FileSystemSensorSource.h

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//-*-c++-*-
#ifndef INCLUDED_FileSystemSensorSource_h_
#define INCLUDED_FileSystemSensorSource_h_

#include "FileSystemDataSource.h"
#include "Motion/PostureEngine.h"

//! Extends FileSystemDataSource to parse sensor data
class FileSystemSensorSource : public FileSystemDataSource {
public:
  //! constructor
  FileSystemSensorSource(LoggedDataDriver& p, const std::string& filter) : FileSystemDataSource(p,filter) {}
  
  virtual void registerSource() {
    FileSystemDataSource::registerSource();
    for(unsigned int i=0; i<NumOutputs; i++)
      providingOutput(i);
  }
  
  virtual void deregisterSource() {
    for(unsigned int i=0; i<NumOutputs; i++)
      ignoringOutput(i);
    FileSystemDataSource::deregisterSource();
  }
  
protected:
  virtual bool sendData() {
    SensorInfo& sensors = dynamic_cast<SensorInfo&>(**curfile);
    if(!sensors.isValid())
      return false;
    
    MarkScope l(getSensorWriteLock());
    for(unsigned int i=0; i<NumOutputs; ++i)
      if(sensors.getOutput(i).weight>0)
        setOutputValue(i, sensors.getOutput(i).value);
    for(std::map<unsigned int,float>::const_iterator it=sensors.getButtons().begin(); it!=sensors.getButtons().end(); ++it)
      setButtonValue(it->first, it->second);
    for(std::map<unsigned int,float>::const_iterator it=sensors.getSensors().begin(); it!=sensors.getSensors().end(); ++it)
      setSensorValue(it->first, it->second);
    for(std::map<unsigned int,float>::const_iterator it=sensors.getPIDDuties().begin(); it!=sensors.getPIDDuties().end(); ++it)
      setPIDDutyValue(it->first, it->second);
    return true;
  }
  
  //! extends FileInfo to provide sensor parsing
  class SensorInfo : public FileInfo {
  public:
    //! constructor
    SensorInfo(const std::string& name, double time) : FileInfo(name,time), pose(), sensors(), valid(false) {}
    
    //! uses FileInfo's prepare to load file into memory, and then replaces with a decompressed version
    virtual void prepare() {
      if(pose.getLoadedSensors()==NULL) {
        pose.setLoadedSensors(&sensors);
        FileInfo::prepare();
        if(data==NULL)
          return;
        valid = pose.loadBuffer(data,size,filename.c_str());
      }
    }
    virtual void release() {
      pose.setLoadedSensors(NULL);
      valid=false;
    }
    
    bool isValid() const { return valid; }
    const OutputCmd& getOutput(unsigned int i) const { return pose(i); }
    const std::map<unsigned int,float>& getButtons() const { return sensors.buttons; }
    const std::map<unsigned int,float>& getSensors() const { return sensors.sensors; }
    const std::map<unsigned int,float>& getPIDDuties() const { return sensors.pidduties; }
    
  protected:
    PostureEngine pose;
    PostureEngine::SensorInfo sensors;
    bool valid;
  };
  
  virtual void enqueueFile(const std::string& name, double lifetime) { files.push_back(new SensorInfo(name,lifetime)); } 
};

/*! @file
 * @brief 
 * @author Ethan Tira-Thompson (ejt) (Creator)
 */

#endif