ElmoRecorder.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * 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.
 */


#ifndef _ElmoRecorder_H
#define _ElmoRecorder_H

#include <string>
#include <cob_canopen_motor/SDOSegmented.h>

class CanDriveHarmonica;

class ElmoRecorder {
        public:
                ElmoRecorder(CanDriveHarmonica * pParentHarmonicaDrive);

                ~ElmoRecorder();

                int processData(segData& SDOData);

                int configureElmoRecorder(int iRecordingGap, int driveID, int startImmediately = 1);

                bool isInitialized(bool initNow);

                int readoutRecorderTry(int iObjSubIndex);

                int readoutRecorderTryStatus(int iStatusReg, segData& SDOData);

                int setLogFilename(std::string sLogFileprefix);

        private:
                int m_iCurrentObject;

                float m_fRecordingStepSec;

                std::string m_sLogFilename;

                int m_iReadoutRecorderTry;

                CanDriveHarmonica* m_pHarmonicaDrive;

                int m_iDriveID;

                bool m_bIsInitialized;

                int readoutRecorder(int iObjSubIndex);

                int logToFile(std::string filename, std::vector<float> vtValues[]);

                float convertBinaryToFloat(unsigned int binaryRepresentation);

                float convertBinaryToHalfFloat(unsigned int iBinaryRepresentation);
};

#endif