rcdynamics_stream.cc

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/*
 * This file is part of the rc_dynamics_api package.
 *
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. Neither the name of the copyright holder 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 HOLDER 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.
 */

#include <fstream>
#include <signal.h>
#include <chrono>
#include <iomanip>

#include "rc_dynamics_api/remote_interface.h"
#include "csv_printing.h"

using namespace std;
using namespace rc::dynamics;


static bool caught_signal = false;
void signal_callback_handler(int signum)
{
  printf("Caught signal %d, stopping program!\n",signum);
  caught_signal = true;
}


void printUsage(char *arg)
{
  cout << "\nLists available rcdynamics data streams of the specified rc_visard IP, "
          "\nor requests a data stream and either prints received messages or records "
          "\nthem as csv-file, see -o option."
       << "\n\nUsage: \n\t"
       << arg
       << " -v rcVisardIP -l | -s stream [-i networkInterface]"
          "\n\t\t[-n maxNumData][-t maxRecTimeSecs][-o outputFile]"
       << endl;
}


int main(int argc, char *argv[])
{
  // Register signals and signal handler
  signal(SIGINT, signal_callback_handler);
  signal(SIGTERM, signal_callback_handler);


  string outputFileName, visardIP, networkIface = "", streamName;
  unsigned int maxNumRecordingMsgs = 50, maxRecordingTimeSecs = 5;
  bool userSetOutputFile = false;
  bool userSetMaxNumMsgs = false;
  bool userSetRecordingTime = false;
  bool userSetIp = false;
  bool userSetStreamType = false;
  bool onlyListStreams = false;

  int opt;
  while ((opt = getopt(argc, argv, "hln:v:i:o:t:s:")) != -1)
  {
    switch (opt)
    {
      case 'l':
        onlyListStreams = true;
        break;
      case 's':
        streamName = string(optarg);
        userSetStreamType = true;
        break;
      case 'i':
        networkIface = string(optarg);
        break;
      case 'v':
        visardIP = string(optarg);
        userSetIp = true;
        break;
      case 'n':
        maxNumRecordingMsgs = (unsigned int) max(0, atoi(optarg));
        userSetMaxNumMsgs = true;
        break;
      case 't':
        maxRecordingTimeSecs = (unsigned int) max(0, atoi(optarg));
        userSetRecordingTime = true;
        break;
      case 'o':
        outputFileName = string(optarg);
        userSetOutputFile = true;
        break;
      case 'h':
        printUsage(argv[0]);
        return EXIT_SUCCESS;
      default: /* '?' */
        printUsage(argv[0]);
        return EXIT_FAILURE;
    }
  }
  if (!userSetIp)
  {
    cerr << "Please specify rc_visard IP." << endl;
    printUsage(argv[0]);
    return EXIT_FAILURE;
  }
  if (!userSetStreamType && !onlyListStreams)
  {
    cerr << "Please specify stream type." << endl;
    printUsage(argv[0]);
    return EXIT_FAILURE;
  }
  if (!userSetMaxNumMsgs && !userSetRecordingTime)
  {
    userSetMaxNumMsgs = true;;
  }

  ofstream outputFile;
  if (userSetOutputFile)
  {
    outputFile.open(outputFileName);
    if (!outputFile.is_open())
    {
      cerr << "Could not open file '" << outputFileName << "' for writing!"
           << endl;
      return EXIT_FAILURE;
    }
  }

  cout << "connecting to rc_visard " << visardIP << "..." << endl;
  auto rcvisardDynamics = RemoteInterface::create(visardIP);

  /* Only list available streams of device and exit */
  if (onlyListStreams)
  {
    auto streams = rcvisardDynamics->getAvailableStreams();
    string firstColumn = "Available streams:";
    size_t firstColumnWidth = firstColumn.length();
    for (auto&& s : streams)
      if (s.length() > firstColumnWidth)
        firstColumnWidth = s.length();
    firstColumnWidth += 5;
    cout << left << setw(firstColumnWidth) << firstColumn << "Protobuf message types:" << endl;
    for (auto&& s : streams)
      cout << left << setw(firstColumnWidth) << s << rcvisardDynamics->getPbMsgTypeOfStream(s) << endl;
    cout << endl;
    return EXIT_SUCCESS;
  }

  /* For all streams except 'imu' the rc_dynamcis node has to be started */
  if (streamName != "imu")
  {
    try
    {
      // start the rc::dynamics module on the rc_visard
      cout << "starting rc_dynamics module on rc_visard..." << endl;
      rcvisardDynamics->start();
    }
    catch (exception &e)
    {
      cout << "ERROR! Could not start rc_dynamics module on rc_visard: "
          << e.what() << endl;
      return EXIT_FAILURE;
    }
  }

  unsigned int cntMsgs = 0;
  try
  {
    cout << "Initializing " << streamName << " data stream..." << endl;
    auto receiver = rcvisardDynamics->createReceiverForStream(streamName, networkIface);

    unsigned int timeoutMillis = 100;
    receiver->setTimeout(timeoutMillis);
    cout << "Listening for " << streamName << " messages..." << endl;

    chrono::time_point<chrono::system_clock> start = chrono::system_clock::now();
    chrono::duration<double> elapsedSecs(0);
    while (!caught_signal
           && (!userSetMaxNumMsgs || cntMsgs < maxNumRecordingMsgs)
           && (!userSetRecordingTime ||
               elapsedSecs.count() < maxRecordingTimeSecs)
            )
    {
      auto msg = receiver->receive(rcvisardDynamics->getPbMsgTypeOfStream(streamName));
      if (msg)
      {
        if (outputFile.is_open())
        {
          if (cntMsgs==0)
          {
            csv::Header h;
            outputFile << (h << *msg) << endl;
          }
          csv::Line l;
          outputFile << (l << *msg) << endl;
        }
        else
        {
          cout << "received " << streamName << " msg:" << endl
               << msg->DebugString() << endl;
        }
        ++cntMsgs;
      }
      else
      {
        cerr << "did not receive any data during last " << timeoutMillis
             << " ms." << endl;
      }
      elapsedSecs = chrono::system_clock::now() - start;
    }

  }
  catch (exception &e)
  {
    cout << "Caught exception during streaming, stopping: " << e.what() << endl;
  }


  if (streamName != "imu")
  {
    try
    {
      cout << "stopping rc_dynamics module on rc_visard..." << endl;
      rcvisardDynamics->stop();
    }
    catch (exception &e)
    {
      cout << "Caught exception: " << e.what() << endl;
    }
  }

  if (outputFile.is_open())
  {
    outputFile.close();
    cout << "Recorded " << cntMsgs << " " << streamName << " messages to '"
         << outputFileName << "'." << endl;
  }
  else
  {
    cout << "Received  " << cntMsgs << " " << streamName << " messages." << endl;
  }

  return EXIT_SUCCESS;
}