SENSRecorder Class Reference

#include <SENSRecorder.h>

Inheritance diagram for SENSRecorder:

Public Member Functions
	SENSRecorder (const std::string &outputDir)
	~SENSRecorder ()
bool	activateGps (SENSGps *sensor)
bool	deactivateGps ()
bool	activateOrientation (SENSOrientation *sensor)
bool	deactivateOrientation ()
bool	activateCamera (SENSCamera *sensor)
bool	deactivateCamera ()
bool	start ()
void	stop ()
	Stops a running recording session. More...
bool	getGpsHandlerError (std::string &errorMsg)
bool	getOrientationHandlerError (std::string &errorMsg)
bool	getCameraHandlerError (std::string &errorMsg)
bool	isRunning () const
const std::string &	outputDir () const
Public Member Functions inherited from SENSGpsListener
virtual	~SENSGpsListener ()
Public Member Functions inherited from SENSOrientationListener
virtual	~SENSOrientationListener ()
Public Member Functions inherited from SENSCameraListener
virtual	~SENSCameraListener ()

Private Member Functions
void	onGps (const SENSTimePt &timePt, const SENSGps::Location &loc) override
	gps listener callback More...
void	onOrientation (const SENSTimePt &timePt, const SENSOrientation::Quat &ori) override
	orientation listener callback More...
void	onFrame (const SENSTimePt &timePt, cv::Mat frame) override
	camera listener callback More...
void	onCameraConfigChanged (const SENSCameraConfig &config) override

Private Attributes
std::string	_outputDir
SENSGpsRecorderDataHandler *	_gpsDataHandler = nullptr
SENSOrientationRecorderDataHandler *	_orientationDataHandler = nullptr
SENSCameraRecorderDataHandler *	_cameraDataHandler = nullptr
SENSGps *	_gps = nullptr
SENSOrientation *	_orientation = nullptr
SENSCamera *	_camera = nullptr
std::atomic_bool	_running {false}

Detailed Description

SENSRecorder This class records implemented sensor classes to file. The output directory has to be transfered during instantiation. Activate or deactivate a sensor by calling activate or deactivate methods. The functions return true on success, a change is only possible if the recorder is not running (use isRunning method). Call start() and stop() to start or stop recording of sensors. The SENSRecorder listens to sensors and informs SENSRecorderDataHandler backends about new data. The SENSRecorderDataHandler stores values to file.

Definition at line 18 of file SENSRecorder.h.

Constructor & Destructor Documentation

SENSRecorder()

SENSRecorder::SENSRecorder

(

const std::string &

outputDir

)

Definition at line 4 of file SENSRecorder.cpp.

  : _outputDir(outputDir)
{
    if (Utils::dirExists(outputDir))
    {
        _gpsDataHandler         = new SENSGpsRecorderDataHandler();
        _orientationDataHandler = new SENSOrientationRecorderDataHandler();
        _cameraDataHandler      = new SENSCameraRecorderDataHandler();
    }
    else
        Utils::log("SENS", "SENSRecorder: Directory does not exist: %s", outputDir.c_str());
}

~SENSRecorder()

SENSRecorder::~SENSRecorder

(

)

Definition at line 17 of file SENSRecorder.cpp.

{
    stop();
 
    if (_gpsDataHandler)
        delete _gpsDataHandler;
    if (_orientationDataHandler)
        delete _orientationDataHandler;
    if (_cameraDataHandler)
        delete _cameraDataHandler;
}

Member Function Documentation

activateCamera()

bool SENSRecorder::activateCamera

(

SENSCamera *

sensor

)

Definition at line 76 of file SENSRecorder.cpp.

{
    if (!_running && sensor)
    {
        deactivateCamera();
        _camera = sensor;
        return true;
    }
    else
        return false;
}

activateGps()

bool SENSRecorder::activateGps

(

SENSGps *

sensor

)

Definition at line 30 of file SENSRecorder.cpp.

{
    if (!_running && sensor)
    {
        deactivateGps();
        _gps = sensor;
        return true;
    }
    else
        return false;
}

activateOrientation()

bool SENSRecorder::activateOrientation

(

SENSOrientation *

sensor

)

Definition at line 52 of file SENSRecorder.cpp.

{
    if (!_running && sensor)
    {
        deactivateOrientation();
        _orientation = sensor;
        return true;
    }
    else
        return false;
}

deactivateCamera()

bool SENSRecorder::deactivateCamera

(

)

Definition at line 88 of file SENSRecorder.cpp.

{
    if (!_running && _camera)
    {
        _camera = nullptr;
        return true;
    }
    else
        return true;
}

deactivateGps()

bool SENSRecorder::deactivateGps

(

)

Definition at line 41 of file SENSRecorder.cpp.

{
    if (!_running && _gps)
    {
        _gps = nullptr;
        return true;
    }
    else
        return false;
}

deactivateOrientation()

bool SENSRecorder::deactivateOrientation

(

)

Definition at line 64 of file SENSRecorder.cpp.

{
    if (!_running && _orientation)
    {
        _orientation = nullptr;
        return true;
    }
    else
        return true;
}

getCameraHandlerError()

bool SENSRecorder::getCameraHandlerError

(

std::string &

errorMsg

)

Definition at line 177 of file SENSRecorder.cpp.

{
    if (_cameraDataHandler && _cameraDataHandler->getErrorMsg(errorMsg))
        return true;
    else
        return false;
}

getGpsHandlerError()

bool SENSRecorder::getGpsHandlerError

(

std::string &

errorMsg

)

Definition at line 161 of file SENSRecorder.cpp.

{
    if (_gpsDataHandler && _gpsDataHandler->getErrorMsg(errorMsg))
        return true;
    else
        return false;
}

getOrientationHandlerError()

bool SENSRecorder::getOrientationHandlerError

(

std::string &

errorMsg

)

Definition at line 169 of file SENSRecorder.cpp.

{
    if (_orientationDataHandler && _orientationDataHandler->getErrorMsg(errorMsg))
        return true;
    else
        return false;
}

isRunning()

bool SENSRecorder::isRunning ( ) const

inline

Definition at line 43 of file SENSRecorder.h.

{ return _running; }

onCameraConfigChanged()

void SENSRecorder::onCameraConfigChanged ( const SENSCameraConfig &  config )

overrideprivatevirtual

Implements SENSCameraListener.

Definition at line 206 of file SENSRecorder.cpp.

{
    if (_cameraDataHandler)
        _cameraDataHandler->updateConfig(config);
}

onFrame()

void SENSRecorder::onFrame ( const SENSTimePt &  timePt, cv::Mat  frame  )

overrideprivatevirtual

camera listener callback

Implements SENSCameraListener.

Definition at line 199 of file SENSRecorder.cpp.

{
    auto newData = std::make_pair(frame, timePt);
    if (_cameraDataHandler)
        _cameraDataHandler->add(std::move(newData));
}

onGps()

void SENSRecorder::onGps ( const SENSTimePt &  timePt, const SENSGps::Location &  loc  )

overrideprivatevirtual

gps listener callback

Implements SENSGpsListener.

Definition at line 185 of file SENSRecorder.cpp.

{
    auto newData = std::make_pair(loc, timePt);
    if (_gpsDataHandler)
        _gpsDataHandler->add(std::move(newData));
}

onOrientation()

void SENSRecorder::onOrientation ( const SENSTimePt &  timePt, const SENSOrientation::Quat &  ori  )

overrideprivatevirtual

orientation listener callback

Implements SENSOrientationListener.

Definition at line 192 of file SENSRecorder.cpp.

{
    auto newData = std::make_pair(ori, timePt);
    if (_orientationDataHandler)
        _orientationDataHandler->add(std::move(newData));
}

outputDir()

const std::string& SENSRecorder::outputDir ( ) const

inline

Definition at line 44 of file SENSRecorder.h.

{ return _outputDir; }

start()

bool SENSRecorder::start

(

)

Start the recording of activated sensors (Registers listeners and starts SENSRecorderDataHandler backends). Returns true on success. Possible reasons for fail are: Output directory does not exist or recorder is already running.

Definition at line 99 of file SENSRecorder.cpp.

{
    if (_running)
        return false;
 
    std::string recordDir = Utils::unifySlashes(_outputDir) + Utils::getDateTime2String() + "_SENSRecorder/";
    if (!Utils::makeDir(recordDir))
    {
        Utils::log("SENS", "SENSRecorder start: could not create record directory: %s", recordDir.c_str());
        return false;
    }
 
    if (_gps && _gpsDataHandler)
    {
        _gpsDataHandler->start(recordDir);
        _gps->registerListener(this);
        _running = true;
    }
 
    if (_orientation && _orientationDataHandler)
    {
        _orientationDataHandler->start(recordDir);
        _orientation->registerListener(this);
        _running = true;
    }
 
    if (_camera && _cameraDataHandler)
    {
        _cameraDataHandler->start(recordDir);
        _camera->registerListener(this);
        _running = true;
    }
 
    return _running;
}

stop()

void SENSRecorder::stop

(

)

Stops a running recording session.

Definition at line 135 of file SENSRecorder.cpp.

{
    if (_gps)
    {
        _gps->unregisterListener(this);
        if (_gpsDataHandler)
            _gpsDataHandler->stop();
    }
 
    if (_orientation)
    {
        _orientation->unregisterListener(this);
        if (_orientationDataHandler)
            _orientationDataHandler->stop();
    }
 
    if (_camera)
    {
        _camera->unregisterListener(this);
        if (_cameraDataHandler)
            _cameraDataHandler->stop();
    }
 
    _running = false;
}

Member Data Documentation

_camera

SENSCamera* SENSRecorder::_camera = nullptr

private

Definition at line 63 of file SENSRecorder.h.

_cameraDataHandler

SENSCameraRecorderDataHandler* SENSRecorder::_cameraDataHandler = nullptr

private

Definition at line 59 of file SENSRecorder.h.

_gps

SENSGps* SENSRecorder::_gps = nullptr

private

Definition at line 61 of file SENSRecorder.h.

_gpsDataHandler

SENSGpsRecorderDataHandler* SENSRecorder::_gpsDataHandler = nullptr

private

Definition at line 57 of file SENSRecorder.h.

_orientation

SENSOrientation* SENSRecorder::_orientation = nullptr

private

Definition at line 62 of file SENSRecorder.h.

_orientationDataHandler

SENSOrientationRecorderDataHandler* SENSRecorder::_orientationDataHandler = nullptr

private

Definition at line 58 of file SENSRecorder.h.

_outputDir

std::string SENSRecorder::_outputDir

private

Definition at line 55 of file SENSRecorder.h.

_running

std::atomic_bool SENSRecorder::_running {false}

private

Definition at line 65 of file SENSRecorder.h.

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The documentation for this class was generated from the following files:

• SENSRecorder.h
• SENSRecorder.cpp