include/barrett/systems/periodic_data_logger.h

/*
        Copyright 2009, 2010 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett is distributed in the hope that it will be
        useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * periodic_data_logger.h
 *
 *  Created on: Dec 24, 2009
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_PERIODIC_DATA_LOGGER_H_
#define BARRETT_SYSTEMS_PERIODIC_DATA_LOGGER_H_


#include <barrett/detail/ca_macro.h>
#include <barrett/log/real_time_writer.h>

#include <barrett/systems/abstract/system.h>
#include <barrett/systems/abstract/single_io.h>


namespace barrett {
namespace systems {


// TODO(dc): add a configuration file interface

template<typename T, typename LogWriterType = log::RealTimeWriter<T> >
class PeriodicDataLogger : public System, public SingleInput<T> {
public:
        // The PeriodicDataLogger owns the logWriter pointer and will delete it when it is no longer needed.
        PeriodicDataLogger(ExecutionManager* em, LogWriterType* logWriter, size_t periodMultiplier = 10,
                        const std::string& sysName = "PeriodicDataLogger");
        virtual ~PeriodicDataLogger();

        bool isLogging();
        void closeLog();

protected:
        virtual bool inputsValid();
        virtual void operate();

        // Optimization: this System has no Outputs to invalidate.
        virtual void invalidateOutputs() {}

        LogWriterType* lw;
        bool logging;
        size_t ecCount, ecCountRollover;

private:
        DISALLOW_COPY_AND_ASSIGN(PeriodicDataLogger);
};


}
}


// include template definitions
#include <barrett/systems/detail/periodic_data_logger-inl.h>


#endif /* BARRETT_SYSTEMS_PERIODIC_DATA_LOGGER_H_ */