ElmoRecorder.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#ifndef _ElmoRecorder_H
#define _ElmoRecorder_H
 
#include <string>
#include <cob_canopen_motor/SDOSegmented.h>
 
class CanDriveHarmonica;
 
class ElmoRecorder {
        public:
                ElmoRecorder(CanDriveHarmonica * pParentHarmonicaDrive);
 
                ~ElmoRecorder();
 
                int processData(segData& SDOData);
 
                int configureElmoRecorder(int iRecordingGap, int driveID, int startImmediately = 1);
 
                bool isInitialized(bool initNow);
 
                int readoutRecorderTry(int iObjSubIndex);
 
                int readoutRecorderTryStatus(int iStatusReg, segData& SDOData);
 
                int setLogFilename(std::string sLogFileprefix);
 
        private:
                int m_iCurrentObject;
 
                float m_fRecordingStepSec;
 
                std::string m_sLogFilename;
 
                int m_iReadoutRecorderTry;
 
                CanDriveHarmonica* m_pHarmonicaDrive;
 
                int m_iDriveID;
 
                bool m_bIsInitialized;
 
                int readoutRecorder(int iObjSubIndex);
 
                int logToFile(std::string filename, std::vector<float> vtValues[]);
 
                float convertBinaryToFloat(unsigned int binaryRepresentation);
 
                float convertBinaryToHalfFloat(unsigned int iBinaryRepresentation);
};
 
#endif