The Logger and Playback Module (logger)

The CARMEN logger and playback module. More...

Files
file	readlog.h
	Library for reading log files.
file	writelog.h
	Library for writing log files.
file	logger_messages.h
	Definition of the messages for the module logger.
file	playback_interface.h
	Definition of the interface for playback.
file	playback_messages.h
	Definition of the messages for playback.
Data Structures
struct	carmen_logfile_index_t
struct	carmen_logger_sync_message
struct	carmen_playback_command_message
Defines
#define	CARMEN_LOGFILE_HEADER   "# CARMEN Logfile"
#define	CARMEN_LOGGER_SYNC_NAME   "carmen_logger_sync"
#define	CARMEN_LOGGER_SYNC_FMT   "{string,double,string}"
#define	CARMEN_PLAYBACK_COMMAND_PLAY   0
#define	CARMEN_PLAYBACK_COMMAND_STOP   1
#define	CARMEN_PLAYBACK_COMMAND_RESET   2
#define	CARMEN_PLAYBACK_COMMAND_FORWARD   3
#define	CARMEN_PLAYBACK_COMMAND_REWIND   4
#define	CARMEN_PLAYBACK_COMMAND_FWD_SINGLE   5
#define	CARMEN_PLAYBACK_COMMAND_RWD_SINGLE   6
#define	CARMEN_PLAYBACK_COMMAND_SET_SPEED   7
#define	CARMEN_PLAYBACK_COMMAND_NAME   "carmen_playback_command"
#define	CARMEN_PLAYBACK_COMMAND_FMT   "{int,int,float}"
Typedefs
typedef *	carmen_logfile_index_p
Functions
carmen_logfile_index_p	carmen_logfile_index_messages (carmen_FILE *infile)
void	carmen_logfile_free_index (carmen_logfile_index_p *pindex)
int	carmen_logfile_eof (carmen_logfile_index_p index)
float	carmen_logfile_percent_read (carmen_logfile_index_p index)
int	carmen_logfile_read_line (carmen_logfile_index_p index, carmen_FILE *infile, int message_num, int max_line_length, char *line)
int	carmen_logfile_read_next_line (carmen_logfile_index_p index, carmen_FILE *infile, int max_line_length, char *line)
char *	carmen_string_to_base_odometry_message (char *string, carmen_base_odometry_message *odometry)
char *	carmen_string_to_simulator_truepos_message (char *string, carmen_simulator_truepos_message *truepos)
char *	carmen_string_to_robot_laser_message_orig (char *string, carmen_robot_laser_message *laser)
char *	carmen_string_to_laser_laser_message_orig (char *string, carmen_laser_laser_message *laser)
char *	carmen_string_to_robot_laser_message (char *string, carmen_robot_laser_message *laser)
char *	carmen_string_to_laser_laser_message (char *string, carmen_laser_laser_message *laser)
char *	carmen_string_to_gps_gprmc_message (char *string, carmen_gps_gprmc_message *gps_msg)
char *	carmen_string_to_gps_gpgga_message (char *string, carmen_gps_gpgga_message *gps_msg)
void	carmen_logwrite_write_robot_name (char *robot_name, carmen_FILE *outfile)
void	carmen_logwrite_write_header (carmen_FILE *outfile)
void	carmen_logwrite_write_odometry (carmen_base_odometry_message *odometry, carmen_FILE *outfile, double timestamp)
void	carmen_logwrite_write_laser_laser (carmen_laser_laser_message *laser, int laser_num, carmen_FILE *outfile, double timestamp)
void	carmen_logwrite_write_robot_laser (carmen_robot_laser_message *laser, int laser_num, carmen_FILE *outfile, double timestamp)
void	carmen_logwrite_write_param (char *module, char *variable, char *value, double ipc_time, char *hostname, carmen_FILE *outfile, double timestamp)
void	carmen_logwrite_write_sync (carmen_logger_sync_message *sync_message, carmen_FILE *outfile)
void	carmen_logwrite_write_truepos (carmen_simulator_truepos_message *truepos, carmen_FILE *outfile, double timestamp)
void	carmen_logwrite_write_localize (carmen_localize_globalpos_message *msg, carmen_FILE *outfile, double timestamp)
void	carmen_logger_write_gps_gpgga (carmen_gps_gpgga_message *gps_msg, carmen_FILE *outfile, double timestamp)
void	carmen_logger_write_gps_gprmc (carmen_gps_gprmc_message *gps_msg, carmen_FILE *outfile, double timestamp)
void	carmen_playback_command (int pCommand, int pArgument, float speed)

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Detailed Description

The CARMEN logger and playback module.

The module logger provides functionalities to log and playback sensor data. Furthermore it provides a library to read and write log files.

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Function Documentation

int carmen_logfile_eof (  carmen_logfile_index_p  index  )

End of file reached in the index structure.

void carmen_logfile_free_index (  carmen_logfile_index_p *  pindex  )

Frees an index structure

carmen_logfile_index_p carmen_logfile_index_messages (  carmen_FILE *  infile  )

Builds the index structure used for parsing a carmen log file. Parameters: infile  A pointer to a CARMEN_FILE. Returns: A pointer to the newly created index structure.

float carmen_logfile_percent_read (  carmen_logfile_index_p  index  )

Percentage of the how much data has been read

int carmen_logfile_read_line (  carmen_logfile_index_p  index, carmen_FILE *  infile, int  message_num, int  max_line_length, char *  line )

Reads a line from the log file using the index structre . Parameters: index  A pointer to the index structure correspondinf to infile. infile  A Carmen file pointer to the log file. message_num  The index of the message to read. max_line_length  The size of line. line  A pointer to the address where the line is written to. Returns: Number of read bytes.

int carmen_logfile_read_next_line (  carmen_logfile_index_p  index, carmen_FILE *  infile, int  max_line_length, char *  line )

Reads the next line from the log file using the index structre. Parameters: index  A pointer to the index structure correspondinf to infile. infile  A Carmen file pointer. max_line_length  allocated memory in line. line  A pointer to the address where the line is written to. Returns: Number of read bytes.

void carmen_logger_write_gps_gpgga (  carmen_gps_gpgga_message *  gps_msg, carmen_FILE *  outfile, double  timestamp )

Converts the corresponding message into a string in the carmen log format. Parameters: gps_msg  The message that should be written to the log file. outfile  A carmen file pointer. timestamp  The relative timestamp (when was the message received). Note that this is not the timestamp within the message!

void carmen_logger_write_gps_gprmc (  carmen_gps_gprmc_message *  gps_msg, carmen_FILE *  outfile, double  timestamp )

Converts the corresponding message into a string in the carmen log format. Parameters: gps_msg  The message that should be written to the log file. outfile  A carmen file pointer. timestamp  The relative timestamp (when was the message received). Note that this is not the timestamp within the message!

void carmen_logwrite_write_laser_laser (  carmen_laser_laser_message *  laser, int  laser_num, carmen_FILE *  outfile, double  timestamp )

Converts the corresponding message into a string in the carmen log format. Parameters: laser  The message that should be written to the log file. laser_num  The number of the laser (1=front, 2=rear, 3=laser3, 4=laser4, ...) outfile  A carmen file pointer. timestamp  The relative timestamp (when was the message received). Note that this is not the timestamp within the message!

void carmen_logwrite_write_localize (  carmen_localize_globalpos_message *  msg, carmen_FILE *  outfile, double  timestamp )

Converts the corresponding message into a string in the carmen log format. Parameters: msg  The message that should be written to the log file. outfile  A carmen file pointer. timestamp  The relative timestamp (when was the message received). Note that this is not the timestamp within the message!

void carmen_logwrite_write_odometry (  carmen_base_odometry_message *  odometry, carmen_FILE *  outfile, double  timestamp )

Converts the corresponding message into a string in the carmen log format. Parameters: odometry  The message that should be written to the log file. outfile  A carmen file pointer. timestamp  The relative timestamp (when was the message received). Note that this is not the timestamp within the message!

void carmen_logwrite_write_param (  char *  module, char *  variable, char *  value, double  ipc_time, char *  hostname, carmen_FILE *  outfile, double  timestamp )

Converts the given parameter into a string in the carmen log format.

void carmen_logwrite_write_robot_laser (  carmen_robot_laser_message *  laser, int  laser_num, carmen_FILE *  outfile, double  timestamp )

Converts the corresponding message into a string in the carmen log format. Parameters: laser  The message that should be written to the log file. laser_num  The number of the laser (1=front, 2=rear, 3=laser3, 4=laser4, ...) outfile  A carmen file pointer. timestamp  The relative timestamp (when was the message received). Note that this is not the timestamp within the message!

void carmen_logwrite_write_sync (  carmen_logger_sync_message *  sync_message, carmen_FILE *  outfile )

Converts the corresponding message into a string in the carmen log format. Parameters: sync_message  The message that should be written to the log file. outfile  A carmen file pointer.

void carmen_logwrite_write_truepos (  carmen_simulator_truepos_message *  truepos, carmen_FILE *  outfile, double  timestamp )

Converts the corresponding message into a string in the carmen log format. Parameters: truepos  The message that should be written to the log file. outfile  A carmen file pointer. timestamp  The relative timestamp (when was the message received). Note that this is not the timestamp within the message!

void carmen_playback_command (  int  pCommand, int  pArgument, float  speed )

Playback a command with playback

char* carmen_string_to_base_odometry_message (  char *  string, carmen_base_odometry_message *  odometry )

Converts the string to an odometry message. Parameters: string  A string describing the message in the carmen logfile format. odometru  A pointer to the (allocated) structure where the message should be written to. Returns: A pointer to the character up to which the string has been parsed. In case there are no errors and the string is a line read from a carmen log file, this string points to the relative timestamp (written by logger).

char* carmen_string_to_gps_gpgga_message (  char *  string, carmen_gps_gpgga_message *  gps_msg )

Converts the string to a gps-nmea-gga message. Parameters: string  A string describing the message in the carmen logfile format. gps_msg  A pointer to the (allocated) structure where the message should be written to. Returns: A pointer to the character up to which the string has been parsed. In case there are no errors and the string is a line read from a carmen log file, this string points to the relative timestamp (written by logger).

char* carmen_string_to_gps_gprmc_message (  char *  string, carmen_gps_gprmc_message *  gps_msg )

Converts the string to a gps-nmea-rmc message. Parameters: string  A string describing the message in the carmen logfile format. gps_msg  A pointer to the (allocated) structure where the message should be written to. Returns: A pointer to the character up to which the string has been parsed. In case there are no errors and the string is a line read from a carmen log file, this string points to the relative timestamp (written by logger).

char* carmen_string_to_laser_laser_message (  char *  string, carmen_laser_laser_message *  laser )

Converts the string to a (new) laser_laser_message. Parameters: string  A string describing the message in the carmen logfile format. laser  A pointer to the (allocated) structure where the message should be written to. Returns: A pointer to the character up to which the string has been parsed. In case there are no errors and the string is a line read from a carmen log file, this string points to the relative timestamp (written by logger).

char* carmen_string_to_laser_laser_message_orig (  char *  string, carmen_laser_laser_message *  laser )

Converts the string to an old laser_laser_message. Parameters: string  A string describing the message in the *old* carmen logfile format. laser  A pointer to the (allocated) structure where the message should be written to. Returns: A pointer to the character up to which the string has been parsed. In case there are no errors and the string is a line read from a carmen log file, this string points to the relative timestamp (written by logger).

char* carmen_string_to_robot_laser_message (  char *  string, carmen_robot_laser_message *  laser )

Converts the string to a (new) robot_laser_message. Parameters: string  A string describing the message in the carmen logfile format. laser  A pointer to the (allocated) structure where the message should be written to. Returns: A pointer to the character up to which the string has been parsed. In case there are no errors and the string is a line read from a carmen log file, this string points to the relative timestamp (written by logger).

char* carmen_string_to_robot_laser_message_orig (  char *  string, carmen_robot_laser_message *  laser )

Converts the string to an old robot_laser_message. Parameters: string  A string describing the message in the carmen logfile format. laser  A pointer to the (allocated) structure where the message should be written to. Returns: A pointer to the character up to which the string has been parsed. In case there are no errors and the string is a line read from a carmen log file, this string points to the relative timestamp (written by logger).

char* carmen_string_to_simulator_truepos_message (  char *  string, carmen_simulator_truepos_message *  truepos )

Converts the string to a truepos message. Parameters: string  A string describing the message in the *old* carmen logfile format. truepos  A pointer to the (allocated) structure where the message should be written to. Returns: A pointer to the character up to which the string has been parsed. In case there are no errors and the string is a line read from a carmen log file, this string points to the relative timestamp (written by logger).

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