DynaRecording Class Reference

#include <dynashell_recording.h>

Public Member Functions
	DynaRecording ()
	Default constructor.
virtual	~DynaRecording ()
	Default destructor.
virtual void	Init (int nSamplePeriod, const char *sDate=NULL)
	(Re)Initialize recording. More...
virtual int	FirstRecord ()
	Get the first record number in the recording. More...
virtual int	NextRecord (int nRecNum)
	Get the next record number in the recording after the given record number. More...
virtual int	AddRecord ()
	Add a new empty record to the recording. More...
virtual int	CopyRecord (int nRecNumDst, int nRecNumSrc)
	Copy source record to destination record. More...
virtual int	FirstField (int nRecNum)
	Get the first field number in the given record. More...
virtual int	NextField (int nRecNum, int nFldNum)
	Get the next field number in the record after the given field number. More...
virtual int	AddFieldTuple (int nRecNum, int nServoId, int nPos, int nSpeed)
	Add new recording field tuple. More...
virtual const DynaRecord::FieldTuple_T &	GetField (const int nRecNum, const int nFldNum) const
	Get the given recorded field tuple. More...
virtual int	GetNumOfRecords ()
	Get the number of records in the recording. More...
virtual int	GetNumOfServosInRecording ()
	Get the number of servos in the recording. More...
virtual int	RegisterServoInfo (int nServoId, uint_t uModelNum)
	Register servo information in recording header. More...
virtual const int	GetServoId (int nFldNum)
	Get the servo id associated with the given field number. More...
virtual bool	HasServoAt (int nFldNum, int nServoId) const
	Check if the given servo is associated with the given field number, as per the ordering of the registered servos in the recording header. More...
virtual bool	HasServo (int nServoId)
	Check if the given servo is in the list of registered servos in the recording header. More...
virtual uint_t	GetServoModelNumber (int nServoId)
	Get the registered servo model number. More...
virtual int	GetSamplePeriod () const
	Get the sample period of the recording. More...
virtual int	SetSamplePeriod (int nSamplePeriod)
	Set the sample period of the recording. More...
virtual const char *	GetDate () const
	Get the recording data. More...
virtual void	SetDate (const char *sDate)
DynaRecord const &	operator[] (const int nRecNum) const
	Subscript operator. More...

Static Public Attributes
static const int	MaxRecords = 5000
	maximum number of records
static const int	END = -1
	past-the-end mark

Protected Types
typedef vector< ServoInfo_T >	VecServoInfo
	Map of record servos ids and model numbers indexed by field number.
typedef map< int, int >	MapIIdx
	Indirect indexing by servo id of servo info map.

Protected Attributes
char *	m_sDate
	recording date
VecServoInfo	m_vecServoInfo
	vector of recorded servo information
MapIIdx	m_mapIIdx
	indirect index map
int	m_nSamplePeriod
	recording sample period (ms)
int	m_nRecordCnt
	number of records recorded
DynaRecord	m_record [MaxRecords]
	the recording data

Detailed Description

Dynamixel recording. The recording is usually made by a training session, but does not have to be.

Definition at line 186 of file dynashell_recording.h.

Member Function Documentation

int DynaRecording::AddFieldTuple ( int  nRecNum, int  nServoId, int  nPos, int  nSpeed  )

virtual

Add new recording field tuple.

The field position must match the registered servo position listed in the header.

Parameters

nRecNum	Record number.
nServoId	Servo id of field tuple data.
nPos	Servo position.
nSpeed	Servo speed.

Returns

Returns added field number on success.
Returns END of failure to add.

Definition at line 208 of file dynashell_recording.cxx.

Referenced by DynaShellCmdLoadRecording::ParseRecordedData(), and DynaShellCmdTrain::RecordTraining().

{
  int nFieldCnt;

  nFieldCnt = m_record[nRecNum].GetFieldCount();

  if( nRecNum == END )
  {
    return END;
  }
  else if( nRecNum >= m_nRecordCnt )
  {
    LOGERROR("Record number %d >= record count = %d.", nRecNum, m_nRecordCnt);
    return END;
  }
  else if( nFieldCnt >= GetNumOfServosInRecording() )
  {
    LOGERROR("Record %d field count %d at maximum.", nRecNum, nFieldCnt);
    return END;
  }
  else if( !HasServoAt(nFieldCnt, nServoId) )
  {
    LOGERROR("Servo %d not found in recording header at field position %d.",
        nServoId, nFieldCnt);
    return END;
  }
  else
  {
    return m_record[nRecNum].AddField(nPos, nSpeed);
  }
}

int DynaRecording::AddRecord ( )

virtual

Add a new empty record to the recording.

Returns

If the number of records already in the recording is MaxRecords and there are registered servos listed in the recording header, then the new record number is returned.
Otherwise END is returned.

Definition at line 176 of file dynashell_recording.cxx.

Referenced by DynaShellCmdLoadRecording::ParseRecordedData(), and DynaShellCmdTrain::RecordTraining().

{
  int nRecNum;

  if( (m_nRecordCnt >= MaxRecords) || (GetNumOfServosInRecording() == 0) )
  {
    return END;
  }
  else
  {
    nRecNum = m_nRecordCnt;
    m_record[nRecNum].ResetFieldCount();
    ++m_nRecordCnt;
    return nRecNum;
  }
}

virtual int DynaRecording::CopyRecord ( int  nRecNumDst, int  nRecNumSrc  )

inlinevirtual

Copy source record to destination record.

Parameters

nRecNumDst	Destination record number.
nRecNumSrc	Source record number.

Returns

On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 256 of file dynashell_recording.h.

References DYNA_ECODE_BAD_VAL, and DYNA_OK.

  {
    if( (nRecNumDst == END) || (nRecNumDst >= m_nRecordCnt) ||
        (nRecNumSrc == END) || (nRecNumSrc >= m_nRecordCnt) )
    {
      return -DYNA_ECODE_BAD_VAL;
    }

    m_record[nRecNumDst] = m_record[nRecNumSrc];

    return DYNA_OK;
  }

virtual int DynaRecording::FirstField ( int  nRecNum )

inlinevirtual

Get the first field number in the given record.

Parameters

nRecNum

Record number.

Returns

If a field is present, returns the first field number (0).
Otherwise END is returned.

Definition at line 278 of file dynashell_recording.h.

Referenced by DynaShellCmdPlay::ControlToGoals(), DynaShellCmdSaveRecording::Save(), and DynaShellCmdPlay::SetRecordGoals().

  {
    if( (nRecNum < m_nRecordCnt) && (m_record[nRecNum].GetFieldCount() > 0) )
    {
      return 0;
    }
    else
    {
      return END;
    }
  }

virtual int DynaRecording::FirstRecord ( )

inlinevirtual

Get the first record number in the recording.

Returns

If a recording is present, returns the first record number (0).
Otherwise END is returned.

Definition at line 220 of file dynashell_recording.h.

Referenced by DynaShellCmdPlay::Play(), and DynaShellCmdSaveRecording::Save().

  {
    return m_nRecordCnt > 0? 0: END;
  }

virtual const char* DynaRecording::GetDate ( ) const

inlinevirtual

Get the recording data.

Returns

Returns date string.

Definition at line 457 of file dynashell_recording.h.

Referenced by DynaShellCmdLoadRecording::Load(), DynaShellCmdPlay::Play(), DynaShellCmdPlay::PlotInit(), and DynaShellCmdSaveRecording::Save().

  {
    return m_sDate;
  }

virtual const DynaRecord::FieldTuple_T& DynaRecording::GetField ( const int  nRecNum, const int  nFldNum  ) const

inlinevirtual

Get the given recorded field tuple.

Parameters

nRecNum	Record number.
nFldNum	Field number.

Returns

On success, returns the specified field tuple.
On failure, returns DynaRecord::NoField. (use DynaRecord::NaF() to test);

Definition at line 327 of file dynashell_recording.h.

References DynaRecord::NoField.

Referenced by DynaShellCmdSaveRecording::Save(), and DynaShellCmdPlay::SetRecordGoals().

  {
    if( (nRecNum < m_nRecordCnt) &&
        (nFldNum < m_record[nRecNum].GetFieldCount()) )
    {
      return m_record[nRecNum][nFldNum];
    }
    else
    {
      DynaRecord::NoField;
    }
  }

virtual int DynaRecording::GetNumOfRecords ( )

inlinevirtual

Get the number of records in the recording.

Number of records.

Definition at line 346 of file dynashell_recording.h.

Referenced by DynaShellCmdPlay::ControlToGoals(), DynaShellCmdSaveRecording::Exec(), DynaShellCmdPlay::Exec(), DynaShellCmdLoadRecording::Load(), DynaShellCmdPlay::Play(), DynaShellCmdPlay::PlotInit(), and DynaShellCmdSaveRecording::Save().

  {
    return m_nRecordCnt;
  }

virtual int DynaRecording::GetNumOfServosInRecording ( )

inlinevirtual

Get the number of servos in the recording.

The number of servos is the count of registered servos in the recording header.

Returns

Number of servos.

Definition at line 359 of file dynashell_recording.h.

Referenced by DynaShellCmdPlay::Exec(), DynaShellCmdLoadRecording::Load(), and DynaShellCmdSaveRecording::Save().

  {
    return (int)m_vecServoInfo.size();
  }

virtual int DynaRecording::GetSamplePeriod ( ) const

inlinevirtual

Get the sample period of the recording.

Returns

Returns the sample period in milliseconds.

Definition at line 433 of file dynashell_recording.h.

Referenced by DynaShellCmdPlay::ControlToGoals(), DynaShellCmdLoadRecording::Load(), DynaShellCmdPlay::PlotInit(), and DynaShellCmdSaveRecording::Save().

  {
    return m_nSamplePeriod;
  }

virtual const int DynaRecording::GetServoId ( int  nFldNum )

inlinevirtual

Get the servo id associated with the given field number.

Returns

On success, returns the servo id. Otherwise DYNA_ID_NONE is returned.

Definition at line 372 of file dynashell_recording.h.

References DYNA_ID_NONE.

Referenced by DynaShellCmdPlay::ControlToGoals(), DynaShellCmdLoadRecording::ParseRecordedData(), DynaShellCmdSaveRecording::Save(), and DynaShellCmdPlay::SetRecordGoals().

  {
    return  (nFldNum < (int)m_vecServoInfo.size())?
            m_vecServoInfo[nFldNum].m_nServoId: DYNA_ID_NONE;
  }

virtual uint_t DynaRecording::GetServoModelNumber ( int  nServoId )

inlinevirtual

Get the registered servo model number.

Parameters

nServoid

Servo Id.

Returns

Returns the model number. If no servo is found returns DYNA_MODEL_NUM_GENERIC.

Definition at line 414 of file dynashell_recording.h.

References DYNA_MODEL_NUM_GENERIC.

Referenced by DynaShellCmdPlay::Exec(), and DynaShellCmdSaveRecording::Save().

  {
    MapIIdx::iterator iter;

    if( (iter = m_mapIIdx.find(nServoId)) != m_mapIIdx.end() )
    {
      return m_vecServoInfo[m_mapIIdx[nServoId]].m_uModelNum;
    }
    else
    {
      return DYNA_MODEL_NUM_GENERIC;
    }
  }

virtual bool DynaRecording::HasServo ( int  nServoId )

inlinevirtual

Check if the given servo is in the list of registered servos in the recording header.

Parameters

nServoid

Servo Id.

Returns

Returns true or false.

Definition at line 401 of file dynashell_recording.h.

Referenced by DynaShellCmdPlay::Exec().

  {
    return m_mapIIdx.find(nServoId) != m_mapIIdx.end();
  }

virtual bool DynaRecording::HasServoAt ( int  nFldNum, int  nServoId  ) const

inlinevirtual

Check if the given servo is associated with the given field number, as per the ordering of the registered servos in the recording header.

Parameters

nFldNum	Field number.
nServoid	Servo Id.

Returns

Returns true or false.

Definition at line 387 of file dynashell_recording.h.

  {
    return  (nFldNum < (int)m_vecServoInfo.size()) &&
            (m_vecServoInfo[nFldNum].m_nServoId == nServoId);
  }

void DynaRecording::Init ( int  nSamplePeriod, const char *  sDate = NULL  )

virtual

(Re)Initialize recording.

Any previously recorded data is 'erased'.

Parameters

nSamplePeriod	Recording sample period (msec).
sData	Recording date string.

Definition at line 147 of file dynashell_recording.cxx.

Referenced by DynaShell::RecordingInit().

{
  int         nRecNum;  // working record number

  // clear vector of information about the servos in recording
  m_vecServoInfo.clear();
  m_mapIIdx.clear();

  SetDate(sDate);

  m_nSamplePeriod = nSamplePeriod;
  m_nRecordCnt    = 0;

  // clear any old records
  for(nRecNum=0; nRecNum<MaxRecords; ++nRecNum)
  {
    m_record[nRecNum].ResetFieldCount();
  }
}

virtual int DynaRecording::NextField ( int  nRecNum, int  nFldNum  )

inlinevirtual

Get the next field number in the record after the given field number.

Parameters

nRecNum	Record number.
nFldNum	Field number.

Returns

If there is a next field present in the record, returns the next field number.
Otherwise END is returned.

Definition at line 302 of file dynashell_recording.h.

Referenced by DynaShellCmdPlay::ControlToGoals(), DynaShellCmdSaveRecording::Save(), and DynaShellCmdPlay::SetRecordGoals().

  {
    if( (nFldNum == END) || (nRecNum >= m_nRecordCnt) )
    {
      return END;
    }

    ++nFldNum;

    return nFldNum < m_record[nRecNum].GetFieldCount()? nFldNum: END;
  }

virtual int DynaRecording::NextRecord ( int  nRecNum )

inlinevirtual

Get the next record number in the recording after the given record number.

Parameters

nRecNum

Record number.

Returns

If there is a next record present in the recording, returns the next record number.
Otherwise END is returned.

Definition at line 236 of file dynashell_recording.h.

Referenced by DynaShellCmdPlay::Play(), and DynaShellCmdSaveRecording::Save().

  {
    if( nRecNum == END )
    {
      return END;
    }
    ++nRecNum;
    return nRecNum < m_nRecordCnt? nRecNum: END;
  }

DynaRecord const& DynaRecording::operator[] ( const int  nRecNum ) const

inline

Subscript operator.

Parameters

nRecNum

Record number subscript.

Returns

DynaRecord.

Definition at line 471 of file dynashell_recording.h.

  {
    // TODO return nRecNum < m_nFieldCnt? m_record[nRecNum]: NoRecord;
    return m_record[nRecNum];
  }

int DynaRecording::RegisterServoInfo ( int  nServoId, uint_t  uModelNum  )

virtual

Register servo information in recording header.

Note

The order of registration is important and must match field order.

All relevant servos must be registered prior to adding records.

Parameters

nServoId	Servo Id.
uModelNum	Servo model number.

Returns

On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 254 of file dynashell_recording.cxx.

References DYNA_ECODE_BAD_VAL, DYNA_ECODE_RSRC, DYNA_ID_NUMOF, DYNA_OK, ServoInfo_T::m_nServoId, and ServoInfo_T::m_uModelNum.

Referenced by DynaShellCmdTrain::Exec(), and DynaShellCmdLoadRecording::ParseServoList().

{
  ServoInfo_T info;

  // duplicate servo registration
  if( m_mapIIdx.find(nServoId) != m_mapIIdx.end() )
  {
    return -DYNA_ECODE_BAD_VAL;
  }
  else if( (int)m_vecServoInfo.size() >= DYNA_ID_NUMOF )
  {
    return -DYNA_ECODE_RSRC;
  }

  info.m_nServoId   = nServoId;
  info.m_uModelNum  = uModelNum;

  m_vecServoInfo.push_back(info);
  m_mapIIdx[nServoId] = (int)m_vecServoInfo.size() - 1;

  return DYNA_OK;
}

void DynaRecording::SetDate ( const char *  sDate )

virtual

Set recording date string.

Parameters

sData

Recording date string. If NULL, then the current local time and date are used.

Definition at line 283 of file dynashell_recording.cxx.

References DELOBJ, and newstr().

Referenced by DynaShellCmdLoadRecording::SetDateField().

{
  size_t      n = 32;   // size of data buffer
  time_t      tnow;     // time now
  struct tm   bdtime;   // broken-down time

  // delete old recording date string
  DELOBJ(m_sDate);

  // default recording date string is 'now'
  if( sDate == NULL )
  {
    m_sDate = new char[n];
    tnow = time(NULL);
    if( (localtime_r(&tnow, &bdtime) == NULL) ||
        (strftime(m_sDate, n, "%a %b %H:%M:%S %Y", &bdtime) == 0) )
    {
      strcpy(m_sDate, "Unknown Date");
    }
  }

  // set recording date string
  else
  {
    m_sDate = newstr(sDate);
  }
}

virtual int DynaRecording::SetSamplePeriod ( int  nSamplePeriod )

inlinevirtual

Set the sample period of the recording.

Parameters

nSamplePeriod

Sample period in milliseconds.

Definition at line 443 of file dynashell_recording.h.

Referenced by DynaShellCmdLoadRecording::Load().

  {
    if( nSamplePeriod < 1 )
    {
      nSamplePeriod = 1;
    }
    m_nSamplePeriod = nSamplePeriod;
  }

---

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

• dynashell/dynashell_recording.h
• dynashell/dynashell_recording.cxx