#include <ElmoRecorder.h>

Public Member Functions
int	configureElmoRecorder (int iRecordingGap, int driveID, int startImmediately=1)
	ElmoRecorder (CanDriveHarmonica *pParentHarmonicaDrive)
bool	isInitialized (bool initNow)
int	processData (segData &SDOData)
int	readoutRecorderTry (int iObjSubIndex)
int	readoutRecorderTryStatus (int iStatusReg, segData &SDOData)
int	setLogFilename (std::string sLogFileprefix)
	~ElmoRecorder ()
Private Member Functions
float	convertBinaryToFloat (unsigned int binaryRepresentation)
float	convertBinaryToHalfFloat (unsigned int iBinaryRepresentation)
int	logToFile (std::string filename, std::vector< float > vtValues[])
int	readoutRecorder (int iObjSubIndex)
Private Attributes
bool	m_bIsInitialized
float	m_fRecordingStepSec
int	m_iCurrentObject
int	m_iDriveID
int	m_iReadoutRecorderTry
CanDriveHarmonica *	m_pHarmonicaDrive
std::string	m_sLogFilename

Detailed Description

The in Elmo drives integrated Recorder allows the user to record drive information at a high frequency.

The Recorder firstly has to be configured properly. It can be started immidiately after configuring or later, triggered by a signal (e.g. a begin-motion-command). When the recording is finished, you can read out the data via CANopen using a segmented SDO transfer. Appropriate functions for this CANopen specific process are provided by the CanDriveHarmonica class. This class brings all the functions to use the Elmo Recorder in a comfortable way.

Definition at line 72 of file ElmoRecorder.h.

Constructor & Destructor Documentation

ElmoRecorder::ElmoRecorder ( CanDriveHarmonica * pParentHarmonicaDrive )

Parameters:

pParentHarmonicaDrive This pointer is used to give ElmoRecorder the ability to take use of CANopen functions of CanDriveHarmonica

Definition at line 61 of file ElmoRecorder.cpp.

ElmoRecorder::~ElmoRecorder ( )

Definition at line 68 of file ElmoRecorder.cpp.

Member Function Documentation

int ElmoRecorder::configureElmoRecorder	(	int	iRecordingGap,
		int	driveID,
		int	startImmediately = `1`
	)

Configures the Elmo Recorder to log internal data at a high frequency (This can be used for identification of the drive chain) You can read the data out after recording process has finished, using readoutRecorderTry().

Parameters:

iRecordingGap	iRecordingGap = N indicates that a new sample should be taken once per N time quanta (= 4 * 90 usec)
driveID	Enter the drive ID of the current motor, to later identify the logfiles
startImmediately	1: start the recording process immediately, 0: start recording at next BG (begin motion) command

See also:: readoutRecorderTry()

Definition at line 76 of file ElmoRecorder.cpp.

float ElmoRecorder::convertBinaryToFloat ( unsigned int binaryRepresentation ) [private]

Convert the 32bit binary representation of a float to an actual 32bit float value

Definition at line 251 of file ElmoRecorder.cpp.

float ElmoRecorder::convertBinaryToHalfFloat ( unsigned int iBinaryRepresentation ) [private]

Convert the 16bit binary representation of a float to an actual 16bit (half)float value

Definition at line 278 of file ElmoRecorder.cpp.

bool ElmoRecorder::isInitialized ( bool initNow )

Parameters:

initNow Enter true to set the initialization state to true, enter false to only request the state.

Returns:: Return the initialization state of the recorder.

Definition at line 71 of file ElmoRecorder.cpp.

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

After processing the collected Recorder data log it to a file.

Parameters:

vtValues[]	A 2 x N vector with a time stamp in the first column and the according data point value in teh second
filename	Path and file-prefix to an existing directory! It is extended with _MotorNumber_RecordedSource.log

Definition at line 306 of file ElmoRecorder.cpp.

int ElmoRecorder::processData ( segData & SDOData )

Processes the collected Elmo Recorder data and saves them into a logfile.

Definition at line 155 of file ElmoRecorder.cpp.

int ElmoRecorder::readoutRecorder ( int iObjSubIndex ) [private]

Parameters:

iObjSubIndex Requests the SDO Upload of the recorder object 0x2030 of the selected iObjSubIndex-source

Definition at line 145 of file ElmoRecorder.cpp.

int ElmoRecorder::readoutRecorderTry ( int iObjSubIndex )

Start point of the actual read-out process. The following flow looks as follows: Request SR -> readoutRecorderTryStatus() If recorder ready -> readoutRecorder() start SDO read-out -> when finished -> processData() process data -> logToFile() save to file. This function takes use of the SR (status register) that tells the recorder state. In this function, the SR is requested.

Definition at line 107 of file ElmoRecorder.cpp.

int ElmoRecorder::readoutRecorderTryStatus	(	int	iStatusReg,
		segData &	SDOData
	)

This function is called, when a new SR message is received. If the Recorder is finished and ready to upload data, readoutRecorder() is called to actually start the read-out process.

Parameters:

iStatusReg Status register received from the binary interpreter response.

Definition at line 119 of file ElmoRecorder.cpp.

int ElmoRecorder::setLogFilename ( std::string sLogFileprefix )

Parameters:

sLogFileprefix Path (to an existing directory!) and file-prefix for the created logfile. It is extended with _MotorNumber_RecordedSource.log

Definition at line 244 of file ElmoRecorder.cpp.