DataTrace.hpp

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#ifndef YOUBOT_DATATRACE_H
#define YOUBOT_DATATRACE_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
#include <vector>
#include <sstream>
#include <string>
#include <cstdio>
#include <stdexcept>
#include <iostream>
#include <stdlib.h>
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/filesystem.hpp>
#include <youbot_driver/generic/Logger.hpp>
#include <youbot_driver/generic/Units.hpp>
#include <youbot_driver/generic/Time.hpp>
#include <youbot_driver/generic/ConfigFile.hpp>
#include <youbot_driver/generic/Exceptions.hpp>
#include <youbot_driver/youbot/YouBotJoint.hpp>
#include <youbot_driver/youbot/YouBotJointParameter.hpp>

using namespace boost::posix_time;
namespace youbot
{

enum DataTraceCntrollerMode
{
  POSITION_CONTROL_RAD, POSITION_CONTROL_ENC, VELOCITY_CONTROL_RAD_SEC, VELOCITY_CONTROL_RPM, CURRENT_CONTROL_MODE,
  TORQUE_CONTROL_MODE, NOT_DEFINED
};
class DataTrace
{
public:
  DataTrace(YouBotJoint& youBotJoint, const std::string Name, const bool overwriteFiles = false);

  virtual ~DataTrace();

  void startTrace();

  void stopTrace();

  void plotTrace();

  void updateTrace(const JointAngleSetpoint& setpoint);

  void updateTrace(const JointVelocitySetpoint& setpoint);

  void updateTrace(const JointRoundsPerMinuteSetpoint& setpoint);

  void updateTrace(const JointCurrentSetpoint& setpoint);

  void updateTrace(const JointTorqueSetpoint& setpoint);

  void updateTrace(const JointEncoderSetpoint& setpoint);

  void updateTrace();

  unsigned long getTimeDurationMilliSec();

private:
  DataTrace(const DataTrace & source);

  DataTrace & operator=(const DataTrace & source);

  void update();

  YouBotJoint& joint;

  JointSensedAngle sensedAngle;

  JointSensedEncoderTicks sensedEncoderTicks;

  JointSensedVelocity sensedVelocity;

  JointSensedRoundsPerMinute sensedRoundsPerMinute;

  JointSensedCurrent sensedCurrent;

  JointSensedTorque sensedTorque;

  std::fstream file;

  JointAngleSetpoint angleSetpoint;

  JointVelocitySetpoint velocitySetpoint;

  JointRoundsPerMinuteSetpoint roundsPerMinuteSetpoint;

  JointCurrentSetpoint currentSetpoint;

  JointTorqueSetpoint torqueSetpoint;

  JointPWMSetpoint PWMSetpoint;

  JointEncoderSetpoint encoderSetpoint;

  std::fstream parametersBeginTraceFile;

  std::fstream parametersEndTraceFile;

  ptime traceStartTime;

  time_duration timeDuration;

  unsigned long timeDurationMicroSec;

  DataTraceCntrollerMode controllerMode;

  JointSensedPWM actualPWM;

  std::vector<YouBotJointParameterReadOnly*> parameterVector;

  std::string name;

  std::string path;

  int invertDirection;

  JointRampGeneratorVelocity rampGenSetpoint;

  JointCurrentSetpoint targetCurrent;

  JointVelocitySetpoint targetVelocity;

  JointAngleSetpoint targetAngle;

};

} // namespace youbot
#endif