Detailed Description

RawlogGrabber application wrapper class.

Note: If the environment variable MRPT_HWDRIVERS_VERBOSE=1 is defined before calling initialize(), verbosity level will be changed to LVL_DEBUG.

Definition at line 28 of file RawlogGrabberApp.h.

#include <mrpt/apps/RawlogGrabberApp.h>

Inheritance diagram for mrpt::apps::RawlogGrabberApp:

Public Member Functions
	RawlogGrabberApp ()

void	SensorThread (std::string sensor_label)

Main API
void	initialize (int argc, const char **argv)
	Initializes the application from CLI parameters. More...

void	initialize (int argc, char **argv)

void	run ()
	Runs with the current parameter set. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
Parameters and options. See: initialize()
double	run_for_seconds = 0
	If >0, run() will return after this period (in seconds) More...

bool	show_sensor_thread_exceptions = true
	If enabled (default), exceptions in sensor threads will be reported to std::cerr. More...

mrpt::config::CConfigFileMemory	params
	Populated in initialize(). More...

Outputs and result variables
std::string	rawlog_filename
	The generated .rawlog file. More...

std::size_t	rawlog_saved_objects = 0
	Counter of saved objects. More...

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Types
using	TListObservations = mrpt::hwdrivers::CGenericSensor::TListObservations

Private Member Functions
void	dump_verbose_info (const mrpt::serialization::CSerializable::Ptr &o) const

void	dump_verbose_info (const mrpt::obs::CSensoryFrame &sf) const

void	dump_GPS_mode_info (const mrpt::obs::CObservationGPS &o) const

void	dump_IMU_info (const mrpt::obs::CObservationIMU &o) const

void	process_observations_for_sf (const TListObservations &list_obs)

void	process_observations_for_nonsf (const TListObservations &list_obs)

Private Attributes
TListObservations	m_global_list_obs

std::mutex	cs_m_global_list_obs

std::atomic_bool	allThreadsMustExit = false

std::string	m_rawlog_ext_imgs_dir
	Directory where to save externally stored images, only for CCameraSensor's. More...

mrpt::serialization::CArchive *	m_out_arch_ptr = nullptr

mrpt::obs::CSensoryFrame	m_curSF

double	SF_max_time_span = 0.25

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

Member Typedef Documentation

◆ TListObservations

using mrpt::apps::RawlogGrabberApp::TListObservations = mrpt::hwdrivers::CGenericSensor::TListObservations

private

Definition at line 80 of file RawlogGrabberApp.h.

Constructor & Destructor Documentation

◆ RawlogGrabberApp()

RawlogGrabberApp::RawlogGrabberApp ( )

Definition at line 34 of file RawlogGrabberApp.cpp.

Member Function Documentation

◆ dump_GPS_mode_info()

void RawlogGrabberApp::dump_GPS_mode_info ( const mrpt::obs::CObservationGPS & o ) const

private

Definition at line 266 of file RawlogGrabberApp.cpp.

References mrpt::obs::CObservationGPS::getDescriptionAsText(), mrpt::obs::CObservationGPS::getMsgByClass(), mrpt::obs::CObservationGPS::has_GGA_datum(), MRPT_LOG_DEBUG_STREAM, and mrpt::obs::CObservation::sensorLabel.

Referenced by dump_verbose_info().

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◆ dump_IMU_info()

void RawlogGrabberApp::dump_IMU_info ( const mrpt::obs::CObservationIMU & o ) const

private

Definition at line 285 of file RawlogGrabberApp.cpp.

References mrpt::obs::IMU_PITCH, mrpt::obs::IMU_ROLL, mrpt::obs::IMU_YAW, MRPT_LOG_DEBUG_FMT, mrpt::RAD2DEG(), and mrpt::obs::CObservationIMU::rawMeasurements.

Referenced by dump_verbose_info().

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◆ dump_verbose_info() [1/2]

void RawlogGrabberApp::dump_verbose_info ( const mrpt::serialization::CSerializable::Ptr & o ) const

private

Definition at line 223 of file RawlogGrabberApp.cpp.

References dump_GPS_mode_info(), dump_IMU_info(), mrpt::system::COutputLogger::getMinLoggingLevel(), mrpt::system::LVL_DEBUG, mrpt::Clock::now(), and mrpt::system::timeDifference().

Referenced by process_observations_for_nonsf(), and process_observations_for_sf().

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◆ dump_verbose_info() [2/2]

void RawlogGrabberApp::dump_verbose_info ( const mrpt::obs::CSensoryFrame & sf ) const

private

Definition at line 247 of file RawlogGrabberApp.cpp.

References dump_GPS_mode_info(), dump_IMU_info(), mrpt::system::COutputLogger::getMinLoggingLevel(), mrpt::obs::CSensoryFrame::getObservationByClass(), and mrpt::system::LVL_DEBUG.

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ initialize() [1/2]

void RawlogGrabberApp::initialize	(	int	argc,
		const char **	argv
	)

Initializes the application from CLI parameters.

Refer to the manpage of rawlog-grabber. Throws on errors.

Definition at line 39 of file RawlogGrabberApp.cpp.

References argc, argv, ASSERT_FILE_EXISTS_, mrpt::io::file_get_contents(), mrpt::system::LVL_DEBUG, MRPT_END, mrpt::system::MRPT_getCompilationDate(), mrpt::system::MRPT_getVersion(), MRPT_LOG_INFO, MRPT_LOG_INFO_FMT, MRPT_START, params, mrpt::config::CConfigFileMemory::setContent(), mrpt::system::COutputLogger::setMinLoggingLevel(), and THROW_EXCEPTION_FMT.

Referenced by initialize().

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◆ initialize() [2/2]

void mrpt::apps::RawlogGrabberApp::initialize	(	int	argc,
		char **	argv
	)

inline

Definition at line 41 of file RawlogGrabberApp.h.

References argc, argv, and initialize().

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		std::string_view	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ process_observations_for_nonsf()

void RawlogGrabberApp::process_observations_for_nonsf ( const TListObservations & list_obs )

private

Definition at line 491 of file RawlogGrabberApp.cpp.

References dump_verbose_info(), MRPT_LOG_INFO_STREAM, and rawlog_saved_objects.

Referenced by run().

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◆ process_observations_for_sf()

void RawlogGrabberApp::process_observations_for_sf ( const TListObservations & list_obs )

private

Definition at line 375 of file RawlogGrabberApp.cpp.

References mrpt::obs::CSensoryFrame::clear(), dump_verbose_info(), mrpt::obs::CObservationOdometry::encoderLeftTicks, mrpt::obs::CObservationOdometry::encoderRightTicks, mrpt::obs::CSensoryFrame::getObservationByIndex(), mrpt::obs::CActionCollection::insert(), mrpt::obs::CSensoryFrame::insert(), IS_CLASS, IS_DERIVED, m_curSF, MRPT_LOG_INFO_STREAM, mrpt::obs::CObservationOdometry::odometry, rawlog_saved_objects, SF_max_time_span, mrpt::obs::CSensoryFrame::size(), THROW_EXCEPTION, and mrpt::system::timeDifference().

Referenced by run().

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◆ run()

void RawlogGrabberApp::run ( )

Runs with the current parameter set.

Throws on errors.

Definition at line 68 of file RawlogGrabberApp.cpp.

References allThreadsMustExit, mrpt::serialization::archiveFrom(), mrpt::io::CFileGZOutputStream::close(), cs_m_global_list_obs, mrpt::system::TTimeParts::day, mrpt::system::fileNameStripInvalidChars(), mrpt::format(), mrpt::config::CConfigFileMemory::getAllSections(), mrpt::system::TTimeParts::hour, mrpt::system::os::kbhit(), mrpt::lockHelper(), m_global_list_obs, m_out_arch_ptr, m_rawlog_ext_imgs_dir, mrpt::system::TTimeParts::minute, mrpt::system::TTimeParts::month, MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOG_ERROR, MRPT_LOG_INFO, MRPT_LOG_INFO_STREAM, MRPT_START, mrpt::system::now(), mrpt::io::CFileGZOutputStream::open(), params, process_observations_for_nonsf(), process_observations_for_sf(), rawlog_filename, mrpt::config::CConfigFileBase::read_bool(), run_for_seconds, mrpt::system::TTimeParts::second, SensorThread(), SF_max_time_span, mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::system::timestampToParts(), and mrpt::system::TTimeParts::year.

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◆ SensorThread()

void RawlogGrabberApp::SensorThread ( std::string sensor_label )

Definition at line 299 of file RawlogGrabberApp.cpp.

References allThreadsMustExit, ASSERT_ABOVE_, mrpt::hwdrivers::CGenericSensor::createSensorPtr(), cs_m_global_list_obs, mrpt::exception_to_str(), m_global_list_obs, m_rawlog_ext_imgs_dir, MRPT_LOG_ERROR, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_FMT, MRPT_LOG_INFO_STREAM, params, mrpt::config::CConfigFileBase::read_string(), mrpt::system::CRateTimer::setRate(), show_sensor_thread_exceptions, and mrpt::system::CRateTimer::sleep().

Referenced by run().

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ allThreadsMustExit

std::atomic_bool mrpt::apps::RawlogGrabberApp::allThreadsMustExit = false

private

Definition at line 94 of file RawlogGrabberApp.h.

Referenced by run(), and SensorThread().

◆ cs_m_global_list_obs

std::mutex mrpt::apps::RawlogGrabberApp::cs_m_global_list_obs

private

Definition at line 92 of file RawlogGrabberApp.h.

Referenced by run(), and SensorThread().

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_curSF

mrpt::obs::CSensoryFrame mrpt::apps::RawlogGrabberApp::m_curSF

private

Definition at line 102 of file RawlogGrabberApp.h.

Referenced by process_observations_for_sf().

◆ m_global_list_obs

TListObservations mrpt::apps::RawlogGrabberApp::m_global_list_obs

private

Definition at line 91 of file RawlogGrabberApp.h.

Referenced by run(), and SensorThread().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_out_arch_ptr

mrpt::serialization::CArchive* mrpt::apps::RawlogGrabberApp::m_out_arch_ptr = nullptr

private

Definition at line 100 of file RawlogGrabberApp.h.

Referenced by run().

◆ m_rawlog_ext_imgs_dir

std::string mrpt::apps::RawlogGrabberApp::m_rawlog_ext_imgs_dir

private

Directory where to save externally stored images, only for CCameraSensor's.

Definition at line 98 of file RawlogGrabberApp.h.

Referenced by run(), and SensorThread().

◆ params

mrpt::config::CConfigFileMemory mrpt::apps::RawlogGrabberApp::params

Populated in initialize().

Can be replaced or manipulated by the user after that and before run() to change the parameters loaded from INI file.

Definition at line 64 of file RawlogGrabberApp.h.

Referenced by initialize(), run(), and SensorThread().

◆ rawlog_filename

std::string mrpt::apps::RawlogGrabberApp::rawlog_filename

The generated .rawlog file.

Definition at line 71 of file RawlogGrabberApp.h.

Referenced by run().

◆ rawlog_saved_objects

std::size_t mrpt::apps::RawlogGrabberApp::rawlog_saved_objects = 0

Counter of saved objects.

Definition at line 72 of file RawlogGrabberApp.h.

Referenced by process_observations_for_nonsf(), and process_observations_for_sf().

◆ run_for_seconds

double mrpt::apps::RawlogGrabberApp::run_for_seconds = 0

If >0, run() will return after this period (in seconds)

Definition at line 55 of file RawlogGrabberApp.h.

Referenced by run().

◆ SF_max_time_span

double mrpt::apps::RawlogGrabberApp::SF_max_time_span = 0.25

private

Definition at line 103 of file RawlogGrabberApp.h.

Referenced by process_observations_for_sf(), and run().

◆ show_sensor_thread_exceptions

bool mrpt::apps::RawlogGrabberApp::show_sensor_thread_exceptions = true

If enabled (default), exceptions in sensor threads will be reported to std::cerr.

Definition at line 59 of file RawlogGrabberApp.h.

Referenced by SensorThread().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Logging methods

Member Typedef Documentation

◆ TListObservations

Constructor & Destructor Documentation

◆ RawlogGrabberApp()

Member Function Documentation

◆ dump_GPS_mode_info()

◆ dump_IMU_info()

◆ dump_verbose_info() [1/2]

◆ dump_verbose_info() [2/2]

◆ dumpLogToConsole()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ isLoggingLevelVisible()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ process_observations_for_nonsf()

◆ process_observations_for_sf()

◆ run()

◆ SensorThread()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ writeLogToFile()

Member Data Documentation

◆ allThreadsMustExit

◆ cs_m_global_list_obs

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_curSF

◆ m_global_list_obs

◆ m_min_verbosity_level

◆ m_out_arch_ptr

◆ m_rawlog_ext_imgs_dir

◆ params

◆ rawlog_filename

◆ rawlog_saved_objects

◆ run_for_seconds

◆ SF_max_time_span

◆ show_sensor_thread_exceptions