
}

int ElmoRecorder::readoutRecorder(int iObjSubIndex){
        //initialize Upload of Recorded Data (object 0x2030)
        int iObjIndex = 0x2030;

        m_pHarmonicaDrive->sendSDOUpload(iObjIndex, iObjSubIndex);
        m_iCurrentObject = iObjSubIndex;
        
        return 0;
}

int ElmoRecorder::processData(segData& SDOData) {
        int iItemSize = 4;
        int iItemCount = 0;
        unsigned int iNumDataItems = 0;
        bool bCollectFloats = true;
        float fFloatingPointFactor = 0;
        float fTimeQuantum = 1.0f;
        
        std::vector<float> vfResData[2];
        
        //see SimplIQ CANopen DS 301 Implementation Guide, object 0x2030
        
        //HEADER
        //--------------------------------------
        //First 7 Bytes of the data sequence contain header information:
        //Byte 0: First four bits: 4 = Long Int data type, 1 = Half Float data type, 5 = Double Float
        //                      Next four bits: Recording frequency in 1 per n * TS => deltaT =  n * 90µsec
        //Byte 2, Byte 3: Number of recorded data points
        //Byte 3 to 6: Floating point factor for data to be multiplied with
        //
        //Byte 7 to Byte (7+ iNumdataItems * 4) contain data
        
        //B[0]: Time quantum and data type
        switch ((SDOData.data[0] >> 4) ) {
                case 4:
                        bCollectFloats = false;
                        iItemSize = 4;
                        break;
                case 5:
                        bCollectFloats = true;
                        iItemSize = 4;
                        break;
                case 1:
                        bCollectFloats = true;
                        iItemSize = 2;
                        break;
                default:
                        bCollectFloats = false;
                        iItemSize = 4;
                        break;
        }
        std::cout << ">>>>>ElmoRec: HEADER INFOS<<<<<\nData type is: " << (SDOData.data[0] >> 4) << std::endl;
        
        fTimeQuantum = (SDOData.data[0] & 0x0F) * 0.000090; //Time quantum is specified in Bit 4 to 7
        //std::cout << "fTimeQuantum from Header is " << fTimeQuantum << " m_fRecordingStepSec is " << m_fRecordingStepSec << std::endl;
        
        
        //B[1]..[2] //Number of recorded items
        iNumDataItems = (SDOData.data[2] << 8 | SDOData.data[1]);
        //std::cout << "Number of recorded data points: " << iNumDataItems << std::endl;

        //B[3] ... [6] //Floating point factor
        fFloatingPointFactor = convertBinaryToFloat( (SDOData.data[6] << 24) | (SDOData.data[5] << 16) | (SDOData.data[4] << 8) | (SDOData.data[3]) );
        std::cout << "Floating point factor for recorded values is: " << fFloatingPointFactor << std::endl;
        
        
        if( ((SDOData.numTotalBytes-7)/iItemSize) != iNumDataItems) 
                std::cout << "SDODataSize announced in SDO-Header" << ((SDOData.numTotalBytes-7)/iItemSize) << " differs from NumDataItems by ElmoData-Header" <<  iNumDataItems << std::endl;
        //END HEADER
        //--------------------------------------

        vfResData[0].assign(iNumDataItems, 0.0);
        vfResData[1].assign(iNumDataItems, 0.0);
        iItemCount = 0;
        
        //extract values from data stream, consider Little Endian conversion for every single object!
        for(unsigned int i=7;i<=SDOData.data.size() - iItemSize; i=i+iItemSize) {
                if(bCollectFloats) {
                        if(iItemSize == 4)
                                vfResData[1][iItemCount] = fFloatingPointFactor * convertBinaryToFloat( (SDOData.data[i] << 0) | (SDOData.data[i+1] << 8) | (SDOData.data[i+2] << 16) | (SDOData.data[i+3] << 24) );
                                
                                //DEBUG
                                if(iItemCount == 120)
                                        std::cout << (unsigned int)( (SDOData.data[i] << 0) | (SDOData.data[i+1] << 8) | (SDOData.data[i+2] << 16) | (SDOData.data[i+3] << 24) ) << std::endl;
                                
                        else vfResData[1][iItemCount] = fFloatingPointFactor * convertBinaryToHalfFloat( (SDOData.data[i] << 0) | (SDOData.data[i+1] << 8) | (SDOData.data[i+2] << 16) | (SDOData.data[i+3] << 24) );
                        iItemCount ++;
                } else {
                        vfResData[1][iItemCount] = fFloatingPointFactor * (float)( (SDOData.data[i] << 0) | (SDOData.data[i+1] << 8) | (SDOData.data[i+2] << 16) | (SDOData.data[i+3] << 24) );
                        iItemCount ++;
                }
                
                vfResData[0][iItemCount] = m_fRecordingStepSec * iItemCount;
        }
        
        logToFile(m_sLogFilename, vfResData);

        SDOData.statusFlag = segData::SDO_SEG_FREE;
        return 0;
}

int ElmoRecorder::setLogFilename(std::string sLogFileprefix) {
        m_sLogFilename = sLogFileprefix;
        return 0;
}



float ElmoRecorder::convertBinaryToFloat(unsigned int iBinaryRepresentation) {
        //Converting binary-numbers to 32bit float values according to IEEE 754 see http://de.wikipedia.org/wiki/IEEE_754
        int iSign;
        int iExponent;
        unsigned int iMantissa;
        float iNumMantissa = 0.0f;

        if((iBinaryRepresentation & (1 << 31)) == 0) //first bit is sign bit: 0 = +, 1 = -
                iSign = 1;
        else
                iSign = -1;

        iExponent = ((iBinaryRepresentation >> 23) & 0xFF) - 127; //take away Bias(127) for positive and negative exponents

        iMantissa = (iBinaryRepresentation & 0x7FFFFF); //only keep mantissa part of binary number

        iNumMantissa = 1.0f;
        
        for(int i=1; i<=23; i++) { //calculate decimal places (convert binary mantissa to decimal number
                if((iMantissa & (1 << (23-i))) > 0) {
                        iNumMantissa = iNumMantissa + pow(2,(-1)*i);
                }
        }

        return iSign * pow(2,iExponent) * iNumMantissa;
}

float ElmoRecorder::convertBinaryToHalfFloat(unsigned int iBinaryRepresentation) {
        //Converting binary-numbers to 16bit float values according to IEEE 754 see http://de.wikipedia.org/wiki/IEEE_754
        int iSign;
        int iExponent;
        unsigned int iMantissa;
        float iNumMantissa = 0.0f;

        if((iBinaryRepresentation & (1 << 15)) == 0) //first bit is sign bit: 0 = +, 1 = -
                iSign = 1;
        else
                iSign = -1;

        iExponent = ((iBinaryRepresentation >> 10) & 0x1F) - 15; //take away Bias(15) for positive and negative exponents

        iMantissa = (iBinaryRepresentation & 0x3FF); //only keep mantissa part of binary number

        iNumMantissa = 1.0f;
        
        for(int i=1; i<=10; i++) { //calculate decimal places (convert binary mantissa to decimal number
                if((iMantissa & (1 << (10-i))) > 0) {
                        iNumMantissa = iNumMantissa + pow(2,(-1)*i);
                }
        }

        return iSign * pow(2,iExponent) * iNumMantissa;
}

// Function for writing Logfile
int ElmoRecorder::logToFile(std::string filename, std::vector<float> vtValues[]) {
        std::stringstream outputFileName;
        outputFileName << filename << "mot_" << m_iDriveID << "_" << m_iCurrentObject << ".log";

        FILE* pFile;
        //open FileStream
        pFile = fopen(outputFileName.str().c_str(), "w");
        
        //Check if there was a problem
        if( pFile == NULL ) 
        {       
                std::cout << "Error while writing file: " << outputFileName.str() << " Maybe the selected folder does'nt exist." << std::endl;
        } 
        else 
        {
                // write all data from vector to file
                for (unsigned int i = 0; i < vtValues[0].size(); i++)
                        fprintf(pFile, "%e %e\n", vtValues[0][i], vtValues[1][i]);
                fclose(pFile);
        }
        
        return true;
}

---

cob_canopen_motor
Author(s): Christian Connette
autogenerated on Fri Mar 1 14:47:59 2013