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ROSBuzz_MISTLab
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added data logging

This commit is contained in:
vivek-shankar 2018-07-04 21:45:35 -04:00
parent 1bfeada346
commit de64825561
1 changed files with 21 additions and 0 deletions
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21
src/roscontroller.cpp
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@ -60,6 +60,18 @@ roscontroller::roscontroller(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv)
{
robot_id = strtol(robot_name.c_str() + 5, NULL, 10);
}
// Create log dir and open log file
std::string path =
bzzfile_name.substr(0, bzzfile_name.find_last_of("\\/")) + "/";
path = path.substr(0, bzzfile_name.find_last_of("\\/"))+"/log/";
std::string folder_check="mkdir -p "+path;
system(folder_check.c_str());
for(int i=5;i>0;i--){
rename((path +"logger_"+ std::to_string((uint8_t)robot_id)+"_"+std::to_string(i-1)+".log").c_str(),
(path +"logger_"+ std::to_string((uint8_t)robot_id)+"_"+std::to_string(i)+".log").c_str());
}
path += "logger_"+std::to_string(robot_id)+"_0.log";
log.open(path.c_str(), std::ios_base::trunc | std::ios_base::out);
}
roscontroller::~roscontroller()
@ -69,6 +81,8 @@ roscontroller::~roscontroller()
{
// Destroy the BVM
buzz_utility::buzz_script_destroy();
// Close the data logging file
log.close();
}
void roscontroller::GetRobotId()
@ -149,6 +163,13 @@ void roscontroller::RosControllerRun()
}
if (debug)
ROS_WARN("CURRENT PACKET DROP : %f ", cur_packet_loss);
// log data
log<<ros::Time::now()<<",";
log<<cur_pos.latitude << "," << cur_pos.longitude << ","
<< cur_pos.altitude << ",";
log << (int)no_of_robots<<",";
log <<(int)buzz_utility::get_inmsg_size()<<",";
log <<buzz_utility::getuavstate()<<std::endl;
// Call Step from buzz script
buzz_utility::buzz_script_step();
// Prepare messages and publish them