/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/eventlogger/eventlogger.cpp

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#include "../msg/msg.h"
#include "../utils/utils.h"
#include <dashel/dashel.h>
#include <cmath>
#include <QtGui>
#include <cassert>
#include <fstream>
#include <iostream>

#ifdef _MSC_VER
#define QWT_DLL
#endif // _MSC_VER

#include <qwt_plot.h>
#include <qwt_plot_curve.h>
#include <qwt_legend.h>

using namespace Dashel;
using namespace Aseba;
using namespace std;

class EventDataWrapper : public QwtData
{
private:
        vector<double>& _x;
        vector<sint16>& _y;
        
public:
        EventDataWrapper(vector<double>& _x, vector<sint16>& _y) :
                _x(_x),
                _y(_y)
        { }
        virtual QwtData *   copy () const { return new EventDataWrapper(*this); }
        virtual size_t   size () const { return _x.size(); }
        virtual double x (size_t i) const { return _x[i]; }
        virtual double y (size_t i) const { return (double)_y[i]; }
};

class EventLogger : public Hub, public QwtPlot
{
protected:
        Stream* stream;
        int eventId;
        vector<vector<sint16> > values;
        vector<double> timeStamps;
        QTime startingTime;
        ofstream outputFile;
        
public:
        EventLogger(const char* target, int eventId, int eventVariablesCount, const char* filename) :
                QwtPlot(QwtText(QString(tr("Plot for event %0")).arg(eventId))),
                eventId(eventId),
                values(eventVariablesCount)
        {
                stream = Hub::connect(target);
                cout << "Connected to " << stream->getTargetName() << endl;
                
                startingTime = QTime::currentTime();
                
                setCanvasBackground(Qt::white);
                setAxisTitle(xBottom, tr("Time (seconds)"));
                setAxisTitle(yLeft, tr("Values"));
                
                QwtLegend *legend = new QwtLegend;
                //legend->setItemMode(QwtLegend::CheckableItem);
                insertLegend(legend, QwtPlot::BottomLegend);
                
                for (size_t i = 0; i < values.size(); i++)
                {
                        QwtPlotCurve *curve = new QwtPlotCurve(QString("%0").arg(i));
                        curve->setData(EventDataWrapper(timeStamps, values[i]));
                        curve->attach(this);
                        curve->setPen(QColor::fromHsv((i * 360) / values.size(), 255, 100));
                }
                
                resize(1000, 600);
                
                if (filename)
                        outputFile.open(filename);
                
                startTimer(10);
        }

protected:
        virtual void timerEvent ( QTimerEvent * event )
        {
                if (!step(0))
                        close();
        }
        
        void incomingData(Stream *stream)
        {
                Message *message = Message::receive(stream);
                UserMessage *userMessage = dynamic_cast<UserMessage *>(message);
                if (userMessage)
                {
                        if (userMessage->type == eventId)
                        {
                                double elapsedTime = (double)startingTime.msecsTo(QTime::currentTime()) / 1000.;
                                if (outputFile.is_open())
                                        outputFile << elapsedTime;
                                timeStamps.push_back(elapsedTime);
                                for (size_t i = 0; i < values.size(); i++)
                                {
                                        if (i < userMessage->data.size())
                                        {
                                                if (outputFile.is_open())
                                                        outputFile << " " << userMessage->data[i];
                                                values[i].push_back(userMessage->data[i]);
                                        }
                                        else
                                        {
                                                if (outputFile.is_open())
                                                        outputFile << " " << 0;
                                                values[i].push_back(0);
                                        }
                                }
                                if (outputFile.is_open())
                                        outputFile << endl;
                                replot();
                        }
                }
                delete message;
        }
        
        void connectionClosed(Stream *stream, bool abnormal)
        {
                dumpTime(cerr);
                cout << "Connection closed to " << stream->getTargetName();
                if (abnormal)
                        cout << " : " << stream->getFailReason();
                cout << endl;
                stop();
        }
};

int main(int argc, char *argv[])
{
        if (argc < 4)
        {
                cerr << "Usage " << argv[0] << " target event_id event_variables_count [output file]" << endl;
                return 1;
        }
        
        QApplication app(argc, argv);
        
        int res;
        try
        {
                EventLogger logger(argv[1], atoi(argv[2]), atoi(argv[3]), (argc > 4 ? argv[4] : 0));
                logger.show();
                res = app.exec();
        }
        catch(Dashel::DashelException e)
        {
                std::cerr << e.what() << std::endl;
                return 2;
        }
        
        return res;
}

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011