rawlog_record.cpp

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/***********************************************************************************
 * Revised BSD License *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#include <mrpt/system/filesystem.h>
#include <mrpt/system/string_utils.h>
#include <mrpt_rawlog_record/rawlog_record.h>
#include <mrpt_rawlog_record/rawlog_record_defaults.h>
#include <stdarg.h>
#include <stdio.h>

#include "ros/console.h"

RawlogRecord::~RawlogRecord()
{
        MRPT_TODO("RawlogRecord writes the rawlog only on exit (Ctrl-C)");

        ROS_INFO_STREAM("writing dataset to disk...");
        ROS_INFO_STREAM("pRawLog    entries:" << pRawLog.size());
        ROS_INFO_STREAM("pRawLogASF entries:" << pRawLogASF.size());

        if (pRawLog.size() > 0)
        {
                const std::string filename =
                        base_param_.raw_log_folder + "/" + base_param_.raw_log_name;
                ROS_INFO_STREAM("Writing dataset rawlog to: " << filename);

                if (!pRawLog.saveToRawLogFile(filename))
                {
                        ROS_ERROR_STREAM("Error writing to " << filename);
                }
        }
        if (pRawLogASF.size() > 0)
        {
                const std::string filename =
                        base_param_.raw_log_folder + "/" + base_param_.raw_log_name_asf;

                ROS_INFO_STREAM("Writing dataset rawlog to: " << filename);

                if (!pRawLogASF.saveToRawLogFile(filename))
                {
                        ROS_ERROR_STREAM("Error writing to " << filename);
                }
        }
}

void RawlogRecord::updateRawLogName(const mrpt::system::TTimeStamp& t)
{
        const auto prefix = mrpt::system::dateTimeLocalToString(t);

        base_param_.raw_log_name = mrpt::system::fileNameStripInvalidChars(
                prefix + base_param_.raw_log_name);
        base_param_.raw_log_name_asf = mrpt::system::fileNameStripInvalidChars(
                prefix + base_param_.raw_log_name_asf);
}