From 10fde8e4f0fbaf96627e95c9ffab33b2e49c91a4 Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Mon, 23 Jun 2014 14:12:35 +0200
Subject: [PATCH] Added Logging
---
.gitignore | 3 +-
.../WeissHapticSensorsUnitTest/startGui.sh | 8 +++
.../WeissHapticSensorsUnitTest/tactile.html | 54 +++++++++++++++++++
.../WeissHapticSensorsUnit/CMakeLists.txt | 4 +-
.../WeissHapticSensor/AbstractInterface.cpp | 53 ++++++++++++++++--
.../WeissHapticSensor/AbstractInterface.h | 11 +++-
.../WeissHapticSensor/BinaryLogger.cpp | 6 +++
.../drivers/WeissHapticSensor/BinaryLogger.h | 1 +
.../drivers/WeissHapticSensor/CMakeLists.txt | 2 +
.../WeissHapticSensor/SerialInterface.cpp | 25 ++-------
.../WeissHapticSensor/SerialInterface.h | 8 ++-
.../drivers/WeissHapticSensor/TextWriter.cpp | 20 +++++++
.../drivers/WeissHapticSensor/TextWriter.h | 21 ++++++++
.../WeissHapticSensor/WeissHapticSensor.cpp | 33 ++++++++++--
.../WeissHapticSensor/WeissHapticSensor.h | 6 +++
source/RobotAPI/units/HapticObserver.cpp | 12 +++--
source/RobotAPI/units/HapticObserver.h | 16 +++++-
17 files changed, 238 insertions(+), 45 deletions(-)
create mode 100755 scenarios/WeissHapticSensorsUnitTest/startGui.sh
create mode 100755 scenarios/WeissHapticSensorsUnitTest/tactile.html
create mode 100644 source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
create mode 100644 source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
diff --git a/.gitignore b/.gitignore
index 36b9b1d57..f0dad452b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -45,5 +45,6 @@ data/dbdump/
# Generated Scenario Files
scenarios/*/startScenario.sh
scenarios/*/stopScenario.sh
-scenarios/*/startGui.sh
+scenarios/*/ttyACM*.js
+scenarios/*/ttyACM*.log
diff --git a/scenarios/WeissHapticSensorsUnitTest/startGui.sh b/scenarios/WeissHapticSensorsUnitTest/startGui.sh
new file mode 100755
index 000000000..e2f4b07c6
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/startGui.sh
@@ -0,0 +1,8 @@
+export CORE_PATH=../../../Core
+export GUI_PATH=../../../Gui
+
+export SCRIPT_PATH=$CORE_PATH/build/bin
+export GUI_BIN_PATH=$GUI_PATH/build/bin
+
+# Gui
+$SCRIPT_PATH/startApplication.sh $GUI_BIN_PATH/ArmarXGuiRun &
diff --git a/scenarios/WeissHapticSensorsUnitTest/tactile.html b/scenarios/WeissHapticSensorsUnitTest/tactile.html
new file mode 100755
index 000000000..c86869f07
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/tactile.html
@@ -0,0 +1,54 @@
+<!DOCTYPE html>
+<html xmlns="http://www.w3.org/1999/xhtml" dir="ltr" lang="de-DE">
+<head>
+<meta charset="utf-8">
+<title>Tactile Sensor Data Explorer</title>
+<link rel="stylesheet" type="text/css" href="svg-export.css"/>
+<script src="http://ajax.googleapis.com/ajax/libs/jquery/1.10.2/jquery.min.js"></script>
+<script>
+sensors = [];
+</script>
+<script src="ttyACM0.js"></script>
+<script src="ttyACM1.js"></script>
+<style type="text/css">
+#out {
+ font-size: 10px;
+ font-family: Verdana, sans;
+}
+</style>
+</head>
+<body>
+<div id="buttons"></div>
+<div id="out"></div>
+<script>
+
+var displayData = function(data) {
+ var s = 40;
+ var str = '<div style="position: relative; width:' + (data[0].length * s) + 'px; height:' + (data.length * s) + 'px;">';
+ for(var y = 0; y < data.length; y++) {
+ var row = data[y];
+
+ for(var x = 0; x < row.length; x++) {
+ str += '<div style="top:' + (y * s) + 'px; left:' + (x * s) + 'px; width: '+s+'px; height: '+s+'px; position: absolute; text-align:center; line-height:'+s+'px; ">' + row[x] + '</div>';
+ }
+ }
+ str += '</div>';
+ return str;
+};
+
+var pos = 0;
+var sensor = sensors[0];
+var formatDate = function(date) {
+ return date.getYear() + "-" + ("00" + date.getMonth()).slice(-2) + "-" + ("00" + date.getDate()).slice(-2) + " " + ("00" + date.getHours()).slice(-2) + ":" + ("00" + date.getMinutes()).slice(-2) + ":" + ("00" + date.getSeconds()).slice(-2) + "." + ("000" + date.getMilliseconds()).slice(-3);
+};
+var update = function() {
+ $("#out").html(sensor.device + ", tag=" + sensor.tag + "<br />Frame " + pos + "/" + (sensor.data.length - 1) + " t= " + formatDate(new Date(sensor.data[pos][0]/1000)) + displayData(sensor.data[pos][1]));
+}
+var changeFrameGen = function(delta) { return function() { pos = Math.max(0, Math.min(sensor.data.length - 1, pos + delta)); update(); }; };
+var buttonGen = function(text, delta) { return $("<button>"+text+"</button>").click(changeFrameGen(delta)); };
+$("#buttons").append("navigate: ").append(buttonGen("-100", -100)).append(buttonGen("-10", -10)).append(buttonGen("-1", -1)).append(buttonGen("+1", +1)).append(buttonGen("+10", +10)).append(buttonGen("+100", +100));
+update();
+
+</script>
+</body>
+</html>
\ No newline at end of file
diff --git a/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt b/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt
index d2d552863..e49b35907 100644
--- a/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt
@@ -8,8 +8,8 @@ if (Eigen3_FOUND)
${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreEigen3Variants WeissHapticSensor)
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensor RobotAPIUnits)
-set(EXE_SOURCE main.cpp)
+set(EXE_SOURCE main.cpp WeissHapticSensorsUnitApp.h)
armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
index 973635b44..a81825709 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
@@ -9,12 +9,39 @@
#include <stdexcept>
-AbstractInterface::AbstractInterface() :
- connected(false) {
+AbstractInterface::AbstractInterface()
+ : connected(false), log(NULL)
+{
+
}
AbstractInterface::~AbstractInterface() {
- // TODO Auto-generated destructor stub
+ if(log != NULL)
+ {
+ delete log;
+ }
+}
+
+int AbstractInterface::read(unsigned char *buf, unsigned int len)
+{
+ int res = readInternal(buf, len);
+
+ if(log != NULL)
+ {
+ log->logRead(buf, res);
+ }
+
+ return res;
+}
+
+int AbstractInterface::write(unsigned char *buf, unsigned int len)
+{
+ if(log != NULL)
+ {
+ log->logWrite(buf, len);
+ }
+
+ return writeInternal(buf, len);
}
@@ -57,6 +84,19 @@ void AbstractInterface::fireAndForgetCmd( unsigned char id, unsigned char *paylo
}
}
+void AbstractInterface::startLogging(std::string file)
+{
+ log = new BinaryLogger(file);
+}
+
+void AbstractInterface::logText(std::string message)
+{
+ if(log != NULL)
+ {
+ log->logText(message);
+ }
+}
+
Response AbstractInterface::receiveWithoutChecks()
{
int res;
@@ -124,6 +164,7 @@ int AbstractInterface::receive( msg_t *msg )
unsigned short checksum = 0x50f5; // Checksum over preamble (0xaa 0xaa 0xaa)
unsigned int sync;
+ logText("read preamble");
// Syncing - necessary for compatibility with serial interface
sync = 0;
while( sync != MSG_PREAMBLE_LEN )
@@ -191,9 +232,11 @@ int AbstractInterface::receive( msg_t *msg )
checksum = Checksum::Update_crc16( msg->data.data(), msg->len + 2, checksum );
if ( checksum != 0 )
{
+ logText("CHECKSUM ERROR");
throw ChecksumErrorException("Checksum error");
}
+ logText("receive done.");
return msg->len + 8;
}
@@ -203,6 +246,8 @@ int AbstractInterface::send(unsigned char id, unsigned int len, unsigned char *d
unsigned short crc;
int i, res;
+ logText("write preamble");
+
// Preamble
for ( i = 0; i < MSG_PREAMBLE_LEN; i++ ) header[i] = MSG_PREAMBLE_BYTE;
@@ -233,6 +278,8 @@ int AbstractInterface::send(unsigned char id, unsigned int len, unsigned char *d
delete[] buf;
+ logText("send done.");
+
return len + 8;
}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
index 5c01b9fc5..f8d6c1b9a 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
@@ -3,6 +3,7 @@
#include <string>
#include "Types.h"
+#include "BinaryLogger.h"
#define MSG_PREAMBLE_BYTE 0xaa
@@ -29,8 +30,8 @@ public:
virtual ~AbstractInterface();
virtual int open() = 0;
virtual void close() = 0;
- virtual int read( unsigned char *buf, unsigned int len) = 0;
- virtual int write( unsigned char *buf, unsigned int len) = 0;
+ int read( unsigned char *buf, unsigned int len);
+ int write( unsigned char *buf, unsigned int len);
bool IsConnected() const { return connected; }
@@ -43,12 +44,18 @@ public:
Response receiveWithoutChecks();
void fireAndForgetCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending );
+ void startLogging(std::string file);
+ void logText(std::string message);
protected:
bool connected;
+ virtual int readInternal( unsigned char *buf, unsigned int len) = 0;
+ virtual int writeInternal( unsigned char *buf, unsigned int len) = 0;
+
private:
friend std::ostream& operator<<(std::ostream&, const AbstractInterface&);
+ BinaryLogger* log;
};
std::ostream& operator<<(std::ostream &strm, const AbstractInterface &a);
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
index b3a494138..40c394097 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
@@ -32,3 +32,9 @@ void BinaryLogger::logWrite(unsigned char *buf, unsigned int len)
log << std::endl;
log.flush();
}
+
+void BinaryLogger::logText(std::string message)
+{
+ log << message << std::endl;
+ log.flush();
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
index d16c85ca6..535786e85 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
@@ -11,6 +11,7 @@ public:
void logRead(unsigned char *buf, unsigned int len);
void logWrite(unsigned char *buf, unsigned int len);
+ void logText(std::string message);
private:
std::ofstream log;
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt b/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
index 01d560fb8..60c8611f2 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
@@ -21,6 +21,7 @@ set(LIB_FILES
WeissHapticSensor.cpp
AbstractInterface.cpp
BinaryLogger.cpp
+ TextWriter.cpp
Checksum.cpp
SerialInterface.cpp
TactileSensor.cpp
@@ -30,6 +31,7 @@ set(LIB_HEADERS
WeissHapticSensor.h
AbstractInterface.h
BinaryLogger.h
+ TextWriter.h
Checksum.h
Response.h
SerialInterface.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
index b9bdfe5f0..77bc6b49f 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
@@ -35,17 +35,13 @@ static inline tcflag_t __bitrate_to_flag( unsigned int bitrate )
SerialInterface::SerialInterface(const char *device, unsigned int bitrate)
- : log(NULL)
{
this->device = device;
this->bitrate = bitrate;
}
SerialInterface::~SerialInterface() {
- if(log != NULL)
- {
- delete log;
- }
+
}
int SerialInterface::open() {
@@ -122,7 +118,7 @@ void SerialInterface::close()
connected = false;
}
-int SerialInterface::read( unsigned char *buf, unsigned int len)
+int SerialInterface::readInternal( unsigned char *buf, unsigned int len)
{
int res;
@@ -132,21 +128,11 @@ int SerialInterface::read( unsigned char *buf, unsigned int len)
std::cerr << "Failed to read from serial device" << std::endl;
}
- if(log != NULL)
- {
- log->logRead(buf, res);
- }
-
return res;
}
-int SerialInterface::write( unsigned char *buf, unsigned int len)
+int SerialInterface::writeInternal( unsigned char *buf, unsigned int len)
{
- if(log != NULL)
- {
- log->logWrite(buf, len);
- }
-
return( ::write( fd, (void *) buf, len ) );
}
@@ -155,8 +141,3 @@ std::string SerialInterface::toString() const
return str(boost::format("SerialInterface(connected=%1%, device=%2%, bitrate=%3%, fd=%4%)")
% connected % device % bitrate % fd);
}
-
-void SerialInterface::startLogging(std::string file)
-{
- log = new BinaryLogger(file);
-}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
index e5c9b396b..a2bb216ce 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
@@ -3,7 +3,6 @@
#include "AbstractInterface.h"
#include <iostream>
-#include "BinaryLogger.h"
class SerialInterface : public AbstractInterface {
@@ -13,18 +12,17 @@ public:
virtual int open();
virtual void close();
- virtual int read( unsigned char *, unsigned int );
- virtual int write( unsigned char *, unsigned int );
virtual std::string toString() const;
- void startLogging(std::string file);
+protected:
+ virtual int readInternal( unsigned char *, unsigned int );
+ virtual int writeInternal( unsigned char *, unsigned int );
private:
const char *device;
unsigned int bitrate;
int fd;
- BinaryLogger* log;
};
#endif // SERIALINTERFACE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
new file mode 100644
index 000000000..021bcc12c
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
@@ -0,0 +1,20 @@
+#include "TextWriter.h"
+
+using namespace armarx;
+
+TextWriter::TextWriter(std::string filename)
+{
+ this->file.open(filename.c_str());
+}
+
+TextWriter::~TextWriter()
+{
+ file.close();
+}
+
+void TextWriter::writeLine(std::string message)
+{
+ file << message;
+ file << std::endl;
+ file.flush();
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
new file mode 100644
index 000000000..d0a87537b
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
@@ -0,0 +1,21 @@
+#ifndef TEXTWRITER_H
+#define TEXTWRITER_H
+
+#include <fstream>
+
+namespace armarx
+{
+ class TextWriter
+ {
+ public:
+ TextWriter(std::string filename);
+ ~TextWriter();
+
+ void writeLine(std::string message);
+
+ private:
+ std::ofstream file;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
index ba44fc167..4a5a731cd 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
@@ -1,7 +1,7 @@
#include "WeissHapticSensor.h"
-#include <Core/util/variants/eigen3/MatrixVariant.h>
-#include <Core/observers/variant/TimestampVariant.h>
#include "TransmissionException.h"
+#include <boost/regex.hpp>
+#include <boost/format.hpp>
using namespace armarx;
@@ -9,17 +9,23 @@ WeissHapticSensor::WeissHapticSensor(std::string device)
: device(device)
{
sensorTask = new RunningTask<WeissHapticSensor>(this, &WeissHapticSensor::frameAcquisitionTaskLoop);
+ boost::smatch match;
+ boost::regex_search( device, match, boost::regex("\\w+$") );
+ this->deviceFileName = match[0];
}
void WeissHapticSensor::connect()
{
+
//cout << "Open Serial" << endl;
this->interface.reset(new SerialInterface(device.c_str(), 115200));
- //interface->startLogging(this->deviceFileName + ".transmission.log");
+ interface->startLogging(deviceFileName + ".transmission.log");
interface->open();
//cout << *interface << endl;
this->sensor.reset(new TactileSensor(interface));
+ jsWriter.reset(new TextWriter(deviceFileName + ".js"));
+
//cout << "Stop Periodic Frame Acquisition" << endl;
sensor->stopPeriodicFrameAcquisition();
@@ -33,6 +39,12 @@ void WeissHapticSensor::connect()
this->tag = sensor->getDeviceTag();
//cout << boost::format("Sensor Tag = %1%") % tag << endl;
+ jsWriter->writeLine(str(boost::format("%s = {};") % deviceFileName));
+ jsWriter->writeLine(str(boost::format("sensors.push(%s);") % deviceFileName));
+ jsWriter->writeLine(str(boost::format("%s.device = \"%s\";") % deviceFileName % device));
+ jsWriter->writeLine(str(boost::format("%s.tag = \"%s\";") % deviceFileName % tag));
+ jsWriter->writeLine(str(boost::format("%s.data = [];") % deviceFileName));
+
//cout << "Tare Sensor Matrix" << endl;
//sensor->tareSensorMatrix(1);
@@ -90,14 +102,25 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
(*matrix)(y, x) = val;
}
}
- listenerPrx->reportSensorValues(device, tag, matrix, TimestampVariant::nowPtr());
+ TimestampVariantPtr now = TimestampVariant::nowPtr();
+ writeMatrixToJs(matrix, now);
+ listenerPrx->reportSensorValues(device, tag, matrix, now);
}
catch(ChecksumErrorException)
{
- ARMARX_WARNING << "Caught ChecksumErrorException, skipping frame";
+ ARMARX_WARNING << "Caught ChecksumErrorException on " << device << ", skipping frame";
}
}
cout << this << ": stopPeriodicFrameAcquisition" << endl;
sensor->stopPeriodicFrameAcquisition();
}
+
+void WeissHapticSensor::writeMatrixToJs(MatrixFloatPtr matrix, TimestampVariantPtr timestamp)
+{
+ //std::cout << "writeMatrixToJs" << std::endl;
+ if(jsWriter != NULL)
+ {
+ jsWriter->writeLine(str(boost::format("%s.data.push([%i, %s]);") % deviceFileName % timestamp->getTimestamp() % matrix->toJsonRowMajor()));
+ }
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
index 5f4efb2db..acfaad733 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
@@ -7,6 +7,9 @@
#include "TactileSensor.h"
#include <RobotAPI/interface/units/HapticUnit.h>
#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+#include "TextWriter.h"
+#include <Core/observers/variant/TimestampVariant.h>
+#include <Core/util/variants/eigen3/MatrixVariant.h>
namespace armarx
{
@@ -23,14 +26,17 @@ namespace armarx
private:
RunningTask<WeissHapticSensor>::pointer_type sensorTask;
+ boost::shared_ptr<TextWriter> jsWriter;
void frameAcquisitionTaskLoop();
std::string device;
+ std::string deviceFileName;
boost::shared_ptr<SerialInterface> interface;
boost::shared_ptr<TactileSensor> sensor;
bool connected;
string tag;
tac_matrix_info_t mi;
HapticUnitListenerPrx listenerPrx;
+ void writeMatrixToJs(MatrixFloatPtr matrix, TimestampVariantPtr timestamp);
};
}
diff --git a/source/RobotAPI/units/HapticObserver.cpp b/source/RobotAPI/units/HapticObserver.cpp
index cca4d8b0c..033532980 100644
--- a/source/RobotAPI/units/HapticObserver.cpp
+++ b/source/RobotAPI/units/HapticObserver.cpp
@@ -73,14 +73,18 @@ void HapticObserver::reportSensorValues(const std::string& device, const std::st
setDataField(device, "mean", Variant(mean));
setDataField(device, "timestamp", timestampPtr);
}
- if(statistics.count(device) > 0)
+ /*if(statistics.count(device) > 0)
{
statistics.at(device).add(timestamp->timestamp);
+ HapticSampleStatistics stats = statistics.at(device);
+ long avg = stats.average();
+ float rate = avg == 0 ? 0 : 1000000.0f / (float)avg;
+ setDataField(device, "rate", Variant(rate));
}
else
{
statistics.insert(std::map<std::string,HapticSampleStatistics>::value_type(device, HapticSampleStatistics(100, timestamp->timestamp)));
- }
+ }*/
updateChannel(device);
}
@@ -92,7 +96,7 @@ PropertyDefinitionsPtr HapticObserver::createPropertyDefinitions()
void HapticObserver::updateStatistics()
{
- ScopedLock lock(dataMutex);
+ /*ScopedLock lock(dataMutex);
//ARMARX_LOG << "updateStatistics";
long now = TimestampVariant::nowLong();
for (std::map<std::string, HapticSampleStatistics>::iterator it = statistics.begin(); it != statistics.end(); ++it)
@@ -103,5 +107,5 @@ void HapticObserver::updateStatistics()
float rate = avg == 0 ? 0 : 1000000.0f / (float)avg;
setDataField(device, "rate", Variant(rate));
updateChannel(device);
- }
+ }*/
}
diff --git a/source/RobotAPI/units/HapticObserver.h b/source/RobotAPI/units/HapticObserver.h
index 88e9d74b6..0ef0de014 100644
--- a/source/RobotAPI/units/HapticObserver.h
+++ b/source/RobotAPI/units/HapticObserver.h
@@ -69,7 +69,7 @@ namespace armarx
lastTimestamp = timestamp;
}
- long average(long timestamp)
+ /*long average(long timestamp)
{
long sum = timestamp - lastTimestamp;
for(std::vector<long>::iterator it = deltas.begin(); it != deltas.end(); ++it)
@@ -77,6 +77,20 @@ namespace armarx
sum += *it;
}
return sum / (deltas.size() + 1);
+ }*/
+
+ long average()
+ {
+ if(deltas.size() == 0)
+ {
+ return 0;
+ }
+ long sum = 0;
+ for(std::vector<long>::iterator it = deltas.begin(); it != deltas.end(); ++it)
+ {
+ sum += *it;
+ }
+ return sum / deltas.size();
}
private:
--
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