INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataLogger/General/CsvLogger.cpp
Date: 2025-06-02 15:19:59
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/NodeManager.hpp"
19 namespace nm = NAV::NodeManager;
20 #include "internal/FlowManager.hpp"
21 #include "NodeRegistry.hpp"
22 #include "internal/gui/NodeEditorApplication.hpp"
23 #include "util/StringUtil.hpp"
24
25 114 NAV::CsvLogger::CsvLogger()
26
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 114 : Node(typeStatic())
27 {
28 LOG_TRACE("{}: called", name);
29
30 114 _fileType = FileType::ASCII;
31
32 114 _hasConfig = true;
33 114 _guiConfigDefaultWindowSize = { 380, 70 };
34
35
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 342 nm::CreateInputPin(this, "writeObservation", Pin::Type::Flow,
36 { NodeData::type() },
37 &CsvLogger::writeObservation);
38 228 }
39
40 232 NAV::CsvLogger::~CsvLogger()
41 {
42 LOG_TRACE("{}: called", nameId());
43 232 }
44
45 226 std::string NAV::CsvLogger::typeStatic()
46 {
47
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 452 return "CsvLogger";
48 }
49
50 ✗ std::string NAV::CsvLogger::type() const
51 {
52 ✗ return typeStatic();
53 }
54
55 112 std::string NAV::CsvLogger::category()
56 {
57
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 224 return "Data Logger";
58 }
59
60 ✗ void NAV::CsvLogger::guiConfig()
61 {
62 ✗ if (FileWriter::guiConfig(".csv", { ".csv" }, size_t(id), nameId()))
63 {
64 ✗ flow::ApplyChanges();
65 ✗ doDeinitialize();
66 }
67
68 ✗ if (CommonLog::ShowOriginInput(nameId().c_str()))
69 {
70 ✗ flow::ApplyChanges();
71 }
72
73 ✗ if (ImGui::Button(fmt::format("Clear header##{}", size_t(id)).c_str()))
74 {
75 ✗ _headerLogging.clear();
76 }
77 ✗ ImGui::SameLine();
78 ✗ if (ImGui::Button(fmt::format("Select all##{}", size_t(id)).c_str()))
79 {
80 ✗ for (auto& header : _headerLogging) { header.second = true; }
81 ✗ flow::ApplyChanges();
82 }
83 ✗ ImGui::SameLine();
84 ✗ if (ImGui::Button(fmt::format("Deselect all##{}", size_t(id)).c_str()))
85 {
86 ✗ for (auto& header : _headerLogging) { header.second = false; }
87 ✗ flow::ApplyChanges();
88 }
89 ✗ ImGui::SameLine();
90 ✗ if (ImGui::Checkbox(fmt::format("Default for new##{}", size_t(id)).c_str(), &_headerLoggingDefault))
91 {
92 ✗ flow::ApplyChanges();
93 }
94 ✗ ImGui::SameLine();
95 ✗ if (ImGui::Checkbox(fmt::format("Sort headers in GUI##{}", size_t(id)).c_str(), &_headerLoggingSortGui))
96 {
97 ✗ flow::ApplyChanges();
98 }
99
100 ✗ if (_headerLoggingRegex.empty()) { ImGui::BeginDisabled(); }
101 ✗ std::optional<bool> regexSelect;
102 ✗ if (ImGui::Button(fmt::format("Select regex##{}", size_t(id)).c_str()))
103 {
104 ✗ regexSelect = true;
105 }
106 ✗ ImGui::SameLine();
107 ✗ if (ImGui::Button(fmt::format("Deselect regex##{}", size_t(id)).c_str()))
108 {
109 ✗ regexSelect = false;
110 }
111 ✗ if (regexSelect.has_value())
112 {
113 ✗ bool anyChanged = false;
114 try
115 {
116 ✗ for (auto& [desc, checked] : _headerLogging)
117 {
118 ✗ std::regex self_regex(_headerLoggingRegex,
119 ✗ std::regex_constants::ECMAScript | std::regex_constants::icase);
120 ✗ if (std::regex_search(desc, self_regex) && checked != *regexSelect)
121 {
122 ✗ anyChanged = true;
123 ✗ checked = *regexSelect;
124 }
125 ✗ }
126 }
127 ✗ catch (const std::regex_error& e)
128 {
129 ✗ LOG_ERROR("Regex could not be parsed: {}", e.what());
130 ✗ }
131 ✗ if (anyChanged)
132 {
133 ✗ flow::ApplyChanges();
134 }
135 }
136 ✗ if (_headerLoggingRegex.empty()) { ImGui::EndDisabled(); }
137 ✗ ImGui::SameLine();
138 ✗ ImGui::SetNextItemWidth(300.0F * gui::NodeEditorApplication::windowFontRatio());
139 ✗ if (ImGui::InputText(fmt::format("##Select Regex {}", size_t(id)).c_str(), &_headerLoggingRegex))
140 {
141 ✗ flow::ApplyChanges();
142 }
143
144 ✗ if (!_headerLogging.empty())
145 {
146 ✗ auto* headerLogging = &_headerLogging;
147 ✗ decltype(_headerLogging) sortedHeaderLogging;
148 ✗ if (_headerLoggingSortGui)
149 {
150 ✗ sortedHeaderLogging = _headerLogging;
151 ✗ std::ranges::sort(sortedHeaderLogging);
152 ✗ headerLogging = &sortedHeaderLogging;
153 }
154 ✗ int nCols = std::min((static_cast<int>(headerLogging->size()) - 1) / 5 + 1, 3);
155 ✗ if (ImGui::BeginChild(fmt::format("Headers Scrolling {}", size_t(id)).c_str(), ImGui::GetContentRegionAvail(), false))
156 {
157 ✗ 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)))
158 {
159 ✗ for (auto& [desc, checked] : *headerLogging)
160 {
161 ✗ ImGui::TableNextColumn();
162 ✗ if (ImGui::Checkbox(fmt::format("{}##{}", desc, size_t(id)).c_str(), &checked))
163 {
164 ✗ if (_headerLoggingSortGui)
165 {
166 ✗ if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
167 ✗ return desc == header.first; // NOLINT(clang-analyzer-core.CallAndMessage)
168 });
169 ✗ iter != _headerLogging.end())
170 {
171 ✗ iter->second = checked;
172 }
173 }
174 ✗ flow::ApplyChanges();
175 }
176 }
177
178 ✗ ImGui::EndTable();
179 }
180 }
181 ✗ ImGui::EndChild();
182 ✗ }
183 else
184 {
185 ✗ ImGui::TextUnformatted("Please run the flow to collect information about the available data.");
186 }
187 ✗ }
188
189 ✗ [[nodiscard]] json NAV::CsvLogger::save() const
190 {
191 LOG_TRACE("{}: called", nameId());
192
193 return {
194 ✗ { "FileWriter", FileWriter::save() },
195 ✗ { "header", _headerLogging },
196 ✗ { "lastConnectedType", _lastConnectedType },
197 ✗ { "headerLoggingRegex", _headerLoggingRegex },
198 ✗ { "headerLoggingDefault", _headerLoggingDefault },
199 ✗ { "headerLoggingSortGui", _headerLoggingSortGui },
200 ✗ };
201 ✗ }
202
203 2 void NAV::CsvLogger::restore(json const& j)
204 {
205 LOG_TRACE("{}: called", nameId());
206
207
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 2 if (j.contains("FileWriter")) { FileWriter::restore(j.at("FileWriter")); }
208
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 2 if (j.contains("header")) { j.at("header").get_to(_headerLogging); }
209
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 2 if (j.contains("lastConnectedType")) { j.at("lastConnectedType").get_to(_lastConnectedType); }
210
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 2 if (j.contains("headerLoggingRegex")) { j.at("headerLoggingRegex").get_to(_headerLoggingRegex); }
211
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 2 if (j.contains("headerLoggingDefault")) { j.at("headerLoggingDefault").get_to(_headerLoggingDefault); }
212 2 }
213
214 2 void NAV::CsvLogger::flush()
215 {
216 2 _filestream.flush();
217 2 }
218
219 2 bool NAV::CsvLogger::onCreateLink([[maybe_unused]] OutputPin& startPin, [[maybe_unused]] InputPin& endPin)
220 {
221 LOG_TRACE("{}: called for {} ==> {}", nameId(), size_t(startPin.id), size_t(endPin.id));
222
223
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 2 if (_lastConnectedType != startPin.dataIdentifier.front())
224 {
225 ✗ LOG_DEBUG("{}: [{} ==> {}] Dropping headers because last type [{}] and new type [{}]", nameId(), size_t(startPin.id), size_t(endPin.id), _lastConnectedType, startPin.dataIdentifier.front());
226 ✗ _headerLogging.clear();
227 }
228 2 _lastConnectedType = startPin.dataIdentifier.front();
229
230 2 return true;
231 }
232
233 6 bool NAV::CsvLogger::initialize()
234 {
235 LOG_TRACE("{}: called", nameId());
236
237
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 6 if (!FileWriter::initialize())
238 {
239 ✗ return false;
240 }
241
242 6 CommonLog::initialize();
243
244 6 _headerWritten = false;
245 6 _dynamicHeader.clear();
246
247 6 return true;
248 }
249
250 2 void NAV::CsvLogger::deinitialize()
251 {
252 LOG_TRACE("{}: called", nameId());
253
254 2 FileWriter::deinitialize();
255 2 }
256
257 2 void NAV::CsvLogger::writeHeader()
258 {
259 2 _filestream << "Time [s],GpsCycle,GpsWeek,GpsToW [s]";
260
261 #if LOG_LEVEL <= LOG_LEVEL_TRACE
262 std::string headers = "Time [s],GpsCycle,GpsWeek,GpsToW [s]";
263 #endif
264
265 2 _headerLoggingCount = 0;
266
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 185 for (const auto& [desc, enabled] : _headerLogging)
267 {
268
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 183 if (!enabled) { continue; }
269 183 _headerLoggingCount++;
270
271
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 549 auto header = str::replaceAll_copy(desc, ",", "_");
272 #if LOG_LEVEL <= LOG_LEVEL_TRACE
273 headers += "," + header;
274 #endif
275
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 183 _filestream << "," << header;
276 183 }
277 2 _filestream << std::endl; // NOLINT(performance-avoid-endl)
278
279 #if LOG_LEVEL <= LOG_LEVEL_TRACE
280 LOG_TRACE("{}: Header written:\n{}", nameId(), headers);
281 #endif
282
283 2 _headerWritten = true;
284 2 }
285
286 ✗ void NAV::CsvLogger::rewriteData(size_t oldSize, size_t newSize)
287 {
288 LOG_TRACE("{}: Rewriting header, because {} new elements", nameId(), newSize - oldSize);
289 ✗ FileWriter::deinitialize();
290 ✗ auto tmpFilePath = getFilepath().concat("_temp");
291 ✗ std::filesystem::rename(getFilepath(), tmpFilePath);
292 ✗ FileWriter::initialize();
293 ✗ writeHeader();
294
295 ✗ std::ifstream tmpFilestream(tmpFilePath, std::ios_base::in | std::ios_base::binary);
296 ✗ if (tmpFilestream.good())
297 {
298 ✗ std::string delimiterEnd(newSize - oldSize, ',');
299 ✗ std::string line;
300 ✗ std::getline(tmpFilestream, line); // Old header
301 ✗ while (std::getline(tmpFilestream, line) && !tmpFilestream.eof())
302 {
303 ✗ _filestream << line << delimiterEnd << '\n';
304 }
305 ✗ }
306 ✗ if (tmpFilestream.is_open()) { tmpFilestream.close(); }
307 ✗ tmpFilestream.clear();
308 ✗ std::filesystem::remove(tmpFilePath);
309 ✗ }
310
311 30 void NAV::CsvLogger::writeObservation(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */)
312 {
313
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 30 auto obs = queue.extract_front();
314
315
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 2514 auto oldHeaderLength = static_cast<size_t>(std::ranges::count_if(_headerLogging, [](const auto& header) { return header.second; }));
316
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 30 if (!_headerWritten)
317 {
318
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 2 for (const auto& desc : obs->staticDataDescriptors())
319 {
320 ✗ if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
321 ✗ return desc == header.first;
322 });
323 ✗ iter == _headerLogging.end())
324 {
325 ✗ _headerLogging.emplace_back(desc, _headerLoggingDefault);
326 ✗ flow::ApplyChanges();
327 }
328 2 }
329 }
330
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 2518 for (const auto& desc : obs->dynamicDataDescriptors())
331 {
332
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 131558 if (std::ranges::none_of(_dynamicHeader, [&](const auto& header) { return header == desc; }))
333 {
334 LOG_DATA("{}: Adding new dynamic header: {}", nameId(), desc);
335
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 183 _dynamicHeader.push_back(desc);
336
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 183 if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
337 10250 return desc == header.first;
338 });
339
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 183 iter == _headerLogging.end())
340 {
341 ✗ _headerLogging.emplace_back(desc, _headerLoggingDefault);
342 ✗ flow::ApplyChanges();
343 }
344 }
345 30 }
346
347
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 30 if (!_headerWritten) { writeHeader(); }
348
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 2335 else if (auto newHeaderLength = static_cast<size_t>(std::ranges::count_if(_headerLogging, [](const auto& header) { return header.second; }));
349 oldHeaderLength != newHeaderLength)
350 {
351 ✗ rewriteData(oldHeaderLength, newHeaderLength);
352 }
353
354 30 constexpr int gpsCyclePrecision = 3;
355 30 constexpr int gpsTimePrecision = 12;
356 30 constexpr int valuePrecision = 15;
357
358
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 30 if (!obs->insTime.empty())
359 {
360
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 30 _filestream << std::setprecision(valuePrecision) << std::round(calcTimeIntoRun(obs->insTime) * 1e9) / 1e9;
361 }
362
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 30 _filestream << ",";
363
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 30 if (!obs->insTime.empty())
364 {
365
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 30 _filestream << std::fixed << std::setprecision(gpsCyclePrecision) << obs->insTime.toGPSweekTow().gpsCycle;
366 }
367
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 30 _filestream << ",";
368
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 30 if (!obs->insTime.empty())
369 {
370
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 30 _filestream << std::defaultfloat << std::setprecision(gpsTimePrecision) << obs->insTime.toGPSweekTow().gpsWeek;
371 }
372
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 30 _filestream << ",";
373
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 30 if (!obs->insTime.empty())
374 {
375
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 30 _filestream << std::defaultfloat << std::setprecision(gpsTimePrecision) << obs->insTime.toGPSweekTow().tow;
376 }
377 30 _filestream << std::setprecision(valuePrecision);
378
379 30 size_t dataLogged = 0;
380
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 30 const auto staticDataDescriptors = obs->staticDataDescriptors();
381
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 30 for (size_t i = 0; i < obs->staticDescriptorCount(); ++i)
382 {
383 ✗ const auto& desc = staticDataDescriptors.at(i);
384 ✗ if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
385 ✗ return desc == header.first;
386 });
387 ✗ iter != _headerLogging.end() && !iter->second)
388 {
389 ✗ continue;
390 }
391 ✗ dataLogged++;
392 ✗ _filestream << ',';
393 ✗ if (auto val = obs->getValueAt(i)) { _filestream << *val; }
394 }
395
396
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 2518 for (const auto& desc : _dynamicHeader)
397 {
398
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 2486 if (auto iter = std::ranges::find_if(_headerLogging, [&](const std::pair<std::string, bool>& header) {
399 129179 return desc == header.first;
400 });
401
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 2489 iter != _headerLogging.end() && !iter->second)
402 {
403 ✗ continue;
404 }
405 2488 dataLogged++;
406
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 2488 _filestream << ',';
407
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 2489 if (auto val = obs->getDynamicDataAt(desc)) { _filestream << *val; }
408 }
409
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 30 for (size_t i = dataLogged; i < _headerLoggingCount; i++)
410 {
411 ✗ _filestream << ',';
412 }
413
414
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 30 _filestream << '\n';
415 30 }
416