GripperDataTrace.cpp

Go to the documentation of this file.

/****************************************************************
 *
 * 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 <youbot_driver/youbot/GripperDataTrace.hpp>
namespace youbot
{

GripperDataTrace::GripperDataTrace(YouBotGripperBar& youBotGripperBar, const std::string Name,
                                   const bool overwriteFiles) :
    gripperBar(youBotGripperBar)
{
  // Bouml preserved body begin 00101BF1

  roundsPerMinuteSetpoint.rpm = 0;
  PWMSetpoint.pwm = 0;
  encoderSetpoint.encoderTicks = 0;
  this->name = Name;
  if (Name != "")
  {
    this->path = Name;
    this->path.append("/");
  }
  char input = 0;

  if (boost::filesystem::exists((path + "gripperDataTrace").c_str()))
  {
    while (input != 'y' && input != 'n' && overwriteFiles == false)
    {
      std::cout << "Do you want to overwrite the existing files? [n/y]" << std::endl;

      input = getchar();

      if (input == 'n')
      {
        throw std::runtime_error("Will not overwrite files!");
      }
    }

  }
  else
  {
    boost::filesystem::path rootPath(this->path);

    if (!boost::filesystem::create_directories(rootPath))
      throw std::runtime_error("could not create folder!");

  }

  // Bouml preserved body end 00101BF1
}

GripperDataTrace::~GripperDataTrace()
{
  // Bouml preserved body begin 00101C71
  // Bouml preserved body end 00101C71
}

void GripperDataTrace::startTrace(const std::string parameterName, const std::string unit)
{
  // Bouml preserved body begin 00101CF1

  std::string parameterString;
  timeDurationMicroSec = 0;

  file.open((path + "gripperDataTrace").c_str(), std::fstream::out | std::fstream::trunc);

  ptime today;
  today = second_clock::local_time();

  file << "# Name: " << this->name << std::endl;

  file << "# Date: " << boost::posix_time::to_simple_string(today) << std::endl;

  file << "# time [milliseconds]" << " " << parameterName << std::endl;

  parametersBeginTraceFile.open((path + "ParametersAtBegin").c_str(), std::fstream::out | std::fstream::trunc);

  //   parameterVector.push_back(new GripperFirmwareVersion);
  //   parameterVector.push_back(new BarSpacingOffset);
  //   parameterVector.push_back(new MaxEncoderValue);
//    parameterVector.push_back(new MaxTravelDistance);
  parameterVector.push_back(new ActualPosition);
  parameterVector.push_back(new ActualVelocity);
  parameterVector.push_back(new ActualAcceleration);
  parameterVector.push_back(new ActualLoadValue);
  parameterVector.push_back(new ChopperBlankTime);
  parameterVector.push_back(new ChopperHysteresisDecrement);
  parameterVector.push_back(new ChopperHysteresisStart);
  parameterVector.push_back(new ChopperHysteresisEnd);
  parameterVector.push_back(new ChopperMode);
  parameterVector.push_back(new ChopperOffTime);
  parameterVector.push_back(new DoubleStepEnable);
  parameterVector.push_back(new ErrorFlags);
  parameterVector.push_back(new Freewheeling);
  parameterVector.push_back(new MaximumAcceleration);
  parameterVector.push_back(new MaximumCurrent);
  parameterVector.push_back(new MaximumPositioningSpeed);
  parameterVector.push_back(new MicrostepResolution);
  parameterVector.push_back(new PowerDownDelay);
  parameterVector.push_back(new PulseDivisor);
  parameterVector.push_back(new RampDivisor);
  parameterVector.push_back(new RampMode);
  parameterVector.push_back(new ShortDetectionTimer);
  parameterVector.push_back(new ShortProtectionDisable);
  parameterVector.push_back(new SlopeControlHighSide);
  parameterVector.push_back(new SlopeControlLowSide);
  parameterVector.push_back(new SmartEnergyActualCurrent);
  parameterVector.push_back(new SmartEnergyCurrentDownStep);
  parameterVector.push_back(new SmartEnergyCurrentMinimum);
  parameterVector.push_back(new SmartEnergyCurrentUpStep);
  parameterVector.push_back(new SmartEnergyHysteresis);
  parameterVector.push_back(new SmartEnergyHysteresisStart);
  parameterVector.push_back(new SmartEnergySlowRunCurrent);
  parameterVector.push_back(new SmartEnergyThresholdSpeed);
  parameterVector.push_back(new StallGuard2FilterEnable);
  parameterVector.push_back(new StallGuard2Threshold);
  parameterVector.push_back(new StandbyCurrent);
  parameterVector.push_back(new StepInterpolationEnable);
  parameterVector.push_back(new StopOnStall);
  parameterVector.push_back(new Vsense);
  parameterVector.push_back(new MinimumSpeed);

  parametersBeginTraceFile << "Name: " << this->name << std::endl;
  parametersBeginTraceFile << "Date: " << boost::posix_time::to_simple_string(today) << std::endl;

  for (unsigned int i = 0; i < parameterVector.size(); i++)
  {
    gripperBar.getConfigurationParameter(*(parameterVector[i]));
    parameterVector[i]->toString(parameterString);
    //   std::cout << parameterString << std::endl;
    parametersBeginTraceFile << parameterString << std::endl;
  }
  parametersBeginTraceFile.close();

  traceStartTime = microsec_clock::local_time();
  // Bouml preserved body end 00101CF1
}

void GripperDataTrace::stopTrace()
{
  // Bouml preserved body begin 00101D71
  file.close();

  parametersEndTraceFile.open((path + "ParametersAfterTrace").c_str(), std::fstream::out | std::fstream::trunc);
  std::string parameterString;

  parametersEndTraceFile << "Name: " << this->name << std::endl;
  ptime today;
  today = second_clock::local_time();
  parametersEndTraceFile << "Date: " << boost::posix_time::to_simple_string(today) << std::endl;

  for (unsigned int i = 0; i < parameterVector.size(); i++)
  {
    gripperBar.getConfigurationParameter(*(parameterVector[i]));
    parameterVector[i]->toString(parameterString);
    parametersEndTraceFile << parameterString << std::endl;
    delete parameterVector[i];
  }

  parametersEndTraceFile.close();
  // Bouml preserved body end 00101D71
}

void GripperDataTrace::plotTrace()
{
  // Bouml preserved body begin 00101DF1

  std::string executeString = "cd ";
  executeString.append(path);
  executeString.append("; gnuplot ../../GripperGnuPlotConfig");
  // > /dev/null 2>&1");
  if (!std::system(executeString.c_str()))
  {
    //complain
  }
  // Bouml preserved body end 00101DF1
}

void GripperDataTrace::updateTrace(const double parameterValue)
{
  // Bouml preserved body begin 001021F1
  timeDuration = microsec_clock::local_time() - traceStartTime;
  timeDurationMicroSec = timeDuration.total_milliseconds();
  file << timeDurationMicroSec << " " << parameterValue << std::endl;
  // Bouml preserved body end 001021F1
}

unsigned long GripperDataTrace::getTimeDurationMilliSec()
{
  // Bouml preserved body begin 00102271
  return timeDurationMicroSec;
  // Bouml preserved body end 00102271
}

} // namespace youbot