UartDataLogger.cpp

Go to the documentation of this file.

// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
#include "UartDataLogger.hpp"
 
#include "NodeData/General/UartPacket.hpp"
 
#include "util/Logger.hpp"
 
#include <iomanip> // std::setprecision
 
#include "internal/NodeManager.hpp"
namespace nm = NAV::NodeManager;
#include "internal/FlowManager.hpp"
 
NAV::UartDataLogger::UartDataLogger()
    : Node(typeStatic())
{
    LOG_TRACE("{}: called", name);
 
    _fileType = FileType::BINARY;
 
    _hasConfig = true;
    _guiConfigDefaultWindowSize = { 380, 70 };
 
    nm::CreateInputPin(this, "writeObservation", Pin::Type::Flow, { NAV::UartPacket::type() }, &UartDataLogger::writeObservation);
}
 
NAV::UartDataLogger::~UartDataLogger()
{
    LOG_TRACE("{}: called", nameId());
}
 
std::string NAV::UartDataLogger::typeStatic()
{
    return "UartDataLogger";
}
 
std::string NAV::UartDataLogger::type() const
{
    return typeStatic();
}
 
std::string NAV::UartDataLogger::category()
{
    return "Data Logger";
}
 
void NAV::UartDataLogger::guiConfig()
{
    if (FileWriter::guiConfig(".ubx", { ".ubx" }, size_t(id), nameId()))
    {
        flow::ApplyChanges();
        doDeinitialize();
    }
}
 
[[nodiscard]] json NAV::UartDataLogger::save() const
{
    LOG_TRACE("{}: called", nameId());
 
    json j;
 
    j["FileWriter"] = FileWriter::save();
 
    return j;
}
 
void NAV::UartDataLogger::restore(json const& j)
{
    LOG_TRACE("{}: called", nameId());
 
    if (j.contains("FileWriter"))
    {
        FileWriter::restore(j.at("FileWriter"));
    }
}
 
void NAV::UartDataLogger::flush()
{
    _filestream.flush();
}
 
bool NAV::UartDataLogger::initialize()
{
    LOG_TRACE("{}: called", nameId());
 
    return FileWriter::initialize();
}
 
void NAV::UartDataLogger::deinitialize()
{
    LOG_TRACE("{}: called", nameId());
 
    FileWriter::deinitialize();
}
 
void NAV::UartDataLogger::writeObservation(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */)
{
    auto obs = std::static_pointer_cast<const UartPacket>(queue.extract_front());
 
    if (obs->raw.getRawDataLength() > 0)
    {
        _filestream.write(reinterpret_cast<const char*>(obs->raw.getRawData().data()), static_cast<std::streamsize>(obs->raw.getRawDataLength()));
    }
    else
    {
        LOG_ERROR("{}: Tried to write binary, but observation had no binary data.", nameId());
    }
}