INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataLogger/General/CsvLogger.cpp
Date: 2025-11-25 23:34:18
Exec Total Coverage
Lines: 91 213 42.7%
Functions: 16 23 69.6%
Branches: 79 418 18.9%
Line Branch Exec Source
1 // This file is part of INSTINCT, the INS Toolkit for Integrated
2 // Navigation Concepts and Training by the Institute of Navigation of
3 // the University of Stuttgart, Germany.
4 //
5 // This Source Code Form is subject to the terms of the Mozilla Public
6 // License, v. 2.0. If a copy of the MPL was not distributed with this
7 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9 #include "CsvLogger.hpp"
10
11 #include "NodeData/NodeData.hpp"
12
13 #include "util/Logger.hpp"
14
15 #include <iomanip> // std::setprecision
16 #include <regex>
17
18 #include "internal/FlowManager.hpp"
19 #include "NodeRegistry.hpp"
20 #include "internal/gui/NodeEditorApplication.hpp"
21 #include "util/StringUtil.hpp"
22
23 116 NAV::CsvLogger::CsvLogger()
24
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 116 : Node(typeStatic())
25 {
26 LOG_TRACE("{}: called", name);
27
28 116 _fileType = FileType::ASCII;
29
30 116 _hasConfig = true;
31 116 _guiConfigDefaultWindowSize = { 380, 70 };
32
33
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 348 CreateInputPin("writeObservation", Pin::Type::Flow,
34 { NodeData::type() },
35 &CsvLogger::writeObservation);
36 232 }
37
38 236 NAV::CsvLogger::~CsvLogger()
39 {
40 LOG_TRACE("{}: called", nameId());
41 236 }
42
43 230 std::string NAV::CsvLogger::typeStatic()
44 {
45
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 460 return "CsvLogger";
46 }
47
48 ✗ std::string NAV::CsvLogger::type() const
49 {
50 ✗ return typeStatic();
51 }
52
53 114 std::string NAV::CsvLogger::category()
54 {
55
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 228 return "Data Logger";
56 }
57
58 ✗ void NAV::CsvLogger::guiConfig()
59 {
60 ✗ if (FileWriter::guiConfig(".csv", { ".csv" }, size_t(id), nameId()))
61 {
62 ✗ flow::ApplyChanges();
63 ✗ doDeinitialize();
64 }
65
66 ✗ if (CommonLog::ShowOriginInput(nameId().c_str()))
67 {
68 ✗ flow::ApplyChanges();
69 }
70
71 ✗ if (ImGui::Button(fmt::format("Clear header##{}", size_t(id)).c_str()))
72 {
73 ✗ _headerLogging.clear();
74 }
75 ✗ ImGui::SameLine();
76 ✗ if (ImGui::Button(fmt::format("Select all##{}", size_t(id)).c_str()))
77 {
78 ✗ for (auto& header : _headerLogging) { header.second = true; }
79 ✗ flow::ApplyChanges();
80 }
81 ✗ ImGui::SameLine();
82 ✗ if (ImGui::Button(fmt::format("Deselect all##{}", size_t(id)).c_str()))
83 {
84 ✗ for (auto& header : _headerLogging) { header.second = false; }
85 ✗ flow::ApplyChanges();
86 }
87 ✗ ImGui::SameLine();
88 ✗ if (ImGui::Checkbox(fmt::format("Default for new##{}", size_t(id)).c_str(), &_headerLoggingDefault))
89 {
90 ✗ flow::ApplyChanges();
91 }
92 ✗ ImGui::SameLine();
93 ✗ if (ImGui::Checkbox(fmt::format("Sort headers in GUI##{}", size_t(id)).c_str(), &_headerLoggingSortGui))
94 {
95 ✗ flow::ApplyChanges();
96 }
97
98 ✗ if (_headerLoggingRegex.empty()) { ImGui::BeginDisabled(); }
99 ✗ std::optional<bool> regexSelect;
100 ✗ if (ImGui::Button(fmt::format("Select regex##{}", size_t(id)).c_str()))
101 {
102 ✗ regexSelect = true;
103 }
104 ✗ ImGui::SameLine();
105 ✗ if (ImGui::Button(fmt::format("Deselect regex##{}", size_t(id)).c_str()))
106 {
107 ✗ regexSelect = false;
108 }
109 ✗ if (regexSelect.has_value())
110 {
111 ✗ bool anyChanged = false;
112 try
113 {
114 ✗ for (auto& [desc, checked] : _headerLogging)
115 {
116 ✗ std::regex self_regex(_headerLoggingRegex,
117 ✗ std::regex_constants::ECMAScript | std::regex_constants::icase);
118 ✗ if (std::regex_search(desc, self_regex) && checked != *regexSelect)
119 {
120 ✗ anyChanged = true;
121 ✗ checked = *regexSelect;
122 }
123 ✗ }
124 }
125 ✗ catch (const std::regex_error& e)
126 {
127 ✗ LOG_ERROR("Regex could not be parsed: {}", e.what());
128 ✗ }
129 ✗ if (anyChanged)
130 {
131 ✗ flow::ApplyChanges();
132 }
133 }
134 ✗ if (_headerLoggingRegex.empty()) { ImGui::EndDisabled(); }
135 ✗ ImGui::SameLine();
136 ✗ ImGui::SetNextItemWidth(300.0F * gui::NodeEditorApplication::windowFontRatio());
137 ✗ if (ImGui::InputText(fmt::format("##Select Regex {}", size_t(id)).c_str(), &_headerLoggingRegex))
138 {
139 ✗ flow::ApplyChanges();
140 }
141
142 ✗ if (!_headerLogging.empty())
143 {
144 ✗ auto* headerLogging = &_headerLogging;
145 ✗ decltype(_headerLogging) sortedHeaderLogging;
146 ✗ if (_headerLoggingSortGui)
147 {
148 ✗ sortedHeaderLogging = _headerLogging;
149 ✗ std::ranges::sort(sortedHeaderLogging);
150 ✗ headerLogging = &sortedHeaderLogging;
151 }
152 ✗ int nCols = std::min((static_cast<int>(headerLogging->size()) - 1) / 5 + 1, 3);
153 ✗ if (ImGui::BeginChild(fmt::format("Headers Scrolling {}", size_t(id)).c_str(), ImGui::GetContentRegionAvail(), false))
154 {
155 ✗ if (ImGui::BeginTable(fmt::format("Logging headers##{}", size_t(id)).c_str(), nCols, ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg | ImGuiTableFlags_SizingFixedFit | ImGuiTableFlags_NoHostExtendX, ImVec2(0.0F, 0.0F)))
156 {
157 ✗ for (auto& [desc, checked] : *headerLogging)
158 {
159 ✗ ImGui::TableNextColumn();
160 ✗ if (ImGui::Checkbox(fmt::format("{}##{}", desc, size_t(id)).c_str(), &checked))
161 {
162 ✗ if (_headerLoggingSortGui)
163 {
164 ✗ if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
165 ✗ return desc == header.first; // NOLINT(clang-analyzer-core.CallAndMessage)
166 });
167 ✗ iter != _headerLogging.end())
168 {
169 ✗ iter->second = checked;
170 }
171 }
172 ✗ flow::ApplyChanges();
173 }
174 }
175
176 ✗ ImGui::EndTable();
177 }
178 }
179 ✗ ImGui::EndChild();
180 ✗ }
181 else
182 {
183 ✗ ImGui::TextUnformatted("Please run the flow to collect information about the available data.");
184 }
185 ✗ }
186
187 ✗ [[nodiscard]] json NAV::CsvLogger::save() const
188 {
189 LOG_TRACE("{}: called", nameId());
190
191 return {
192 ✗ { "FileWriter", FileWriter::save() },
193 ✗ { "header", _headerLogging },
194 ✗ { "lastConnectedType", _lastConnectedType },
195 ✗ { "headerLoggingRegex", _headerLoggingRegex },
196 ✗ { "headerLoggingDefault", _headerLoggingDefault },
197 ✗ { "headerLoggingSortGui", _headerLoggingSortGui },
198 ✗ };
199 ✗ }
200
201 2 void NAV::CsvLogger::restore(json const& j)
202 {
203 LOG_TRACE("{}: called", nameId());
204
205
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 2 if (j.contains("FileWriter")) { FileWriter::restore(j.at("FileWriter")); }
206
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 2 if (j.contains("header")) { j.at("header").get_to(_headerLogging); }
207
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 2 if (j.contains("lastConnectedType")) { j.at("lastConnectedType").get_to(_lastConnectedType); }
208
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 2 if (j.contains("headerLoggingRegex")) { j.at("headerLoggingRegex").get_to(_headerLoggingRegex); }
209
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 2 if (j.contains("headerLoggingDefault")) { j.at("headerLoggingDefault").get_to(_headerLoggingDefault); }
210 2 }
211
212 2 void NAV::CsvLogger::flush()
213 {
214 2 _filestream.flush();
215 2 }
216
217 2 bool NAV::CsvLogger::onCreateLink([[maybe_unused]] OutputPin& startPin, [[maybe_unused]] InputPin& endPin)
218 {
219 LOG_TRACE("{}: called for {} ==> {}", nameId(), size_t(startPin.id), size_t(endPin.id));
220
221
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 2 if (_lastConnectedType != startPin.dataIdentifier.front())
222 {
223 ✗ LOG_DEBUG("{}: [{} ==> {}] Dropping headers because last type [{}] and new type [{}]", nameId(), size_t(startPin.id), size_t(endPin.id), _lastConnectedType, startPin.dataIdentifier.front());
224 ✗ _headerLogging.clear();
225 }
226 2 _lastConnectedType = startPin.dataIdentifier.front();
227
228 2 return true;
229 }
230
231 6 bool NAV::CsvLogger::initialize()
232 {
233 LOG_TRACE("{}: called", nameId());
234
235
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 6 if (!FileWriter::initialize())
236 {
237 ✗ return false;
238 }
239
240 6 CommonLog::initialize();
241
242 6 _headerWritten = false;
243 6 _dynamicHeader.clear();
244
245 6 return true;
246 }
247
248 2 void NAV::CsvLogger::deinitialize()
249 {
250 LOG_TRACE("{}: called", nameId());
251
252 2 FileWriter::deinitialize();
253 2 }
254
255 2 void NAV::CsvLogger::writeHeader()
256 {
257 2 _filestream << "Time [s],GpsCycle,GpsWeek,GpsToW [s]";
258
259 #if LOG_LEVEL <= LOG_LEVEL_TRACE
260 std::string headers = "Time [s],GpsCycle,GpsWeek,GpsToW [s]";
261 #endif
262
263 2 _headerLoggingCount = 0;
264
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 185 for (const auto& [desc, enabled] : _headerLogging)
265 {
266
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 183 if (!enabled) { continue; }
267 183 _headerLoggingCount++;
268
269
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 549 auto header = str::replaceAll_copy(desc, ",", "_");
270 #if LOG_LEVEL <= LOG_LEVEL_TRACE
271 headers += "," + header;
272 #endif
273
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 183 _filestream << "," << header;
274 183 }
275 2 _filestream << std::endl; // NOLINT(performance-avoid-endl)
276
277 #if LOG_LEVEL <= LOG_LEVEL_TRACE
278 LOG_TRACE("{}: Header written:\n{}", nameId(), headers);
279 #endif
280
281 2 _headerWritten = true;
282 2 }
283
284 ✗ void NAV::CsvLogger::rewriteData(size_t oldSize, size_t newSize)
285 {
286 LOG_TRACE("{}: Rewriting header, because {} new elements", nameId(), newSize - oldSize);
287 ✗ FileWriter::deinitialize();
288 ✗ auto tmpFilePath = getFilepath().concat("_temp");
289 ✗ std::filesystem::rename(getFilepath(), tmpFilePath);
290 ✗ FileWriter::initialize();
291 ✗ writeHeader();
292
293 ✗ std::ifstream tmpFilestream(tmpFilePath, std::ios_base::in | std::ios_base::binary);
294 ✗ if (tmpFilestream.good())
295 {
296 ✗ std::string delimiterEnd(newSize - oldSize, ',');
297 ✗ std::string line;
298 ✗ std::getline(tmpFilestream, line); // Old header
299 ✗ while (std::getline(tmpFilestream, line) && !tmpFilestream.eof())
300 {
301 ✗ _filestream << line << delimiterEnd << '\n';
302 }
303 ✗ }
304 ✗ if (tmpFilestream.is_open()) { tmpFilestream.close(); }
305 ✗ tmpFilestream.clear();
306 ✗ std::filesystem::remove(tmpFilePath);
307 ✗ }
308
309 30 void NAV::CsvLogger::writeObservation(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */)
310 {
311
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 30 auto obs = queue.extract_front();
312
313
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 2520 auto oldHeaderLength = static_cast<size_t>(std::ranges::count_if(_headerLogging, [](const auto& header) { return header.second; }));
314
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 30 if (!_headerWritten)
315 {
316
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 2 for (const auto& desc : obs->staticDataDescriptors())
317 {
318 ✗ if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
319 ✗ return desc == header.first;
320 });
321 ✗ iter == _headerLogging.end())
322 {
323 ✗ _headerLogging.emplace_back(desc, _headerLoggingDefault);
324 ✗ flow::ApplyChanges();
325 }
326 2 }
327 }
328
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 2518 for (const auto& desc : obs->dynamicDataDescriptors())
329 {
330
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 130474 if (std::ranges::none_of(_dynamicHeader, [&](const auto& header) { return header == desc; }))
331 {
332 LOG_DATA("{}: Adding new dynamic header: {}", nameId(), desc);
333
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 183 _dynamicHeader.push_back(desc);
334
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 183 if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
335 10270 return desc == header.first;
336 });
337
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 183 iter == _headerLogging.end())
338 {
339 ✗ _headerLogging.emplace_back(desc, _headerLoggingDefault);
340 ✗ flow::ApplyChanges();
341 }
342 }
343 30 }
344
345
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 30 if (!_headerWritten) { writeHeader(); }
346
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 2335 else if (auto newHeaderLength = static_cast<size_t>(std::ranges::count_if(_headerLogging, [](const auto& header) { return header.second; }));
347 oldHeaderLength != newHeaderLength)
348 {
349 ✗ rewriteData(oldHeaderLength, newHeaderLength);
350 }
351
352 30 constexpr int gpsCyclePrecision = 3;
353 30 constexpr int gpsTimePrecision = 12;
354 30 constexpr int valuePrecision = 15;
355
356
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 30 if (!obs->insTime.empty())
357 {
358
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 30 _filestream << std::setprecision(valuePrecision) << std::round(calcTimeIntoRun(obs->insTime) * 1e9) / 1e9;
359 }
360
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 30 _filestream << ",";
361
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 30 if (!obs->insTime.empty())
362 {
363
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 30 _filestream << std::fixed << std::setprecision(gpsCyclePrecision) << obs->insTime.toGPSweekTow().gpsCycle;
364 }
365
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 30 _filestream << ",";
366
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 30 if (!obs->insTime.empty())
367 {
368
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 30 _filestream << std::defaultfloat << std::setprecision(gpsTimePrecision) << obs->insTime.toGPSweekTow().gpsWeek;
369 }
370
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 30 _filestream << ",";
371
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 30 if (!obs->insTime.empty())
372 {
373
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 30 _filestream << std::defaultfloat << std::setprecision(gpsTimePrecision) << obs->insTime.toGPSweekTow().tow;
374 }
375 30 _filestream << std::setprecision(valuePrecision);
376
377 30 size_t dataLogged = 0;
378
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 30 const auto staticDataDescriptors = obs->staticDataDescriptors();
379
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 30 for (size_t i = 0; i < obs->staticDescriptorCount(); ++i)
380 {
381 ✗ const auto& desc = staticDataDescriptors.at(i);
382 ✗ if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
383 ✗ return desc == header.first;
384 });
385 ✗ iter != _headerLogging.end() && !iter->second)
386 {
387 ✗ continue;
388 }
389 ✗ dataLogged++;
390 ✗ _filestream << ',';
391 ✗ if (auto val = obs->getValueAt(i)) { _filestream << *val; }
392 }
393
394
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 2520 for (const auto& desc : _dynamicHeader)
395 {
396
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 2488 if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
397 127919 return desc == header.first;
398 });
399
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 2489 iter != _headerLogging.end() && !iter->second)
400 {
401 ✗ continue;
402 }
403 2490 dataLogged++;
404
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 2490 _filestream << ',';
405
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 2489 if (auto val = obs->getDynamicDataAt(desc)) { _filestream << *val; }
406 }
407
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 30 for (size_t i = dataLogged; i < _headerLoggingCount; i++)
408 {
409 ✗ _filestream << ',';
410 }
411
412
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 30 _filestream << '\n';
413 30 }
414