Smikkelbakje/J2S1-Kobuki
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added and fixed logger

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This commit is contained in:
Sam Hos
2024-10-08 13:28:58 +02:00
parent acd4b9589c
commit 9a4cd473a6
2 changed files with 70 additions and 18 deletions
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1
.gitignore vendored
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@@ -16,3 +16,4 @@ src/C++/Driver/Makefile
src/C++/Driver/vgcore*
src/C++/Driver/cmake_install.cmake
src/C++/Driver/Makefile
src/C++/Driver/log

87
src/C++/Driver/src/main.cpp
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@@ -16,20 +16,21 @@ int main()
robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
// thread mv(movement);
// mv.join(); //only exit once thread one is done running
// checkCenterCliff();
logToFile();
//seperate thread so sleep doesnt block main thread
thread logger(logToFile);
return 0;
}
int checkCenterCliff()
{
while(true){
std::cout << robot.parser.data.CliffCenter << endl;
while (true)
{
std::cout << robot.parser.data.CliffCenter << endl;
}
}
int movement()
{
int text;
@@ -65,17 +66,67 @@ int movement()
}
}
void logToFile()
{
while (true)
{
TKobukiData robotData = robot.parser.data;
std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
if (outputFile.is_open())
{ // check if the file was opened successfully
// Get current time
std::time_t now = std::time(nullptr);
outputFile << "Timestamp: " << std::ctime(&now);
// Write data to the file
outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
outputFile << "digitalInput: " << robotData.digitalInput << "\n";
outputFile << "timestamp: " << robotData.timestamp << "\n";
outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
outputFile << "BumperRight: " << robotData.BumperRight << "\n";
outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
outputFile << "CliffRight: " << robotData.CliffRight << "\n";
outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
outputFile << "PWMleft: " << robotData.PWMleft << "\n";
outputFile << "PWMright: " << robotData.PWMright << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress << "\n";
outputFile << "Charger: " << robotData.Charger << "\n";
outputFile << "Battery: " << robotData.Battery << "\n";
outputFile << "overCurrent: " << robotData.overCurrent << "\n";
outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter << "\n";
outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight << "\n";
outputFile << "frameId: " << robotData.frameId << "\n";
outputFile << "HardwareVersionPatch: " << robotData.extraInfo.HardwareVersionPatch << "\n";
outputFile << "HardwareVersionMinor: " << robotData.extraInfo.HardwareVersionMinor << "\n";
outputFile << "HardwareVersionMajor: " << robotData.extraInfo.HardwareVersionMajor << "\n";
outputFile << "FirmwareVersionPatch: " << robotData.extraInfo.FirmwareVersionPatch << "\n";
outputFile << "FirmwareVersionMinor: " << robotData.extraInfo.FirmwareVersionMinor << "\n";
outputFile << "FirmwareVersionMajor: " << robotData.extraInfo.FirmwareVersionMajor << "\n";
outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
outputFile.close();
}
else
{
std::cerr << "Error opening file\n";
}
void logToFile(){
std::ofstream outputFile("log");
if (outputFile.is_open()) { // check if the file was opened successfully
outputFile << robot.parser.data.analogInputCh0; // write data to the file
outputFile.close(); // close the file when done
}
else {
std::cerr << "Error opening file\n";
}
}
std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
}
}