Log Class Reference

Provides data logging capabilities. Data is logged in CSV format. More...

Public Types
enum	Parameters {   Parameters.SimulationTime, Parameters.SimulationTimeScale, Parameters.RobotPosition, Parameters.RobotIsStuck,   Parameters.DestinationPosition, Parameters.NavigationPathFound, Parameters.NavigationMoveDirection }

Static Public Member Functions
static void	LogParameter (Parameters parameter, bool log)
	Moves parameters between availableParams and selectedParams lists. More...
static void	Start ()
	Start logging. More...
static void	Settings ()
	Serialize the current simulation settings and write to XML file. More...
static void	Stop (Simulation.StopCode stopcode)
	Stop logging with Simulation.Stopcode and write log to CSV file. More...

Static Public Attributes
static float	timeStep = 0.05f
	The time between log entries in seconds. More...
static List< Parameters >	availableParams = new List<Parameters>()
	List of parameters that haven't been selected for logging. More...
static List< Parameters >	selectedParams = new List<Parameters>()
	List of parameters selected for logging. More...

Properties
static bool	logging [get, private set]
	Gets a value indicating whether this Log is logging. More...

Static Private Member Functions
static	Log ()
static IEnumerator	LogRoutine ()
	logging routine More...
static string	GetData (Parameters parameter)
	Gets the data for a specified parameter More...

Static Private Attributes
static string	header
	metadata to write to the top of the CSV file More...
static Queue< string >	log = new Queue<string>()
	FIFO timeframe data buffer to be written to file More...

Detailed Description

Provides data logging capabilities. Data is logged in CSV format.

Definition at line 10 of file Log.cs.

Member Enumeration Documentation

enum Log.Parameters

Enumerator
SimulationTime	The simulation time (float).
SimulationTimeScale	The simulation time scale (float).
RobotPosition	The robot current position (Vector3).
RobotIsStuck	Indication of robot stuck detection as percentage (0 to 100).
DestinationPosition	The destination position (Vector3).
NavigationPathFound	Bool output from INavigation.pathFound
NavigationMoveDirection	Vector3 output from INavigation.PathDirection

Definition at line 13 of file Log.cs.

                           {
        SimulationTime,
        SimulationTimeScale,
        RobotPosition,
        RobotIsStuck,
        DestinationPosition,
        NavigationPathFound,
        NavigationMoveDirection
    }

Constructor & Destructor Documentation

static Log.Log ( )

staticprivate

Definition at line 79 of file Log.cs.

                 {
        foreach(Parameters p in (Parameters[])Enum.GetValues(typeof(Parameters))) {
            availableParams.Add(p);
        }
        // parameters logged by default
        LogParameter(Parameters.SimulationTime, true);
        LogParameter(Parameters.RobotPosition, true);
        LogParameter(Parameters.NavigationMoveDirection, true);
        LogParameter(Parameters.DestinationPosition, true);
    }

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Member Function Documentation

static string Log.GetData ( Parameters  parameter )

staticprivate

Gets the data for a specified parameter

Returns

The data.

Parameters

parameter

Parameter.

Definition at line 209 of file Log.cs.

                                                        {
        switch (parameter) {
        case Parameters.SimulationTime:
            return Simulation.time.ToString();
        case Parameters.SimulationTimeScale:
            return Simulation.timeScale.ToString();
        case Parameters.RobotPosition:
            return Simulation.robot.rigidbody.worldCenterOfMass.ToString("F2");
        case Parameters.RobotIsStuck:
            return Simulation.robot.stuckpc.ToString();
        case Parameters.DestinationPosition:
            return Simulation.destination.transform.position.ToString("F2");
        case Parameters.NavigationPathFound:
            return Simulation.robot.navigation.pathFound.ToString();
        case Parameters.NavigationMoveDirection:
            return Simulation.robot.navigationCommand.ToString("F2");
        }
        return null;
    }

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static void Log.LogParameter ( Parameters  parameter, bool  log  )

static

Moves parameters between availableParams and selectedParams lists.

Parameters

parameter	Parameter.
log	If set to true parameter is added to selectedParams for logging.

Definition at line 95 of file Log.cs.

                                                                    {
        if (log) {
            if (!availableParams.Contains(parameter)) {
                Debug.LogWarning("Attempted to log unavailable parameter.");
                return;
            }
            availableParams.Remove(parameter);
            if (selectedParams.Contains(parameter)) {
                Debug.LogWarning("Attempted to log parameter twice.");
                return;
            }
            selectedParams.Add(parameter);
        }
        else {
            selectedParams.Remove(parameter);
            availableParams.Add(parameter);
        }
    }

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static IEnumerator Log.LogRoutine ( )

staticprivate

logging routine

Definition at line 188 of file Log.cs.

                                            {
        string headings = "";
        foreach(Parameters p in selectedParams) {
            headings += p.ToString() + Strings.csvDelimiter;
        }
        log.Enqueue(headings);
        while (logging) {
            string line = "";
            foreach(Parameters p in selectedParams) {
                line += "\"" + GetData(p) + "\"" + Strings.csvDelimiter;
            }
            log.Enqueue(line);
            yield return new WaitForSeconds(timeStep);
        }
    }

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static void Log.Settings ( )

static

Serialize the current simulation settings and write to XML file.

Definition at line 146 of file Log.cs.

                                  {
        string path = Strings.logFileDirectory;
        path += "\\" + System.DateTime.Now.ToString("yyyy_MM_dd");
        if (!System.IO.Directory.Exists(path)) {
            System.IO.Directory.CreateDirectory(path);
        }
        path += "\\" + Simulation.settings.fileName;
        Debug.Log("Settings saved at " + path);
        ObjectSerializer.SerializeObject(Simulation.settings, path);
    }

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static void Log.Start ( )

static

Start logging.

Definition at line 117 of file Log.cs.

                               {
        if (logging) {
            Debug.LogWarning("Already logging!");
            return;
        }
        Debug.Log("Log Started.");
        string br = Strings.newline + Strings.csvComment;
        char d = Strings.csvDelimiter;
        Simulation.Settings info = Simulation.settings;
        header = Strings.csvComment + Strings.projectTitle + " " + Strings.projectVersion + " - Data Log " + d +
            DateTime.Now.ToShortDateString() + d + DateTime.Now.ToShortTimeString();
        header += br + info.title + d + info.date + " " + info.time;
        header += br + Strings.csvXmlCommentTag + info.fileName;
        header += br + "Test number" + d + Simulation.testNumber + d + "of" + d + info.numberOfTests;
        header += br + "Robot" + d + info.robotName;
        header += br + "Navigation Assembly" + d + info.navigationAssemblyName;
        header += br + "Environment" + d + info.environmentName;
        header += br + "Randomize Origin" + d + info.randomizeOrigin;
        header += br + "Randomize Destination" + d + info.randomizeDestination;
        header += br + "Maximum Test Time" + d + info.maximumTestTime;
        header += br + "Continue on NavObjectiveComplete" + d + info.continueOnNavObjectiveComplete;
        header += br + "Continue on RobotIsStuck" + d + info.continueOnRobotIsStuck;
        logging = true;
        Simulation.Instance.StartCoroutine(LogRoutine());
    }

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static void Log.Stop ( Simulation.StopCode  stopcode )

static

Stop logging with Simulation.Stopcode and write log to CSV file.

Parameters

stopcode

Stopcode.

Definition at line 161 of file Log.cs.

                                                          {
        if (logging) {
            logging = false;
            string path = Strings.logFileDirectory;
            path += "\\" + System.DateTime.Now.ToString("yyyy_MM_dd");
            if (!Directory.Exists(path)) {
                Directory.CreateDirectory(path);
            }
            path += "\\" + System.DateTime.Now.ToString("yyyyMMdd_HHmmss_");
            path += Simulation.settings.title + "_" + Simulation.testNumber;
            path += ".csv";
            header += Strings.newline + Strings.csvComment + "Test ran for" + Strings.csvDelimiter + Simulation.time;
            header += Strings.csvDelimiter + "and stopped with" + Strings.csvDelimiter + stopcode.ToString() + Strings.newline; 
            string data = header + Strings.newline;
            while(log.Count > 0) {
                data += log.Dequeue() + Strings.newline;
            }
            File.WriteAllText(path, data);
            Debug.Log("Log created at: " + path);
        }
        
        log.Clear();
    }

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Member Data Documentation

List<Parameters> Log.availableParams = new List<Parameters>()

static

List of parameters that haven't been selected for logging.

Definition at line 52 of file Log.cs.

string Log.header

staticprivate

metadata to write to the top of the CSV file

Definition at line 71 of file Log.cs.

Queue<string> Log.log = new Queue<string>()

staticprivate

FIFO timeframe data buffer to be written to file

Definition at line 76 of file Log.cs.

List<Parameters> Log.selectedParams = new List<Parameters>()

static

List of parameters selected for logging.

Definition at line 57 of file Log.cs.

float Log.timeStep = 0.05f

static

The time between log entries in seconds.

Definition at line 47 of file Log.cs.

Property Documentation

bool Log.logging

staticgetprivate set

Gets a value indicating whether this Log is logging.

true if logging; otherwise, false.

Definition at line 64 of file Log.cs.

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

• Assets/botnavsim/Scripts/Log.cs