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Add option to log the logger without the ZED (#52)
* Add option to log the logger without the ZED * Typo --------- Co-authored-by: ihmc-rosie <[email protected]>
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+67
-50
lines changed

2 files changed

+67
-50
lines changed

‎src/main/java/us/ihmc/robotDataLogger/logger/YoVariableLogger.java‎

Lines changed: 7 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -19,11 +19,13 @@ public class YoVariableLogger
1919
{
2020
// changed to a 10s timeout for camp lejeune demo
2121
public static final int timeout = 25000; // 2500;
22+
private final YoVariableLoggerOptions options;
2223

23-
private final ZEDSVOLoggerManager zedSVOLoggerManager;
24+
private ZEDSVOLoggerManager zedSVOLoggerManager;
2425

2526
public YoVariableLogger(HTTPDataServerConnection connection, YoVariableLoggerOptions options, Consumer<Announcement> doneListener) throws IOException
2627
{
28+
this.options = options;
2729
Path logDirectory = Paths.get(options.getLogDirectory());
2830

2931
if (!Files.exists(logDirectory))
@@ -85,11 +87,13 @@ else if (!Files.isDirectory(logDirectory))
8587
throw e;
8688
}
8789

88-
zedSVOLoggerManager = new ZEDSVOLoggerManager(tempDirectory, finalDirectory, logger::getLastReceivedTimestamp);
90+
if (!options.getDisableZEDLogging())
91+
zedSVOLoggerManager = new ZEDSVOLoggerManager(tempDirectory, finalDirectory, logger::getLastReceivedTimestamp);
8992
}
9093

9194
public void destroy()
9295
{
93-
zedSVOLoggerManager.destroy();
96+
if (!options.getDisableZEDLogging())
97+
zedSVOLoggerManager.destroy();
9498
}
9599
}

‎src/main/java/us/ihmc/robotDataLogger/logger/YoVariableLoggerOptions.java‎

Lines changed: 60 additions & 47 deletions
Original file line numberDiff line numberDiff line change
@@ -26,6 +26,8 @@ public class YoVariableLoggerOptions
2626

2727
private boolean disableVideo = false;
2828

29+
private boolean disableZEDLogging = false;
30+
2931
private boolean flushAggressivelyToDisk = false;
3032

3133
private boolean disableAutoDiscovery = false;
@@ -41,53 +43,54 @@ public static YoVariableLoggerOptions parse(String[] args) throws JSAPException
4143
SimpleJSAP jsap = new SimpleJSAP("YoVariabeLogger",
4244
"Logs YoVariables and video from a robot",
4345
new Parameter[] {new Switch("disableVideo", 'n', "noVideo", "Disable video recording"),
44-
new FlaggedOption("logDirectory",
45-
JSAP.STRING_PARSER,
46-
YoVariableLoggerOptions.defaultLogDirectory,
47-
JSAP.NOT_REQUIRED,
48-
'd',
49-
"directory",
50-
"Directory where to save log files"),
51-
new FlaggedOption("videoQuality",
52-
JSAP.DOUBLE_PARSER,
53-
String.valueOf(YoVariableLoggerOptions.defaultVideoQuality),
54-
JSAP.NOT_REQUIRED,
55-
'q',
56-
"quality",
57-
"Video quality for MJPEG"),
58-
new FlaggedOption("videoCodec",
59-
JSAP.STRING_PARSER,
60-
String.valueOf(defaultCodec),
61-
JSAP.NOT_REQUIRED,
62-
'c',
63-
"codec",
64-
"Desired video codec. AV_CODEC_ID_H264 or AV_CODEC_ID_MJPEG"),
65-
new FlaggedOption("crf",
66-
JSAP.INTEGER_PARSER,
67-
String.valueOf(defaultCRF),
68-
JSAP.NOT_REQUIRED,
69-
'r',
70-
"crf",
71-
"CRF (Constant rate factor) for H264. 0-51, 0 is lossless. Sane values are 18 to 28."),
72-
new FlaggedOption("rotate",
73-
JSAP.INTEGER_PARSER,
74-
"0",
75-
JSAP.NOT_REQUIRED,
76-
'o',
77-
"rotate",
78-
"Rotate logs in incoming folder, keep n logs. Set to zero to keep all logs."),
79-
new FlaggedOption("allowManyInstances",
80-
JSAP.BOOLEAN_PARSER,
81-
"false",
82-
JSAP.NOT_REQUIRED,
83-
'm',
84-
"allowManyInstances",
85-
"Allow more than one instance of the logger at once."),
86-
new Switch("flushAggressivelyToDisk",
87-
's',
88-
"sync",
89-
"Aggressively flush data to disk. Reduces change of data loss but doesn't work on slow platters."),
90-
new Switch("disableAutoDiscovery", 'a', "noDiscovery", "Disable autodiscovery of clients.")});
46+
new Switch("disableZEDLogging", 'z', "noZEDLogging", "Disable ZED Logging"),
47+
new FlaggedOption("logDirectory",
48+
JSAP.STRING_PARSER,
49+
YoVariableLoggerOptions.defaultLogDirectory,
50+
JSAP.NOT_REQUIRED,
51+
'd',
52+
"directory",
53+
"Directory where to save log files"),
54+
new FlaggedOption("videoQuality",
55+
JSAP.DOUBLE_PARSER,
56+
String.valueOf(YoVariableLoggerOptions.defaultVideoQuality),
57+
JSAP.NOT_REQUIRED,
58+
'q',
59+
"quality",
60+
"Video quality for MJPEG"),
61+
new FlaggedOption("videoCodec",
62+
JSAP.STRING_PARSER,
63+
String.valueOf(defaultCodec),
64+
JSAP.NOT_REQUIRED,
65+
'c',
66+
"codec",
67+
"Desired video codec. AV_CODEC_ID_H264 or AV_CODEC_ID_MJPEG"),
68+
new FlaggedOption("crf",
69+
JSAP.INTEGER_PARSER,
70+
String.valueOf(defaultCRF),
71+
JSAP.NOT_REQUIRED,
72+
'r',
73+
"crf",
74+
"CRF (Constant rate factor) for H264. 0-51, 0 is lossless. Sane values are 18 to 28."),
75+
new FlaggedOption("rotate",
76+
JSAP.INTEGER_PARSER,
77+
"0",
78+
JSAP.NOT_REQUIRED,
79+
'o',
80+
"rotate",
81+
"Rotate logs in incoming folder, keep n logs. Set to zero to keep all logs."),
82+
new FlaggedOption("allowManyInstances",
83+
JSAP.BOOLEAN_PARSER,
84+
"false",
85+
JSAP.NOT_REQUIRED,
86+
'm',
87+
"allowManyInstances",
88+
"Allow more than one instance of the logger at once."),
89+
new Switch("flushAggressivelyToDisk",
90+
's',
91+
"sync",
92+
"Aggressively flush data to disk. Reduces change of data loss but doesn't work on slow platters."),
93+
new Switch("disableAutoDiscovery", 'a', "noDiscovery", "Disable autodiscovery of clients.")});
9194
JSAPResult config = jsap.parse(args);
9295
if (jsap.messagePrinted())
9396
{
@@ -100,6 +103,7 @@ public static YoVariableLoggerOptions parse(String[] args) throws JSAPException
100103
options.setLogDirectory(config.getString("logDirectory"));
101104
options.setVideoQuality(config.getDouble("videoQuality"));
102105
options.setDisableVideo(config.getBoolean("disableVideo"));
106+
options.setDisableZEDLogging(config.getBoolean("disableZEDLogging"));
103107
options.setVideoCodec(CodecID.valueOf(config.getString("videoCodec")));
104108
options.setRotateLogs(config.getInt("rotate"));
105109
options.setAllowManyInstances(config.getBoolean("allowManyInstances"));
@@ -215,4 +219,13 @@ public void setDisableAutoDiscovery(boolean disableAutoDiscovery)
215219
this.disableAutoDiscovery = disableAutoDiscovery;
216220
}
217221

222+
public boolean getDisableZEDLogging()
223+
{
224+
return disableZEDLogging;
225+
}
226+
227+
public void setDisableZEDLogging(boolean disableZEDLogging)
228+
{
229+
this.disableZEDLogging = disableZEDLogging;
230+
}
218231
}

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