1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276
|
/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_TOOLS_GZLOG_HH_
#define GAZEBO_TOOLS_GZLOG_HH_
#include <string>
#include <list>
#include <gazebo/physics/WorldState.hh>
#include "gz.hh"
namespace gazebo
{
/// \brief Base class for all filters.
class FilterBase
{
/// \brief Constructor
/// \param[in] _xmlOutput True if the output should be in XML format.
/// \param[in[ _stamp Type of stamp to apply.
/// Valid values are (sim,real,wall)
public: FilterBase(bool _xmlOutput, const std::string &_stamp);
/// \brief Output a line of data.
/// \param[in] _stream The output stream.
/// \param[in] _state Current state.
/// \return Reference to the output stream.
public: std::ostringstream &Out(std::ostringstream &_stream,
const gazebo::physics::State &_state);
/// \brief Filter a pose.
/// \param[in] _pose The pose to filter.
/// \param[in] _xmlName Name of the xml tag.
/// \param[in] _filter The filter string [x,y,z,r,p,a].
/// \param[in] _state Current state.
/// \return Filtered pose string.
public: std::string FilterPose(const ignition::math::Pose3d &_pose,
const std::string &_xmlName,
std::string _filter,
const gazebo::physics::State &_state);
/// \brief True if XML output is requested.
protected: bool xmlOutput;
/// \brief Time stamp type
protected: std::string stamp;
};
/// \brief Filter for joint state.
class JointFilter : public FilterBase
{
/// \brief Constructor.
/// \param[in] _xmlOutput True if the output should be in XML format.
/// \param[in] _stamp Type of stamp to apply.
/// Valid values are (sim,real,wall)
public: JointFilter(bool _xmlOutput, const std::string &_stamp);
/// \brief Initialize the filter.
/// \param[in] _filter The command line filter string.
public: void Init(const std::string &_filter);
/// \brief Filter joint parts (angle)
/// \param[in] _state Link state to filter.
/// \param[in] _partIter Iterator to the filtered string parts.
/// \return Filtered joint string.
public: std::string FilterParts(gazebo::physics::JointState &_state,
std::list<std::string>::iterator _partIter);
/// \brief Filter the joints in a Model state, and output the result
/// as a string.
/// \param[in] _state The model state to filter.
/// \return Filtered string.
public: std::string Filter(gazebo::physics::ModelState &_state);
/// \brief The list of filter strings.
public: std::list<std::string> parts;
};
/// \brief Filter for link state.
class LinkFilter : public FilterBase
{
/// \brief Constructor.
/// \param[in] _xmlOutput True if the output should be in XML format.
/// \param[in] _stamp Type of stamp to apply.
/// Valid values are (sim,real,wall)
public: LinkFilter(bool _xmlOutput, const std::string &_stamp);
/// \brief Initialize the filter.
/// \param[in] _filter The command line filter string.
public: void Init(const std::string &_filter);
/// \brief Filter link parts (pose, velocity, acceleration, wrench)
/// \param[in] _state Link state to filter.
/// \param[in] _partIter Iterator to the filtered string parts.
/// \return Filtered string
public: std::string FilterParts(gazebo::physics::LinkState &_state,
std::list<std::string>::iterator _partIter);
/// \brief Filter the links in a Model state, and output the result
/// as a string.
/// \param[in] _state The model state to filter.
/// \return Filtered string.
public: std::string Filter(gazebo::physics::ModelState &_state);
/// \brief The list of filter strings.
public: std::list<std::string> parts;
};
/// \brief Filter for model state.
class ModelFilter : public FilterBase
{
/// \brief Constructor.
/// \param[in] _xmlOutput True if the output should be in XML format.
/// \param[in] _stamp Type of stamp to apply.
/// Valid values are (sim,real,wall)
public: ModelFilter(bool _xmlOutput, const std::string &_stamp);
/// \brief Destructor.
public: virtual ~ModelFilter();
/// \brief Initialize the filter.
/// \param[in] _filter The command line filter string.
public: void Init(const std::string &_filter);
/// \brief Filter model parts (pose)
/// \param[in] _state Model state to filter.
/// \param[in] _partIter Iterator to the filtered string parts.
/// \return Filtered string
public: std::string FilterParts(gazebo::physics::ModelState &_state,
std::list<std::string>::iterator _partIter);
/// \brief Filter the models in a World state, and output the result
/// as a string.
/// \param[in] _state The World state to filter.
/// \return Filtered string.
public: std::string Filter(gazebo::physics::WorldState &_state);
/// \brief The list of model parts to filter.
public: std::list<std::string> parts;
/// \brief Pointer to the link filter.
public: LinkFilter *linkFilter;
/// \brief Pointer to the joint filter.
public: JointFilter *jointFilter;
};
/// \brief Filter interface for an entire state.
class StateFilter : public FilterBase
{
/// \brief Constructor
/// \param[in] _xmlOutput True to format output as XML
/// \param[in] _stamp Type of stamp to apply.
/// Valid values are (sim,real,wall)
public: StateFilter(bool _xmlOutput, const std::string &_stamp,
double _hz = 0);
/// \brief Initialize the filter with a set of parameters.
/// \param[_in] _filter The filter parameters
public: void Init(const std::string &_filter);
/// \brief Perform filtering
/// \param[in] _stateString The string to filter.
/// \return Filtered string
public: std::string Filter(const std::string &_stateString);
/// \brief Filter for a model.
private: ModelFilter filter;
/// \brief Rate at which to output states.
private: double hz;
/// \brief Previous time a state was output.
private: gazebo::common::Time prevTime;
};
/// \brief Log command
class LogCommand : public Command
{
/// \brief Constructor
public: LogCommand();
// Documentation inherited
public: virtual void HelpDetailed();
// Documentation inherited
protected: virtual bool RunImpl();
// Documentation inherited
protected: virtual bool TransportRequired();
/// \brief Output information about a log file.
/// \param[in] _filename Name of the file to parse.
private: void Info(const std::string &_filename);
/// \brief Output log data to a file. This is usually used with the
/// filter command.
/// \param[in] _outFilename Output filename
/// \param[in] _filter Filter string
/// \param[in] _raw True to output data without xml formatting.
/// \param[in] _stamp Type of stamp to apply.
/// Valid values are (sim,real,wall)
/// \param[in] _hz Hertz rate.
/// \param[in] _encoding Specify output log file encoding. If empty, the
/// encoding from the source log file is used.
/// Valid values include (txt, zlib, bz2)
private: void Output(const std::string &_outFilename,
const std::string &_filter, const bool _raw,
const std::string &_stamp, const double _hz,
const std::string &_encoding = "");
/// \brief Dump the contents of a log file to screen
/// \param[in] _filter Filter string
/// \param[in] _raw True to output data without xml formatting.
/// \param[in] _stamp Type of stamp to apply.
/// Valid values are (sim,real,wall)
/// \param[in] _hz Hertz rate.
private: void Echo(const std::string &_filter,
bool _raw, const std::string &_stamp, double _hz);
/// \brief Step through a log file.
/// \param[in] _filter Filter string
/// \param[in] _raw True to output data without xml formatting.
/// \param[in] _stamp Type of stamp to apply.
/// Valid values are (sim,real,wall)
/// \param[in] _hz Hertz rate.
private: void Step(const std::string &_filter, bool _raw,
const std::string &_stamp, double _hz);
/// \brief Start or stop logging
/// \param[in] _start True to start logging
private: void Record(bool _start);
/// \brief Get a character from the terminal.
/// This bypasses the need to wait for the 'enter' key.
/// \return The characater read from the terminal.
private: int GetChar();
/// \brief Get the size of file.
/// \param[in] _filename Name of the file to get the size of.
/// \return The size of the file in human readable format.
private: std::string GetFileSizeStr(const std::string &_filename);
/// \brief Load a log file from a filename.
/// \param[in] _filename Filename to open
/// \return True on success.
private: bool LoadLogFromFile(const std::string &_filename);
/// \brief Write data to a file.
/// \param[in] _outFile Output file stream reference.
/// \param[in] _stateString SDF state string to write
/// \param[in] _raw True to output data without xml formatting.
/// \param[in] _encoding Encoding type: txt, zlib, bz2
private: void OutputWriter(std::ofstream &_outFile,
const std::string &_stateString,
const bool _raw, const std::string &_encoding);
/// \brief Node pointer.
private: gazebo::transport::NodePtr node;
};
}
#endif
|