logger.hh

Go to the documentation of this file.

#pragma once


// stdlib
#include <vector>
// 3rd party
#include <QDateTime>
#include <QDebug>
#include <QFile>
#include <QObject>
#include <QProcess>
#include <QTextStream>
#include <QTimer>
// dfti
#include "autopilot/autopilot.hh"
#include "core/consts.hh"
#include "core/qptrutil.hh"
#include "rio/rio.hh"
#include "settings/settings.hh"
#include "uadc/uadc.hh"
#include "util/util.hh"
#include "vn200/vn200.hh"


namespace dfti {


class Logger : public QObject
{
    Q_OBJECT;

public:

    explicit Logger(Settings *_settings, QObject* _parent = nullptr);

    ~Logger();


    void enableAutopilot(Autopilot *ap);


    void enableUADC(uADC *adc);


    void enableRIO(RIO *rio);


    void enableVN200(VN200 *ins);


    void start(void);

public slots:
    void flush(void);

    void getAPData(APData data);

    void getRIOData(RIOData data);

    void getUADCData(uADCData data);

    void getVN200Data(VN200Data data);

    void gpsAvailable(bool flag);

    void writeData(void);

private:

    void openLogFile(QFile &fd, bool &flag, QString type, QString timestamp);

    bool logAP(void);

    bool logRIO(void);

    bool logUADC(void);

    bool logVN200(void);

    QPointer<Settings> settings{nullptr};

    QPointer<QTimer> writeTimer{nullptr};

    QPointer<QTimer> flushTimer{nullptr};

    QString timestamp{""};

    const QString delim{","};

    bool haveAP{false};

    bool haveRIO{false};

    bool haveUADC{false};

    bool haveVN200{false};

    bool apLogFileOpen{false};

    bool rioLogFileOpen{false};

    bool uADCLogFileOpen{false};

    bool vn200LogFileOpen{false};

    bool firstWrite{true};

    bool newAPData{false};

    bool newRIOData{false};

    bool newUADCData{false};

    bool newVN200Data{false};

    bool haveGPS{false};

    bool setSystemTime{false};

    QFile apLogFile;

    QFile rioLogFile;

    QFile uADCLogFile;

    QFile vn200LogFile;

    quint32 rcInTime{0};

    quint16 rcIn1{0};

    quint16 rcIn2{0};

    quint16 rcIn3{0};

    quint16 rcIn4{0};

    quint16 rcIn5{0};

    quint16 rcIn6{0};

    quint16 rcIn7{0};

    quint16 rcIn8{0};

    quint32 rcOutTime{0};

    quint16 rcOut1{0};

    quint16 rcOut2{0};

    quint16 rcOut3{0};

    quint16 rcOut4{0};

    quint16 rcOut5{0};

    quint16 rcOut6{0};

    quint16 rcOut7{0};

    quint16 rcOut8{0};

    std::vector<float> rioData;


    quint32 uadcId{0};


    float iasMps{0};


    float aoaDeg{0};


    float aosDeg{0};

    quint16 altM{0};

    quint32 ptPa{0};

    quint32 psPa{0};


    quint64 gpsTimeNs{0};


    float eulerDeg[3] = {0};


    float quaternion[4]{0};


    float angularRatesRPS[3]{0};


    float posDegDegM[3]{0};


    float velNedMps[3]{0};


    float accelMps2[3]{0};
};


};  // namespace dfti