MRPT  2.0.3
RawlogGrabberApp.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
14 #include <mrpt/obs/CSensoryFrame.h>
15 #include <mrpt/obs/obs_frwds.h>
17 #include <atomic>
18 
19 namespace mrpt::apps
20 {
21 /** RawlogGrabber application wrapper class.
22  *
23  * \note If the environment variable `MRPT_HWDRIVERS_VERBOSE=1` is defined
24  * before calling initialize(), verbosity level will be changed to LVL_DEBUG.
25  *
26  * \ingroup mrpt_apps_grp
27  */
29 {
30  public:
32 
33  /** @name Main API
34  * @{ */
35 
36  /** Initializes the application from CLI parameters. Refer to the manpage of
37  * rawlog-grabber. Throws on errors.
38  */
39  void initialize(int argc, const char** argv);
40 
41  inline void initialize(int argc, char** argv)
42  {
43  initialize(argc, const_cast<const char**>(argv));
44  }
45 
46  /** Runs with the current parameter set. Throws on errors. */
47  void run();
48 
49  bool isRunning() const { return m_isRunning; }
50 
51  /** @} */
52 
53  /** @name Parameters and options. See: initialize()
54  * @{ */
55 
56  /** If >0, run() will return after this period (in seconds) */
57  double run_for_seconds = 0;
58 
59  /** If enabled (default), exceptions in sensor threads will be reported to
60  * std::cerr */
62 
63  /** Populated in initialize(). Can be replaced or manipulated by the user
64  * after that and before run() to change the parameters loaded from INI
65  * file. */
67 
68  /** @} */
69 
70  /** @name Outputs and result variables
71  * @{ */
72 
73  std::string rawlog_filename; //!< The generated .rawlog file
74  std::atomic_size_t rawlog_saved_objects = 0; //!< Counter of saved objects
75 
76  /** @} */
77 
78  void SensorThread(std::string sensor_label);
79 
80  private:
81  using TListObservations =
83 
84  void dump_verbose_info(
86  void dump_verbose_info(const mrpt::obs::CSensoryFrame& sf) const;
88  void dump_IMU_info(const mrpt::obs::CObservationIMU& o) const;
89 
90  void process_observations_for_sf(const TListObservations& list_obs);
92 
93  void runImpl();
94 
97 
98  std::atomic_bool allThreadsMustExit = false;
99  std::atomic_bool m_isRunning = false;
100 
101  /** Directory where to save externally stored images, only for
102  * CCameraSensor's. */
104 
106 
108  double SF_max_time_span = 0.25; // Seconds
109 };
110 
111 } // namespace mrpt::apps
mrpt::hwdrivers::CGenericSensor::TListObservations
std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > TListObservations
Definition: CGenericSensor.h:77
mrpt::apps::RawlogGrabberApp::dump_GPS_mode_info
void dump_GPS_mode_info(const mrpt::obs::CObservationGPS &o) const
Definition: RawlogGrabberApp.cpp:277
mrpt::apps::RawlogGrabberApp::params
mrpt::config::CConfigFileMemory params
Populated in initialize().
Definition: RawlogGrabberApp.h:66
CConfigFileMemory.h
mrpt::serialization::CSerializable::Ptr
std::shared_ptr< CSerializable > Ptr
Definition: CSerializable.h:36
mrpt::apps::RawlogGrabberApp::isRunning
bool isRunning() const
Definition: RawlogGrabberApp.h:49
mrpt::apps::RawlogGrabberApp::show_sensor_thread_exceptions
bool show_sensor_thread_exceptions
If enabled (default), exceptions in sensor threads will be reported to std::cerr.
Definition: RawlogGrabberApp.h:61
mrpt::apps::RawlogGrabberApp::cs_m_global_list_obs
std::mutex cs_m_global_list_obs
Definition: RawlogGrabberApp.h:96
mrpt::apps::RawlogGrabberApp::m_rawlog_ext_imgs_dir
std::string m_rawlog_ext_imgs_dir
Directory where to save externally stored images, only for CCameraSensor's.
Definition: RawlogGrabberApp.h:103
mrpt::apps::RawlogGrabberApp::TListObservations
mrpt::hwdrivers::CGenericSensor::TListObservations TListObservations
Definition: RawlogGrabberApp.h:82
mrpt::apps::RawlogGrabberApp::m_global_list_obs
TListObservations m_global_list_obs
Definition: RawlogGrabberApp.h:95
mrpt::obs::CObservationIMU
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation,...
Definition: CObservationIMU.h:111
mrpt::apps::RawlogGrabberApp::runImpl
void runImpl()
Definition: RawlogGrabberApp.cpp:68
mrpt::serialization::CArchive
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:54
mrpt::apps::RawlogGrabberApp
RawlogGrabber application wrapper class.
Definition: RawlogGrabberApp.h:28
mrpt::obs::CSensoryFrame
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Definition: CSensoryFrame.h:51
CConfigFileBase.h
mrpt::apps::RawlogGrabberApp::dump_verbose_info
void dump_verbose_info(const mrpt::serialization::CSerializable::Ptr &o) const
Definition: RawlogGrabberApp.cpp:234
COutputLogger.h
mrpt::apps::RawlogGrabberApp::rawlog_filename
std::string rawlog_filename
The generated .rawlog file.
Definition: RawlogGrabberApp.h:73
mrpt::apps::RawlogGrabberApp::initialize
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
Definition: RawlogGrabberApp.cpp:39
mrpt::apps::RawlogGrabberApp::RawlogGrabberApp
RawlogGrabberApp()
Definition: RawlogGrabberApp.cpp:34
mrpt::apps::RawlogGrabberApp::process_observations_for_sf
void process_observations_for_sf(const TListObservations &list_obs)
Definition: RawlogGrabberApp.cpp:386
CGenericSensor.h
mrpt::apps::RawlogGrabberApp::allThreadsMustExit
std::atomic_bool allThreadsMustExit
Definition: RawlogGrabberApp.h:98
mrpt::apps::RawlogGrabberApp::run_for_seconds
double run_for_seconds
If >0, run() will return after this period (in seconds)
Definition: RawlogGrabberApp.h:57
mrpt::apps
Definition: BaseAppDataSource.h:15
obs_frwds.h
argv
const char * argv[]
Definition: RawlogGrabberApp_unittest.cpp:40
mrpt::apps::RawlogGrabberApp::process_observations_for_nonsf
void process_observations_for_nonsf(const TListObservations &list_obs)
Definition: RawlogGrabberApp.cpp:502
mrpt::apps::RawlogGrabberApp::run
void run()
Runs with the current parameter set.
Definition: RawlogGrabberApp.cpp:219
mrpt::system::COutputLogger
Versatile class for consistent logging and management of output messages.
Definition: system/COutputLogger.h:117
CSensoryFrame.h
mrpt::apps::RawlogGrabberApp::SensorThread
void SensorThread(std::string sensor_label)
Definition: RawlogGrabberApp.cpp:310
mrpt::obs::CObservationGPS
This class stores messages from GNSS or GNSS+IMU devices, from consumer-grade inexpensive GPS receive...
Definition: CObservationGPS.h:67
argc
const int argc
Definition: RawlogGrabberApp_unittest.cpp:41
mrpt::apps::RawlogGrabberApp::m_isRunning
std::atomic_bool m_isRunning
Definition: RawlogGrabberApp.h:99
mrpt::apps::RawlogGrabberApp::SF_max_time_span
double SF_max_time_span
Definition: RawlogGrabberApp.h:108
mrpt::config::CConfigFileMemory
This class implements a config file-like interface over a memory-stored string list.
Definition: config/CConfigFileMemory.h:36
mrpt::apps::RawlogGrabberApp::initialize
void initialize(int argc, char **argv)
Definition: RawlogGrabberApp.h:41
mrpt::apps::RawlogGrabberApp::m_out_arch_ptr
mrpt::serialization::CArchive * m_out_arch_ptr
Definition: RawlogGrabberApp.h:105
mrpt::apps::RawlogGrabberApp::rawlog_saved_objects
std::atomic_size_t rawlog_saved_objects
Counter of saved objects.
Definition: RawlogGrabberApp.h:74
mrpt::apps::RawlogGrabberApp::m_curSF
mrpt::obs::CSensoryFrame m_curSF
Definition: RawlogGrabberApp.h:107
mrpt::apps::RawlogGrabberApp::dump_IMU_info
void dump_IMU_info(const mrpt::obs::CObservationIMU &o) const
Definition: RawlogGrabberApp.cpp:296



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