CARMEN: logger/writelog.h Source File

00001 /*********************************************************
00002  *
00003  * This source code is part of the Carnegie Mellon Robot
00004  * Navigation Toolkit (CARMEN)
00005  *
00006  * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
00007  * Roy, and Sebastian Thrun
00008  *
00009  * CARMEN is free software; you can redistribute it and/or 
00010  * modify it under the terms of the GNU General Public 
00011  * License as published by the Free Software Foundation; 
00012  * either version 2 of the License, or (at your option)
00013  * any later version.
00014  *
00015  * CARMEN is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied 
00017  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00018  * PURPOSE.  See the GNU General Public License for more 
00019  * details.
00020  *
00021  * You should have received a copy of the GNU General 
00022  * Public License along with CARMEN; if not, write to the
00023  * Free Software Foundation, Inc., 59 Temple Place, 
00024  * Suite 330, Boston, MA  02111-1307 USA
00025  *
00026  ********************************************************/
00027 
00029 // @{
00030 
00039 #ifndef CARMEN_LOGWRITE_H
00040 #define CARMEN_LOGWRITE_H
00041 
00042 #include <carmen/carmen.h>
00043 #include <carmen/carmen_stdio.h>
00044 
00045 #define CARMEN_LOGFILE_HEADER "# CARMEN Logfile"
00046 
00047 void carmen_logwrite_write_robot_name(char *robot_name, 
00048                                       carmen_FILE *outfile);
00049 
00050 void carmen_logwrite_write_header(carmen_FILE *outfile);
00051 
00057 void carmen_logwrite_write_odometry(carmen_base_odometry_message *odometry, 
00058                                     carmen_FILE *outfile, double timestamp);  
00059 
00066 void carmen_logwrite_write_laser_laser(carmen_laser_laser_message *laser,
00067                                        int laser_num, carmen_FILE *outfile,
00068                                         double timestamp);
00069 
00076 void carmen_logwrite_write_robot_laser(carmen_robot_laser_message *laser,
00077                                        int laser_num, carmen_FILE *outfile,
00078                                        double timestamp);
00079 
00082 void carmen_logwrite_write_param(char *module, char *variable, char *value, 
00083                                  double ipc_time, char *hostname, 
00084                                  carmen_FILE *outfile, double timestamp);
00085 
00090 void carmen_logwrite_write_sync(carmen_logger_sync_message *sync_message, 
00091                                 carmen_FILE *outfile);
00092 
00098 void carmen_logwrite_write_truepos(carmen_simulator_truepos_message *truepos, 
00099                                    carmen_FILE *outfile, double timestamp);  
00100 
00106 void carmen_logwrite_write_localize(carmen_localize_globalpos_message *msg, 
00107                                     carmen_FILE *outfile, double timestamp);
00108 
00114 void carmen_logger_write_gps_gpgga(carmen_gps_gpgga_message *gps_msg, 
00115                                    carmen_FILE *outfile, 
00116                                    double timestamp);
00117 
00123 void carmen_logger_write_gps_gprmc(carmen_gps_gprmc_message *gps_msg, 
00124                                    carmen_FILE *outfile, 
00125                                    double timestamp);
00126 
00127 #endif
00128 // @}