Program Listing for File sick_scan_api_dump.h
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/*
* Copyright (C) 2022, Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2022, SICK AG, Waldkirch
* All rights reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*
* All rights reserved.
*
* 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 Osnabrueck University nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
*/
#ifndef __SICK_SCAN_API_DUMP_H_INCLUDED
#define __SICK_SCAN_API_DUMP_H_INCLUDED
#include <chrono>
#include <fstream>
#include <iomanip>
#include <sstream>
#include <string>
/*
** Optional message verification for test and development:
** 0 = disabled (default),
** 1 = dump all messages exported by sick_scan API
** For verification of messages exported by the sick_scan API:
** - Set VERIFY_API_MESSAGES 1
** - Run sick_scan_api_test in ROS-1 against lidar or emulator
** - Compare the dumped messages in the logfolder ("./log"):
** * files api_*_impl.log are generated in api_impl,
** * files api_*_test.log are received via sick_scan_api and converted back to ros messages
** * files api_*_impl.log and api_*_test.log should be identical
*/
#define VERIFY_API_MESSAGES 0 // Optional message verification for test and development only (default: 0)
#if VERIFY_API_MESSAGES
#define DUMP_API_POINTCLOUD_MESSAGE(postfix,msg) SickScanApiDump::dumpMessage("log", "api_cartesian_cloud", postfix, msg);
#define DUMP_API_IMU_MESSAGE(postfix,msg) SickScanApiDump::dumpMessage("log", "api_imu", postfix, msg);
#define DUMP_API_LFEREC_MESSAGE(postfix,msg) SickScanApiDump::dumpMessage("log", "api_lferec", postfix, msg);
#define DUMP_API_LIDOUTPUTSTATE_MESSAGE(postfix,msg) SickScanApiDump::dumpMessage("log", "api_lidoutputstate", postfix, msg);
#define DUMP_API_RADARSCAN_MESSAGE(postfix,msg) SickScanApiDump::dumpMessage("log", "api_radarscan", postfix, msg);
#define DUMP_API_LDMRSOBJECTARRAY_MESSAGE(postfix,msg) SickScanApiDump::dumpMessage("log", "api_ldmrsobjects", postfix, msg);
#define DUMP_API_VISUALIZATIONMARKER_MESSAGE(postfix,msg) SickScanApiDump::dumpMessage("log", "api_marker", postfix, msg);
#else
#define DUMP_API_POINTCLOUD_MESSAGE(postfix,msg)
#define DUMP_API_IMU_MESSAGE(postfix,msg)
#define DUMP_API_LFEREC_MESSAGE(postfix,msg)
#define DUMP_API_LIDOUTPUTSTATE_MESSAGE(postfix,msg)
#define DUMP_API_RADARSCAN_MESSAGE(postfix,msg)
#define DUMP_API_LDMRSOBJECTARRAY_MESSAGE(postfix,msg)
#define DUMP_API_VISUALIZATIONMARKER_MESSAGE(postfix,msg)
#endif
class SickScanApiDump
{
public:
template <class MsgType> static void dumpMessage(const std::string& logfolder, const std::string& prefix, const std::string& postfix, const MsgType& msg)
{
uint64_t timestamp_millisec = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
std::stringstream filepath;
filepath << logfolder << "/" << prefix << "_" << std::setfill('0') << std::setw(16) << timestamp_millisec << "_" << postfix << ".log";
std::ofstream fout(filepath.str(), std::fstream::out);
if (fout.is_open())
{
fout << msg << std::endl;
fout.close();
}
}
}; // SickScanApiDump
#endif // __SICK_SCAN_API_DUMP_H_INCLUDED