| 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 "VectorNavDataLogger.hpp" | ||
| 10 | |||
| 11 | #include "NodeData/IMU/VectorNavBinaryOutput.hpp" | ||
| 12 | |||
| 13 | #include "util/Logger.hpp" | ||
| 14 | #include "util/StringUtil.hpp" | ||
| 15 | |||
| 16 | #include <iomanip> // std::setprecision | ||
| 17 | #include <limits> | ||
| 18 | |||
| 19 | #include "internal/NodeManager.hpp" | ||
| 20 | namespace nm = NAV::NodeManager; | ||
| 21 | #include "internal/FlowManager.hpp" | ||
| 22 | |||
| 23 | #include <imgui_internal.h> | ||
| 24 | |||
| 25 | 114 | NAV::VectorNavDataLogger::VectorNavDataLogger() | |
| 26 |
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114 | : Node(typeStatic()) |
| 27 | { | ||
| 28 | LOG_TRACE("{}: called", name); | ||
| 29 | |||
| 30 | 114 | _fileType = FileType::BINARY; | |
| 31 | |||
| 32 | 114 | _hasConfig = true; | |
| 33 | 114 | _guiConfigDefaultWindowSize = { 444, 92 }; | |
| 34 | |||
| 35 |
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342 | nm::CreateInputPin(this, "BinaryOutput", Pin::Type::Flow, { NAV::VectorNavBinaryOutput::type() }, &VectorNavDataLogger::writeObservation); |
| 36 | 228 | } | |
| 37 | |||
| 38 | 232 | NAV::VectorNavDataLogger::~VectorNavDataLogger() | |
| 39 | { | ||
| 40 | LOG_TRACE("{}: called", nameId()); | ||
| 41 | 232 | } | |
| 42 | |||
| 43 | 226 | std::string NAV::VectorNavDataLogger::typeStatic() | |
| 44 | { | ||
| 45 |
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452 | return "VectorNavDataLogger"; |
| 46 | } | ||
| 47 | |||
| 48 | ✗ | std::string NAV::VectorNavDataLogger::type() const | |
| 49 | { | ||
| 50 | ✗ | return typeStatic(); | |
| 51 | } | ||
| 52 | |||
| 53 | 112 | std::string NAV::VectorNavDataLogger::category() | |
| 54 | { | ||
| 55 |
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224 | return "Data Logger"; |
| 56 | } | ||
| 57 | |||
| 58 | ✗ | void NAV::VectorNavDataLogger::guiConfig() | |
| 59 | { | ||
| 60 | ✗ | if (FileWriter::guiConfig(".vnb", { ".vnb" }, 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 | |||
| 72 | ✗ | [[nodiscard]] json NAV::VectorNavDataLogger::save() const | |
| 73 | { | ||
| 74 | LOG_TRACE("{}: called", nameId()); | ||
| 75 | |||
| 76 | ✗ | json j; | |
| 77 | |||
| 78 | ✗ | j["FileWriter"] = FileWriter::save(); | |
| 79 | |||
| 80 | ✗ | return j; | |
| 81 | ✗ | } | |
| 82 | |||
| 83 | 2 | void NAV::VectorNavDataLogger::restore(json const& j) | |
| 84 | { | ||
| 85 | LOG_TRACE("{}: called", nameId()); | ||
| 86 | |||
| 87 |
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2 | if (j.contains("FileWriter")) |
| 88 | { | ||
| 89 | 2 | FileWriter::restore(j.at("FileWriter")); | |
| 90 | } | ||
| 91 | 2 | } | |
| 92 | |||
| 93 | 2 | bool NAV::VectorNavDataLogger::onCreateLink([[maybe_unused]] OutputPin& startPin, [[maybe_unused]] InputPin& endPin) | |
| 94 | { | ||
| 95 | LOG_TRACE("{}: called for {} ==> {}", nameId(), size_t(startPin.id), size_t(endPin.id)); | ||
| 96 | |||
| 97 |
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2 | if (isInitialized()) |
| 98 | { | ||
| 99 | ✗ | deinitialize(); | |
| 100 | ✗ | initialize(); | |
| 101 | } | ||
| 102 | |||
| 103 | 2 | return true; | |
| 104 | } | ||
| 105 | |||
| 106 | 2 | void NAV::VectorNavDataLogger::flush() | |
| 107 | { | ||
| 108 | 2 | _filestream.flush(); | |
| 109 | 2 | } | |
| 110 | |||
| 111 | 6 | bool NAV::VectorNavDataLogger::initialize() | |
| 112 | { | ||
| 113 | LOG_TRACE("{}: called", nameId()); | ||
| 114 | |||
| 115 |
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6 | if (!FileWriter::initialize()) |
| 116 | { | ||
| 117 | ✗ | return false; | |
| 118 | } | ||
| 119 | |||
| 120 | 6 | CommonLog::initialize(); | |
| 121 | |||
| 122 | 6 | _headerWritten = false; | |
| 123 | |||
| 124 | 6 | return true; | |
| 125 | } | ||
| 126 | |||
| 127 | 2 | void NAV::VectorNavDataLogger::deinitialize() | |
| 128 | { | ||
| 129 | LOG_TRACE("{}: called", nameId()); | ||
| 130 | |||
| 131 | 2 | FileWriter::deinitialize(); | |
| 132 | 2 | } | |
| 133 | |||
| 134 | 30 | void NAV::VectorNavDataLogger::writeObservation(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 135 | { | ||
| 136 |
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30 | auto obs = std::static_pointer_cast<const VectorNavBinaryOutput>(queue.extract_front()); |
| 137 | |||
| 138 |
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30 | if (_fileType == FileType::BINARY) |
| 139 | { | ||
| 140 | 30 | std::array<const char, 8> zeroData{}; | |
| 141 |
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30 | if (!_headerWritten) |
| 142 | { | ||
| 143 |
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2 | _filestream.write(obs->timeOutputs ? reinterpret_cast<const char*>(&obs->timeOutputs->timeField) : zeroData.data(), sizeof(vn::protocol::uart::TimeGroup)); |
| 144 |
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3 | _filestream.write(obs->imuOutputs ? reinterpret_cast<const char*>(&obs->imuOutputs->imuField) : zeroData.data(), sizeof(vn::protocol::uart::ImuGroup)); |
| 145 |
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2 | _filestream.write(obs->gnss1Outputs ? reinterpret_cast<const char*>(&obs->gnss1Outputs->gnssField) : zeroData.data(), sizeof(vn::protocol::uart::GpsGroup)); |
| 146 |
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2 | _filestream.write(obs->attitudeOutputs ? reinterpret_cast<const char*>(&obs->attitudeOutputs->attitudeField) : zeroData.data(), sizeof(vn::protocol::uart::AttitudeGroup)); |
| 147 |
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3 | _filestream.write(obs->insOutputs ? reinterpret_cast<const char*>(&obs->insOutputs->insField) : zeroData.data(), sizeof(vn::protocol::uart::InsGroup)); |
| 148 |
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3 | _filestream.write(obs->gnss2Outputs ? reinterpret_cast<const char*>(&obs->gnss2Outputs->gnssField) : zeroData.data(), sizeof(vn::protocol::uart::GpsGroup)); |
| 149 | 2 | _headerWritten = true; | |
| 150 | } | ||
| 151 | |||
| 152 |
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30 | if (!obs->insTime.empty()) |
| 153 | { | ||
| 154 |
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30 | auto insTimeGPS = obs->insTime.toGPSweekTow(); |
| 155 | 30 | auto tow = static_cast<double>(insTimeGPS.tow); | |
| 156 |
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30 | _filestream.write(reinterpret_cast<const char*>(&insTimeGPS.gpsCycle), sizeof(insTimeGPS.gpsCycle)); |
| 157 |
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30 | _filestream.write(reinterpret_cast<const char*>(&insTimeGPS.gpsWeek), sizeof(insTimeGPS.gpsWeek)); |
| 158 |
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30 | _filestream.write(reinterpret_cast<const char*>(&tow), sizeof(tow)); |
| 159 | } | ||
| 160 | else | ||
| 161 | { | ||
| 162 | ✗ | _filestream.write(zeroData.data(), sizeof(int32_t)); | |
| 163 | ✗ | _filestream.write(zeroData.data(), sizeof(int32_t)); | |
| 164 | ✗ | _filestream.write(zeroData.data(), sizeof(double)); | |
| 165 | } | ||
| 166 | |||
| 167 | // Group 2 (Time) | ||
| 168 |
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30 | if (obs->timeOutputs) |
| 169 | { | ||
| 170 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP) |
| 171 | { | ||
| 172 |
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30 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeStartup), sizeof(obs->timeOutputs->timeStartup)); |
| 173 | } | ||
| 174 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS) |
| 175 | { | ||
| 176 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeGps), sizeof(obs->timeOutputs->timeGps)); | |
| 177 | } | ||
| 178 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) |
| 179 | { | ||
| 180 |
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30 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->gpsTow), sizeof(obs->timeOutputs->gpsTow)); |
| 181 | } | ||
| 182 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK) |
| 183 | { | ||
| 184 |
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30 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->gpsWeek), sizeof(obs->timeOutputs->gpsWeek)); |
| 185 | } | ||
| 186 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN) |
| 187 | { | ||
| 188 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeSyncIn), sizeof(obs->timeOutputs->timeSyncIn)); | |
| 189 | } | ||
| 190 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS) |
| 191 | { | ||
| 192 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timePPS), sizeof(obs->timeOutputs->timePPS)); | |
| 193 | } | ||
| 194 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC) |
| 195 | { | ||
| 196 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeUtc.year), sizeof(obs->timeOutputs->timeUtc.year)); |
| 197 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeUtc.month), sizeof(obs->timeOutputs->timeUtc.month)); |
| 198 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeUtc.day), sizeof(obs->timeOutputs->timeUtc.day)); |
| 199 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeUtc.hour), sizeof(obs->timeOutputs->timeUtc.hour)); |
| 200 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeUtc.min), sizeof(obs->timeOutputs->timeUtc.min)); |
| 201 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeUtc.sec), sizeof(obs->timeOutputs->timeUtc.sec)); |
| 202 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeUtc.ms), sizeof(obs->timeOutputs->timeUtc.ms)); |
| 203 | } | ||
| 204 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT) |
| 205 | { | ||
| 206 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->syncInCnt), sizeof(obs->timeOutputs->syncInCnt)); | |
| 207 | } | ||
| 208 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT) |
| 209 | { | ||
| 210 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->syncOutCnt), sizeof(obs->timeOutputs->syncOutCnt)); | |
| 211 | } | ||
| 212 |
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30 | if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) |
| 213 | { | ||
| 214 |
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30 | _filestream.write(reinterpret_cast<const char*>(&obs->timeOutputs->timeStatus.status()), sizeof(obs->timeOutputs->timeStatus.status())); |
| 215 | } | ||
| 216 | } | ||
| 217 | // Group 3 (IMU) | ||
| 218 |
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30 | if (obs->imuOutputs) |
| 219 | { | ||
| 220 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS) |
| 221 | { | ||
| 222 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->imuOutputs->imuStatus), sizeof(obs->imuOutputs->imuStatus)); | |
| 223 | } | ||
| 224 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG) |
| 225 | { | ||
| 226 |
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18 | _filestream.write(reinterpret_cast<const char*>(obs->imuOutputs->uncompMag.data()), sizeof(obs->imuOutputs->uncompMag)); |
| 227 | } | ||
| 228 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL) |
| 229 | { | ||
| 230 |
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18 | _filestream.write(reinterpret_cast<const char*>(obs->imuOutputs->uncompAccel.data()), sizeof(obs->imuOutputs->uncompAccel)); |
| 231 | } | ||
| 232 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO) |
| 233 | { | ||
| 234 |
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18 | _filestream.write(reinterpret_cast<const char*>(obs->imuOutputs->uncompGyro.data()), sizeof(obs->imuOutputs->uncompGyro)); |
| 235 | } | ||
| 236 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP) |
| 237 | { | ||
| 238 |
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18 | _filestream.write(reinterpret_cast<const char*>(&obs->imuOutputs->temp), sizeof(obs->imuOutputs->temp)); |
| 239 | } | ||
| 240 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES) |
| 241 | { | ||
| 242 |
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18 | _filestream.write(reinterpret_cast<const char*>(&obs->imuOutputs->pres), sizeof(obs->imuOutputs->pres)); |
| 243 | } | ||
| 244 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA) |
| 245 | { | ||
| 246 |
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18 | _filestream.write(reinterpret_cast<const char*>(&obs->imuOutputs->deltaTime), sizeof(obs->imuOutputs->deltaTime)); |
| 247 |
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18 | _filestream.write(reinterpret_cast<const char*>(obs->imuOutputs->deltaTheta.data()), sizeof(obs->imuOutputs->deltaTheta)); |
| 248 | } | ||
| 249 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL) |
| 250 | { | ||
| 251 |
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18 | _filestream.write(reinterpret_cast<const char*>(obs->imuOutputs->deltaV.data()), sizeof(obs->imuOutputs->deltaV)); |
| 252 | } | ||
| 253 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG) |
| 254 | { | ||
| 255 |
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18 | _filestream.write(reinterpret_cast<const char*>(obs->imuOutputs->mag.data()), sizeof(obs->imuOutputs->mag)); |
| 256 | } | ||
| 257 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL) |
| 258 | { | ||
| 259 |
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18 | _filestream.write(reinterpret_cast<const char*>(obs->imuOutputs->accel.data()), sizeof(obs->imuOutputs->accel)); |
| 260 | } | ||
| 261 |
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18 | if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE) |
| 262 | { | ||
| 263 |
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18 | _filestream.write(reinterpret_cast<const char*>(obs->imuOutputs->angularRate.data()), sizeof(obs->imuOutputs->angularRate)); |
| 264 | } | ||
| 265 | } | ||
| 266 | // Group 4 (GNSS1) | ||
| 267 |
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30 | if (obs->gnss1Outputs) |
| 268 | { | ||
| 269 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC) |
| 270 | { | ||
| 271 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeUtc.year), sizeof(obs->gnss1Outputs->timeUtc.year)); |
| 272 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeUtc.month), sizeof(obs->gnss1Outputs->timeUtc.month)); |
| 273 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeUtc.day), sizeof(obs->gnss1Outputs->timeUtc.day)); |
| 274 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeUtc.hour), sizeof(obs->gnss1Outputs->timeUtc.hour)); |
| 275 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeUtc.min), sizeof(obs->gnss1Outputs->timeUtc.min)); |
| 276 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeUtc.sec), sizeof(obs->gnss1Outputs->timeUtc.sec)); |
| 277 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeUtc.ms), sizeof(obs->gnss1Outputs->timeUtc.ms)); |
| 278 | } | ||
| 279 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW) |
| 280 | { | ||
| 281 |
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30 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->tow), sizeof(obs->gnss1Outputs->tow)); |
| 282 | } | ||
| 283 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK) |
| 284 | { | ||
| 285 |
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30 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->week), sizeof(obs->gnss1Outputs->week)); |
| 286 | } | ||
| 287 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS) |
| 288 | { | ||
| 289 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->numSats), sizeof(obs->gnss1Outputs->numSats)); |
| 290 | } | ||
| 291 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX) |
| 292 | { | ||
| 293 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->fix), sizeof(obs->gnss1Outputs->fix)); |
| 294 | } | ||
| 295 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) |
| 296 | { | ||
| 297 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss1Outputs->posLla.data()), sizeof(obs->gnss1Outputs->posLla)); |
| 298 | } | ||
| 299 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) |
| 300 | { | ||
| 301 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss1Outputs->posEcef.data()), sizeof(obs->gnss1Outputs->posEcef)); |
| 302 | } | ||
| 303 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) |
| 304 | { | ||
| 305 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss1Outputs->velNed.data()), sizeof(obs->gnss1Outputs->velNed)); |
| 306 | } | ||
| 307 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) |
| 308 | { | ||
| 309 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss1Outputs->velEcef.data()), sizeof(obs->gnss1Outputs->velEcef)); |
| 310 | } | ||
| 311 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU) |
| 312 | { | ||
| 313 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss1Outputs->posU.data()), sizeof(obs->gnss1Outputs->posU)); |
| 314 | } | ||
| 315 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU) |
| 316 | { | ||
| 317 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->velU), sizeof(obs->gnss1Outputs->velU)); |
| 318 | } | ||
| 319 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU) |
| 320 | { | ||
| 321 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeU), sizeof(obs->gnss1Outputs->timeU)); |
| 322 | } | ||
| 323 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO) |
| 324 | { | ||
| 325 |
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30 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeInfo.status.status()), sizeof(obs->gnss1Outputs->timeInfo.status.status())); |
| 326 |
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30 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->timeInfo.leapSeconds), sizeof(obs->gnss1Outputs->timeInfo.leapSeconds)); |
| 327 | } | ||
| 328 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP) |
| 329 | { | ||
| 330 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->dop.gDop), sizeof(obs->gnss1Outputs->dop.gDop)); |
| 331 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->dop.pDop), sizeof(obs->gnss1Outputs->dop.pDop)); |
| 332 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->dop.tDop), sizeof(obs->gnss1Outputs->dop.tDop)); |
| 333 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->dop.vDop), sizeof(obs->gnss1Outputs->dop.vDop)); |
| 334 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->dop.hDop), sizeof(obs->gnss1Outputs->dop.hDop)); |
| 335 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->dop.nDop), sizeof(obs->gnss1Outputs->dop.nDop)); |
| 336 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->dop.eDop), sizeof(obs->gnss1Outputs->dop.eDop)); |
| 337 | } | ||
| 338 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO) |
| 339 | { | ||
| 340 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->satInfo.numSats), sizeof(obs->gnss1Outputs->satInfo.numSats)); | |
| 341 | |||
| 342 | ✗ | for (auto& satellite : obs->gnss1Outputs->satInfo.satellites) | |
| 343 | { | ||
| 344 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.sys), sizeof(satellite.sys)); | |
| 345 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.svId), sizeof(satellite.svId)); | |
| 346 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.flags), sizeof(satellite.flags)); | |
| 347 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.cno), sizeof(satellite.cno)); | |
| 348 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.qi), sizeof(satellite.qi)); | |
| 349 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.el), sizeof(satellite.el)); | |
| 350 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.az), sizeof(satellite.az)); | |
| 351 | } | ||
| 352 | } | ||
| 353 |
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30 | if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS) |
| 354 | { | ||
| 355 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->raw.tow), sizeof(obs->gnss1Outputs->raw.tow)); | |
| 356 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->raw.week), sizeof(obs->gnss1Outputs->raw.week)); | |
| 357 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->gnss1Outputs->raw.numSats), sizeof(obs->gnss1Outputs->raw.numSats)); | |
| 358 | |||
| 359 | ✗ | for (auto& satellite : obs->gnss1Outputs->raw.satellites) | |
| 360 | { | ||
| 361 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.sys), sizeof(satellite.sys)); | |
| 362 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.svId), sizeof(satellite.svId)); | |
| 363 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.freq), sizeof(satellite.freq)); | |
| 364 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.chan), sizeof(satellite.chan)); | |
| 365 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.slot), sizeof(satellite.slot)); | |
| 366 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.cno), sizeof(satellite.cno)); | |
| 367 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.flags), sizeof(satellite.flags)); | |
| 368 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.pr), sizeof(satellite.pr)); | |
| 369 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.cp), sizeof(satellite.cp)); | |
| 370 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.dp), sizeof(satellite.dp)); | |
| 371 | } | ||
| 372 | } | ||
| 373 | } | ||
| 374 | // Group 5 (Attitude) | ||
| 375 |
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30 | if (obs->attitudeOutputs) |
| 376 | { | ||
| 377 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS) |
| 378 | { | ||
| 379 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->attitudeOutputs->vpeStatus.status()), sizeof(obs->attitudeOutputs->vpeStatus.status())); | |
| 380 | } | ||
| 381 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL) |
| 382 | { | ||
| 383 |
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30 | _filestream.write(reinterpret_cast<const char*>(obs->attitudeOutputs->ypr.data()), sizeof(obs->attitudeOutputs->ypr)); |
| 384 | } | ||
| 385 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION) |
| 386 | { | ||
| 387 |
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30 | _filestream.write(reinterpret_cast<const char*>(obs->attitudeOutputs->qtn.coeffs().data()), sizeof(obs->attitudeOutputs->qtn)); |
| 388 | } | ||
| 389 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM) |
| 390 | { | ||
| 391 | ✗ | _filestream.write(reinterpret_cast<const char*>(obs->attitudeOutputs->dcm.data()), sizeof(obs->attitudeOutputs->dcm)); | |
| 392 | } | ||
| 393 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED) |
| 394 | { | ||
| 395 | ✗ | _filestream.write(reinterpret_cast<const char*>(obs->attitudeOutputs->magNed.data()), sizeof(obs->attitudeOutputs->magNed)); | |
| 396 | } | ||
| 397 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED) |
| 398 | { | ||
| 399 | ✗ | _filestream.write(reinterpret_cast<const char*>(obs->attitudeOutputs->accelNed.data()), sizeof(obs->attitudeOutputs->accelNed)); | |
| 400 | } | ||
| 401 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY) |
| 402 | { | ||
| 403 | ✗ | _filestream.write(reinterpret_cast<const char*>(obs->attitudeOutputs->linearAccelBody.data()), sizeof(obs->attitudeOutputs->linearAccelBody)); | |
| 404 | } | ||
| 405 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED) |
| 406 | { | ||
| 407 | ✗ | _filestream.write(reinterpret_cast<const char*>(obs->attitudeOutputs->linearAccelNed.data()), sizeof(obs->attitudeOutputs->linearAccelNed)); | |
| 408 | } | ||
| 409 |
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30 | if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU) |
| 410 | { | ||
| 411 |
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30 | _filestream.write(reinterpret_cast<const char*>(obs->attitudeOutputs->yprU.data()), sizeof(obs->attitudeOutputs->yprU)); |
| 412 | } | ||
| 413 | } | ||
| 414 | // Group 6 (INS) | ||
| 415 |
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30 | if (obs->insOutputs) |
| 416 | { | ||
| 417 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS) |
| 418 | { | ||
| 419 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->insOutputs->insStatus.status()), sizeof(obs->insOutputs->insStatus.status())); |
| 420 | } | ||
| 421 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA) |
| 422 | { | ||
| 423 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->insOutputs->posLla.data()), sizeof(obs->insOutputs->posLla)); |
| 424 | } | ||
| 425 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF) |
| 426 | { | ||
| 427 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->insOutputs->posEcef.data()), sizeof(obs->insOutputs->posEcef)); |
| 428 | } | ||
| 429 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY) |
| 430 | { | ||
| 431 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->insOutputs->velBody.data()), sizeof(obs->insOutputs->velBody)); |
| 432 | } | ||
| 433 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED) |
| 434 | { | ||
| 435 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->insOutputs->velNed.data()), sizeof(obs->insOutputs->velNed)); |
| 436 | } | ||
| 437 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF) |
| 438 | { | ||
| 439 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->insOutputs->velEcef.data()), sizeof(obs->insOutputs->velEcef)); |
| 440 | } | ||
| 441 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF) |
| 442 | { | ||
| 443 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->insOutputs->magEcef.data()), sizeof(obs->insOutputs->magEcef)); |
| 444 | } | ||
| 445 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF) |
| 446 | { | ||
| 447 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->insOutputs->accelEcef.data()), sizeof(obs->insOutputs->accelEcef)); |
| 448 | } | ||
| 449 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF) |
| 450 | { | ||
| 451 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->insOutputs->linearAccelEcef.data()), sizeof(obs->insOutputs->linearAccelEcef)); |
| 452 | } | ||
| 453 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU) |
| 454 | { | ||
| 455 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->insOutputs->posU), sizeof(obs->insOutputs->posU)); |
| 456 | } | ||
| 457 |
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12 | if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU) |
| 458 | { | ||
| 459 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->insOutputs->velU), sizeof(obs->insOutputs->velU)); |
| 460 | } | ||
| 461 | } | ||
| 462 | // Group 7 (GNSS2) | ||
| 463 |
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30 | if (obs->gnss2Outputs) |
| 464 | { | ||
| 465 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC) |
| 466 | { | ||
| 467 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeUtc.year), sizeof(obs->gnss2Outputs->timeUtc.year)); |
| 468 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeUtc.month), sizeof(obs->gnss2Outputs->timeUtc.month)); |
| 469 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeUtc.day), sizeof(obs->gnss2Outputs->timeUtc.day)); |
| 470 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeUtc.hour), sizeof(obs->gnss2Outputs->timeUtc.hour)); |
| 471 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeUtc.min), sizeof(obs->gnss2Outputs->timeUtc.min)); |
| 472 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeUtc.sec), sizeof(obs->gnss2Outputs->timeUtc.sec)); |
| 473 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeUtc.ms), sizeof(obs->gnss2Outputs->timeUtc.ms)); |
| 474 | } | ||
| 475 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW) |
| 476 | { | ||
| 477 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->tow), sizeof(obs->gnss2Outputs->tow)); |
| 478 | } | ||
| 479 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK) |
| 480 | { | ||
| 481 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->week), sizeof(obs->gnss2Outputs->week)); |
| 482 | } | ||
| 483 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS) |
| 484 | { | ||
| 485 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->numSats), sizeof(obs->gnss2Outputs->numSats)); |
| 486 | } | ||
| 487 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX) |
| 488 | { | ||
| 489 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->fix), sizeof(obs->gnss2Outputs->fix)); |
| 490 | } | ||
| 491 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) |
| 492 | { | ||
| 493 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss2Outputs->posLla.data()), sizeof(obs->gnss2Outputs->posLla)); |
| 494 | } | ||
| 495 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) |
| 496 | { | ||
| 497 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss2Outputs->posEcef.data()), sizeof(obs->gnss2Outputs->posEcef)); |
| 498 | } | ||
| 499 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) |
| 500 | { | ||
| 501 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss2Outputs->velNed.data()), sizeof(obs->gnss2Outputs->velNed)); |
| 502 | } | ||
| 503 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) |
| 504 | { | ||
| 505 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss2Outputs->velEcef.data()), sizeof(obs->gnss2Outputs->velEcef)); |
| 506 | } | ||
| 507 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU) |
| 508 | { | ||
| 509 |
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12 | _filestream.write(reinterpret_cast<const char*>(obs->gnss2Outputs->posU.data()), sizeof(obs->gnss2Outputs->posU)); |
| 510 | } | ||
| 511 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU) |
| 512 | { | ||
| 513 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->velU), sizeof(obs->gnss2Outputs->velU)); |
| 514 | } | ||
| 515 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU) |
| 516 | { | ||
| 517 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeU), sizeof(obs->gnss2Outputs->timeU)); |
| 518 | } | ||
| 519 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO) |
| 520 | { | ||
| 521 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeInfo.status.status()), sizeof(obs->gnss2Outputs->timeInfo.status.status())); |
| 522 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->timeInfo.leapSeconds), sizeof(obs->gnss2Outputs->timeInfo.leapSeconds)); |
| 523 | } | ||
| 524 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP) |
| 525 | { | ||
| 526 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->dop.gDop), sizeof(obs->gnss2Outputs->dop.gDop)); |
| 527 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->dop.pDop), sizeof(obs->gnss2Outputs->dop.pDop)); |
| 528 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->dop.tDop), sizeof(obs->gnss2Outputs->dop.tDop)); |
| 529 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->dop.vDop), sizeof(obs->gnss2Outputs->dop.vDop)); |
| 530 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->dop.hDop), sizeof(obs->gnss2Outputs->dop.hDop)); |
| 531 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->dop.nDop), sizeof(obs->gnss2Outputs->dop.nDop)); |
| 532 |
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12 | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->dop.eDop), sizeof(obs->gnss2Outputs->dop.eDop)); |
| 533 | } | ||
| 534 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO) |
| 535 | { | ||
| 536 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->satInfo.numSats), sizeof(obs->gnss2Outputs->satInfo.numSats)); | |
| 537 | |||
| 538 | ✗ | for (auto& satellite : obs->gnss2Outputs->satInfo.satellites) | |
| 539 | { | ||
| 540 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.sys), sizeof(satellite.sys)); | |
| 541 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.svId), sizeof(satellite.svId)); | |
| 542 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.flags), sizeof(satellite.flags)); | |
| 543 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.cno), sizeof(satellite.cno)); | |
| 544 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.qi), sizeof(satellite.qi)); | |
| 545 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.el), sizeof(satellite.el)); | |
| 546 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.az), sizeof(satellite.az)); | |
| 547 | } | ||
| 548 | } | ||
| 549 |
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12 | if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS) |
| 550 | { | ||
| 551 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->raw.tow), sizeof(obs->gnss2Outputs->raw.tow)); | |
| 552 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->raw.week), sizeof(obs->gnss2Outputs->raw.week)); | |
| 553 | ✗ | _filestream.write(reinterpret_cast<const char*>(&obs->gnss2Outputs->raw.numSats), sizeof(obs->gnss2Outputs->raw.numSats)); | |
| 554 | |||
| 555 | ✗ | for (auto& satellite : obs->gnss2Outputs->raw.satellites) | |
| 556 | { | ||
| 557 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.sys), sizeof(satellite.sys)); | |
| 558 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.svId), sizeof(satellite.svId)); | |
| 559 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.freq), sizeof(satellite.freq)); | |
| 560 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.chan), sizeof(satellite.chan)); | |
| 561 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.slot), sizeof(satellite.slot)); | |
| 562 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.cno), sizeof(satellite.cno)); | |
| 563 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.flags), sizeof(satellite.flags)); | |
| 564 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.pr), sizeof(satellite.pr)); | |
| 565 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.cp), sizeof(satellite.cp)); | |
| 566 | ✗ | _filestream.write(reinterpret_cast<const char*>(&satellite.dp), sizeof(satellite.dp)); | |
| 567 | } | ||
| 568 | } | ||
| 569 | } | ||
| 570 | } | ||
| 571 | else | ||
| 572 | { | ||
| 573 | ✗ | LOG_INFO("{}: If you want to log csv instead of binary, use the 'CsvLogger' instead.", nameId()); | |
| 574 | } | ||
| 575 | |||
| 576 | LOG_DATA("{}: Message logged", nameId()); | ||
| 577 | 30 | } | |
| 578 |