MRPT  2.0.1
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  /** @} */
50 
51  /** @name Parameters and options. See: initialize()
52  * @{ */
53 
54  /** If >0, run() will return after this period (in seconds) */
55  double run_for_seconds = 0;
56 
57  /** If enabled (default), exceptions in sensor threads will be reported to
58  * std::cerr */
60 
61  /** Populated in initialize(). Can be replaced or manipulated by the user
62  * after that and before run() to change the parameters loaded from INI
63  * file. */
65 
66  /** @} */
67 
68  /** @name Outputs and result variables
69  * @{ */
70 
71  std::string rawlog_filename; //!< The generated .rawlog file
72  std::size_t rawlog_saved_objects = 0; //!< Counter of saved objects
73 
74  /** @} */
75 
76  void SensorThread(std::string sensor_label);
77 
78  private:
79  using TListObservations =
81 
82  void dump_verbose_info(
84  void dump_verbose_info(const mrpt::obs::CSensoryFrame& sf) const;
86  void dump_IMU_info(const mrpt::obs::CObservationIMU& o) const;
87 
88  void process_observations_for_sf(const TListObservations& list_obs);
90 
93 
94  std::atomic_bool allThreadsMustExit = false;
95 
96  /** Directory where to save externally stored images, only for
97  * CCameraSensor's. */
98  std::string m_rawlog_ext_imgs_dir;
99 
101 
103  double SF_max_time_span = 0.25; // Seconds
104 };
105 
106 } // namespace mrpt::apps
This class implements a config file-like interface over a memory-stored string list.
mrpt::serialization::CArchive * m_out_arch_ptr
TListObservations m_global_list_obs
std::string m_rawlog_ext_imgs_dir
Directory where to save externally stored images, only for CCameraSensor&#39;s.
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.
mrpt::hwdrivers::CGenericSensor::TListObservations TListObservations
bool show_sensor_thread_exceptions
If enabled (default), exceptions in sensor threads will be reported to std::cerr. ...
void dump_verbose_info(const mrpt::serialization::CSerializable::Ptr &o) const
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
Versatile class for consistent logging and management of output messages.
std::string rawlog_filename
The generated .rawlog file.
void run()
Runs with the current parameter set.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Definition: CSensoryFrame.h:51
std::atomic_bool allThreadsMustExit
void SensorThread(std::string sensor_label)
void process_observations_for_nonsf(const TListObservations &list_obs)
double run_for_seconds
If >0, run() will return after this period (in seconds)
const char * argv[]
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:54
std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > TListObservations
void process_observations_for_sf(const TListObservations &list_obs)
std::size_t rawlog_saved_objects
Counter of saved objects.
const int argc
void dump_GPS_mode_info(const mrpt::obs::CObservationGPS &o) const
This class stores messages from GNSS or GNSS+IMU devices, from consumer-grade inexpensive GPS receive...
mrpt::config::CConfigFileMemory params
Populated in initialize().
void dump_IMU_info(const mrpt::obs::CObservationIMU &o) const
RawlogGrabber application wrapper class.
void initialize(int argc, char **argv)
mrpt::obs::CSensoryFrame m_curSF



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