WiFiObsLogger.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 "WiFiObsLogger.hpp"
 
#include "NodeData/WiFi/WiFiObs.hpp"
 
#include "Navigation/Transformations/Units.hpp"
 
#include "util/Logger.hpp"
 
#include <iomanip> // std::setprecision
 
#include "internal/NodeManager.hpp"
namespace nm = NAV::NodeManager;
#include "internal/FlowManager.hpp"
 
NAV::WiFiObsLogger::WiFiObsLogger()
    : Node(typeStatic())
{
    LOG_TRACE("{}: called", name);
 
    _fileType = FileType::ASCII;
 
    _hasConfig = true;
    _guiConfigDefaultWindowSize = { 380, 70 };
 
    nm::CreateInputPin(this, "writeObservation", Pin::Type::Flow, { WiFiObs::type() }, &WiFiObsLogger::writeObservation);
}
 
NAV::WiFiObsLogger::~WiFiObsLogger()
{
    LOG_TRACE("{}: called", nameId());
}
 
std::string NAV::WiFiObsLogger::typeStatic()
{
    return "WiFiObsLogger";
}
 
std::string NAV::WiFiObsLogger::type() const
{
    return typeStatic();
}
 
std::string NAV::WiFiObsLogger::category()
{
    return "Data Logger";
}
 
void NAV::WiFiObsLogger::guiConfig()
{
    if (FileWriter::guiConfig(".csv", { ".csv" }, size_t(id), nameId()))
    {
        flow::ApplyChanges();
        doDeinitialize();
    }
 
    if (CommonLog::ShowOriginInput(nameId().c_str()))
    {
        flow::ApplyChanges();
    }
}
 
[[nodiscard]] json NAV::WiFiObsLogger::save() const
{
    LOG_TRACE("{}: called", nameId());
 
    json j;
 
    j["FileWriter"] = FileWriter::save();
 
    return j;
}
 
void NAV::WiFiObsLogger::restore(json const& j)
{
    LOG_TRACE("{}: called", nameId());
 
    if (j.contains("FileWriter"))
    {
        FileWriter::restore(j.at("FileWriter"));
    }
}
 
void NAV::WiFiObsLogger::flush()
{
    _filestream.flush();
}
 
bool NAV::WiFiObsLogger::initialize()
{
    LOG_TRACE("{}: called", nameId());
 
    if (!FileWriter::initialize())
    {
        return false;
    }
 
    CommonLog::initialize();
 
    _filestream << "Time [s],GpsCycle,GpsWeek,GpsToW [s],"
                << "MacAddress,"
                << "Distance [m],"
                << "DistanceStd [m]\n";
 
    return true;
}
 
void NAV::WiFiObsLogger::deinitialize()
{
    LOG_TRACE("{}: called", nameId());
 
    FileWriter::deinitialize();
}
 
void NAV::WiFiObsLogger::writeObservation(NAV::InputPin::NodeDataQueue& queue, size_t pinIdx)
{
    if ([[maybe_unused]] auto* sourcePin = inputPins[pinIdx].link.getConnectedPin())
    {
        constexpr int gpsCyclePrecision = 3;
        constexpr int gpsTimePrecision = 12;
        constexpr int valuePrecision = 15;
 
        auto nodeData = queue.extract_front();
 
        // -------------------------------------------------------- Time -----------------------------------------------------------
 
        auto obs = std::static_pointer_cast<const WiFiObs>(nodeData);
        if (!obs->insTime.empty())
        {
            _filestream << std::setprecision(valuePrecision) << std::round(calcTimeIntoRun(obs->insTime) * 1e9) / 1e9;
        }
        _filestream << ",";
        if (!obs->insTime.empty())
        {
            _filestream << std::fixed << std::setprecision(gpsCyclePrecision) << obs->insTime.toGPSweekTow().gpsCycle;
        }
        _filestream << ",";
        if (!obs->insTime.empty())
        {
            _filestream << std::defaultfloat << std::setprecision(gpsTimePrecision) << obs->insTime.toGPSweekTow().gpsWeek;
        }
        _filestream << ",";
        if (!obs->insTime.empty())
        {
            _filestream << std::defaultfloat << std::setprecision(gpsTimePrecision) << obs->insTime.toGPSweekTow().tow;
        }
        _filestream << "," << std::setprecision(valuePrecision);
 
        // ------------------------------------------------------ MacAddress ----------------------------------------------------------
        if (!obs->macAddress.empty())
        {
            _filestream << obs->macAddress;
        }
        _filestream << ",";
 
        // ------------------------------------------------------- Distance -----------------------------------------------------------
        _filestream << obs->distance;
        _filestream << ",";
        // --------------------------------------------------------- Standard deviation ---------------------------------------------------
        _filestream << obs->distanceStd;
 
        _filestream << '\n';
    }
}