Modules/BehaviorControl/GT2005BehaviorControl/GT2005KickLogger/GT2005KickLogger.cpp

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/**
* @file GT2005KickLogger.cpp
* 
* Implementation of class GT2005KickLogger.
*
* @author Carsten Schumann
*/ 

#include "GT2005KickLogger.h"
#include <stdio.h>

GT2005KickLogger::GT2005KickLogger()
{
}

void GT2005KickLogger::addResult(GT2005KickRecord& r)
{
  std::list<GT2005KickRecord>::iterator i=findInsertPos(r.direction);

  GT2005KickRecord item=r;
  item.count=1;

  if ((i!=list.end()) || (i->direction<r.direction)){
    list.insert(i,item);
  } else {
    list.push_back(item);
  }
}


std::list<GT2005KickRecord>::iterator GT2005KickLogger::findInsertPos(int direction)
{
  std::list<GT2005KickRecord>::iterator i;
  i=list.begin();

  while ((i!=list.end()) && (i->direction < direction)){
    i++;
  }
  return i;
}

void GT2005KickLogger::loadLatest(){

}
void GT2005KickLogger::save(){
  FILE * pFile;
  pFile = fopen ("/MS/kicklog.txt","wt");

  if (pFile!=NULL)
  {
    std::list<GT2005KickRecord>::iterator i;
    i=list.begin();

/*
void GT2005KickLogger::addResult(Vector2<int> before_ball_translation,
Vector2<int> before_robot_translation,
double before_robot_rotation,
Vector2<int> while_ball_translation,
Vector3<int> while_robot_speed,
Vector2<int> while_robot_translation,
double while_robot_rotation,
Vector2<int> while_ball_relative_translation,
Vector2<int> trigger_relative,
Vector2<int> after_robot_translation,
double after_robot_rotation,
Vector2<int> after_ball_translation,
const char* kick,
int direction,
int distance)
*/
    fprintf(pFile,"Direction ; Distance ; whi_ball_rel.x ; whi_ball_rel.y ; Kick ; bef_ball_tra.x ; bef_ball_tra.y ; bef_rob_tra.x ; bef_rob_tra.y ; bef_rob_rot ; whi_ball_tra.x ; whi_ball_tra.y ; whi_rob_tra.x ; whi_rob_tra.y ; whi_rob_rot ; whi_rob_speed.x ; whi_rob_speed.y ; whi_rob_speed.r ; aft_ball_tra.x ; aft_ball_tra.y ; aft_rob_tra.x ; aft_rob_tra.y ; aft_rob_rot ; trigger.x ; trigger.y ; count\n");
    while (i!=list.end()){
      //Format: Direction, Distance, Kick, bx, by, exbx, exby, sx, sy, sz, count
      
      fprintf(pFile,"%i; %i; %i; %i; %s; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i; %i\n",
                                                         i->direction,
                                                         i->distance,
                                                         i->while_ball_relative_translation.x,
                                                         i->while_ball_relative_translation.y,
                                                         i->kick,
                                                         i->before_ball_translation.x,
                                                         i->before_ball_translation.y,
                                                         i->before_robot_translation.x,
                                                         i->before_robot_translation.y,
                                                         i->before_robot_rotation,
                                                         i->while_ball_translation.x,
                                                         i->while_ball_translation.y,
                                                         i->while_robot_translation.x,
                                                         i->while_robot_translation.y,
                                                         i->while_robot_rotation,
                                                         i->while_robot_speed.x,
                                                         i->while_robot_speed.y,
                                                         i->while_robot_speed.z,
                                                         i->after_ball_translation.x,
                                                         i->after_ball_translation.y,
                                                         i->after_robot_translation.x,
                                                         i->after_robot_translation.y,
                                                         i->after_robot_rotation,
                                                         i->trigger_relative.x,
                                                         i->trigger_relative.y,
                                                         i->count);
      i++;
    }
    fclose (pFile);
  }
}


/*  int upperBound=list.size()-1;
  int lowerBound=0;

  while (upperBound<lowerBound)
  {
    int middle=(upperBound+lowerBound)/2;
    if (direction>list[middle] && (middle != lowerBound)){
      lowerBound=middle;
    } else {
      upperBound=middle;
    }
  }
  return loweBound; // ==upperBound==middle
}
*/

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