PluginExperimentContext.cpp

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#include <plugins/experiment-context/PluginExperimentContext.h>


namespace beliefstate {
  namespace plugins {
    PLUGIN_CLASS::PLUGIN_CLASS() {
      m_expFileExporter = new CExporterFileoutput();
      
      this->setPluginVersion("0.3");
      this->addDependency("ros");
    }
    
    PLUGIN_CLASS::~PLUGIN_CLASS() {
      if(m_expFileExporter) {
        delete m_expFileExporter;
      }
    }
    
    Result PLUGIN_CLASS::init(int argc, char** argv) {
      this->setSubscribedToEvent("set-experiment-meta-data", true);
      this->setSubscribedToEvent("export-planlog", true);
      this->setSubscribedToEvent("experiment-start", true);
      this->setSubscribedToEvent("experiment-shutdown", true);
      
      ros::NodeHandle nh;
      m_pubMetadata = nh.advertise<designator_integration_msgs::Designator>("/logged_metadata", 1);
      
      return defaultResult();
    }
    
    Result PLUGIN_CLASS::deinit() {
      return defaultResult();
    }
    
    Result PLUGIN_CLASS::cycle() {
      Result resCycle = defaultResult();
      this->deployCycleData(resCycle);
      
      return resCycle;
    }
    
    void PLUGIN_CLASS::consumeEvent(Event evEvent) {
      if(evEvent.strEventName == "set-experiment-meta-data") {
        if(evEvent.cdDesignator) {
          std::string strField = evEvent.cdDesignator->stringValue("field");
          std::string strValue = evEvent.cdDesignator->stringValue("value");
          
          if(strField != "") {
            this->info("Set '" + strField + "' to '" + strValue + "'");
            m_mapValues[strField] = strValue;
          }
        }
      } else if(evEvent.strEventName == "export-planlog") {
        std::string strFormat = evEvent.cdDesignator->stringValue("format");
        transform(strFormat.begin(), strFormat.end(), strFormat.begin(), ::tolower);
        
        if(strFormat == "meta") {
          CDesignator* cdMeta = new CDesignator();
          cdMeta->setType(ACTION);
          
          this->info("Experiment Context Plugin exporting meta-data");
          
          if(m_mapValues.find("time-end") == m_mapValues.end()) {
            m_mapValues["time-end"] = this->getTimeStampStr();
          }
          
          ConfigSettings cfgsetCurrent = configSettings();
          string strMetaFile = cfgsetCurrent.strExperimentDirectory + "metadata.xml";
          
          string strMetaXML = "";
          strMetaXML += "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n\n";
          strMetaXML += "<meta-data>\n";
          for(std::pair<std::string, std::string> prEntry : m_mapValues) {
            strMetaXML += "  <" + prEntry.first + ">" + prEntry.second + "</" + prEntry.first + ">\n";
            cdMeta->setValue(prEntry.first, prEntry.second);
          }
          strMetaXML += "</meta-data>\n";
          
          this->info("Published metadata");
          m_pubMetadata.publish(cdMeta->serializeToMessage());
          delete cdMeta;
          
          m_expFileExporter->writeToFile(strMetaXML, strMetaFile);
          
          this->info("Successfully exported meta-data to '" + strMetaFile + "'");
        }
      } else if(evEvent.strEventName == "experiment-start") {
        m_mapValues["time-start"] = this->getTimeStampStr();
      } else if(evEvent.strEventName == "experiment-shutdown") {
        m_mapValues["time-end"] = this->getTimeStampStr();
      }
    }
  }
  
  extern "C" plugins::PLUGIN_CLASS* createInstance() {
    return new plugins::PLUGIN_CLASS();
  }
  
  extern "C" void destroyInstance(plugins::PLUGIN_CLASS* icDestroy) {
    delete icDestroy;
  }
}