Diff: Logger/Logger.cpp

Revision:

36:3095e00eef37

Parent:

32:eb673f6f5734

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Logger/Logger.cpp	Tue Jan 01 17:44:27 2019 +0000
@@ -0,0 +1,96 @@
+#include "Logger.h"
+#include <stdio.h>
+#include <algorithm>
+#include <vector>
+#include <iterator>
+#include <string>
+
+Logger::Logger() {
+    _file = NULL;
+    _fp = NULL;
+}
+
+
+void Logger::start() {
+    if (_fp == NULL) {
+        DIR *d;
+        char file[24];
+        std::vector<string> fl;
+        dirent *p;
+        
+        if ((d = opendir("/log")) != NULL) {
+            while ((p = readdir(d)) != NULL) {
+                fl.push_back(string(p->d_name));
+            }
+            closedir(d);
+            
+            // Open a new unique log file of the form NNNN.csv
+            for (int i=0; i <= 9999; i++) {
+                sprintf(file, "%04d.CSV", i);   // generate filename
+                string x(file);                 // create string version
+                // Is this filename NOT listed in the directory?
+                if (std::find(fl.begin(), fl.end(), x) == fl.end()) {
+                    x.insert(0, "/log/"); // prepend the correct path
+                    if ((_fp = fopen(x.c_str(), "w")) == NULL) {
+                        fprintf(stdout, "%s: cannot open\n", file);
+                    } else {
+                        fprintf(stdout, "%s: opened\n", file);
+                    }
+                    break;
+                }// if
+            }// for
+        }// if
+    } // if
+}
+
+
+void Logger::stop() {
+    if (_fp && fclose(_fp) != EOF) {
+        _fp = NULL;
+    }
+}
+
+
+bool Logger::enabled() {
+    return (_fp != NULL);
+}
+
+
+void Logger::log_gps(GpsData d) {
+    if (enabled()) {
+        fprintf(_fp, "G,%llu,%3.9f,%3.9f,%3.1f,%2.1f,%2.1f,%d\n",
+            d.timestamp,
+            d.latitude, 
+            d.longitude,
+            d.course,
+            d.speed,
+            d.hdop,
+            d.svcount
+        );
+    }
+}
+
+
+void Logger::log_sensors(SensorData d) {
+    if (enabled()) {
+        fprintf(_fp, "S,%llu,%u,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",
+            d.timestamp,
+            d.encoder, 
+            d.gyro[0],
+            d.gyro[1],
+            d.gyro[2],
+            d.accel[0],
+            d.accel[1],
+            d.accel[2],
+            d.mag[0],
+            d.mag[1],
+            d.mag[2]            
+        );       
+    }
+}
+
+
+void Logger::log_estimation() {
+    if (enabled()) {
+    }
+}
\ No newline at end of file