RawlogGrabberApp.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/system/COutputLogger.h>
#include <atomic>
#include <mutex>

namespace mrpt::apps
{
/** RawlogGrabber application wrapper class.
 *
 * \note If the environment variable `MRPT_HWDRIVERS_VERBOSE=1` is defined
 * before calling initialize(), verbosity level will be changed to LVL_DEBUG.
 *
 * \ingroup mrpt_apps_grp
 */
class RawlogGrabberApp : public mrpt::system::COutputLogger
{
   public:
    RawlogGrabberApp();

    /** @name Main API
     * @{ */

    /** Initializes the application from CLI parameters. Refer to the manpage of
     * rawlog-grabber. Throws on errors.
     */
    void initialize(int argc, const char** argv);

    inline void initialize(int argc, char** argv)
    {
        initialize(argc, const_cast<const char**>(argv));
    }

    /** Runs with the current parameter set. Throws on errors. */
    void run();

    bool isRunning() const
    {
        m_isRunningMtx.lock();
        const auto r = m_isRunning;
        m_isRunningMtx.unlock();
        return r;
    }

    /** @} */

    /** @name Parameters and options. See: initialize()
     * @{ */
    /** Acquire this mutex if changing parameters *while* the app is running */
    std::mutex params_mtx;

    /** If >0, run() will return after this period (in seconds) */
    double run_for_seconds = 0;

    /** If enabled (default), exceptions in sensor threads will be reported to
     * std::cerr */
    bool show_sensor_thread_exceptions = true;

    /** Populated in initialize(). Can be replaced or manipulated by the user
     * after that and before run() to change the parameters loaded from INI
     * file. */
    mrpt::config::CConfigFileMemory params;

    /** @} */

    /** @name Outputs and result variables
     * @{ */
    /** Acquire this mutex if reading these output variables *while* the app is
     * running */
    std::mutex results_mtx;

    std::string rawlog_filename;  //!< The generated .rawlog file
    std::size_t rawlog_saved_objects = 0;  //!< Counter of saved objects

    /** @} */

    void SensorThread(std::string sensor_label);

   private:
    using TListObservations =
        mrpt::hwdrivers::CGenericSensor::TListObservations;

    void dump_verbose_info(
        const mrpt::serialization::CSerializable::Ptr& o) const;
    void dump_verbose_info(const mrpt::obs::CSensoryFrame& sf) const;
    void dump_GPS_mode_info(const mrpt::obs::CObservationGPS& o) const;
    void dump_IMU_info(const mrpt::obs::CObservationIMU& o) const;

    void process_observations_for_sf(const TListObservations& list_obs);
    void process_observations_for_nonsf(const TListObservations& list_obs);

    void runImpl();

    TListObservations m_global_list_obs;
    std::mutex cs_m_global_list_obs;

    std::atomic_bool allThreadsMustExit = false;
    mutable std::mutex m_isRunningMtx;
    bool m_isRunning = false;

    /** Directory where to save externally stored images, only for
     * CCameraSensor's. */
    std::string m_rawlog_ext_imgs_dir;

    mrpt::serialization::CArchive* m_out_arch_ptr = nullptr;

    mrpt::obs::CSensoryFrame m_curSF;
    double SF_max_time_span = 0.25;  // Seconds
};

}  // namespace mrpt::apps