From 70fd1304a2124917daad67c158a58f2be216cea6 Mon Sep 17 00:00:00 2001
From: john sandstedt <john sandstedt>
Date: Sat, 20 Feb 2016 15:22:53 -0500
Subject: [PATCH] adam style csv logging code

---
 src/Robot.cpp | 88 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 88 insertions(+)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index d6cf381..a72b64b 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -19,6 +19,10 @@
 
 #endif  // BUTTON_LAYOUT
 
+#ifndef LOG
+#define LOG(X) logA << X; logB << X; logC << X //for writing data to the csv file
+#endif
+
 class Robot: public IterativeRobot
 {
 	Talon left_drive, right_drive;
@@ -113,6 +117,7 @@ private:
 
 	void AutonomousPeriodic()
 	{
+		LogCSVData();
 		if(autoSelected == autoNameCustom){
 			//Custom Auto goes here
 		} else {
@@ -129,6 +134,7 @@ private:
 
 	void TeleopPeriodic()
 	{
+		LogCSVData();
 		std::cout << "Ramp position: "<< ramp.GetEncPosition() << std::endl;
 		drive.ArcadeDrive(&driver_stick, true);
 
@@ -179,6 +185,88 @@ private:
 	void TestPeriodic()
 	{
 		lw->Run();
+		LogCSVData();
+	}
+	void LogCSVData()
+	{
+		static PowerDistributionPanel pdp;	// preparing to read from the pdp
+		static DriverStation* ds = DriverStation::GetInstance();
+		static std::vector<CANTalon*> motors;
+
+		static std::ofstream logA, logB, logC;
+		timeval tm;
+
+		SmartDashboard::PutBoolean("log A", logA.is_open());
+		SmartDashboard::PutBoolean("log B", logB.is_open());
+		SmartDashboard::PutBoolean("log C", logC.is_open());
+
+		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
+		{
+			std::fstream logNumFile;
+			int logNum;
+			logNumFile.open("/home/lvuser/logNum");
+			logNumFile >> logNum;
+			logNum++;
+			logNumFile.seekp(0);
+			logNumFile << logNum;
+			// writing to /home/lvuser/logs/[unixtime].log
+			logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
+			logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
+			logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
+
+			LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
+			for (int ii = 0; ii < 16; ii++)
+			{
+				LOG("pdpChannel " << ii << " current\t");
+			}
+
+			LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
+			motors.push_back(&ramp);
+			LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
+			motors.push_back(&shooter1);
+			LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
+			motors.push_back(&shooter2);
+
+			LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
+			LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
+			LOG("\tTestStage");
+			LOG(std::endl);
+		}
+		gettimeofday(&tm, NULL);
+		LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
+		// Some general information
+		LOG("\t" << pdp.GetVoltage());
+		LOG("\t" << pdp.GetTemperature());
+		LOG("\t" << pdp.GetTotalCurrent());
+		// current on each channel
+		for (int ii = 0; ii < 16; ii++)
+		{
+			LOG("\t" << pdp.GetCurrent(ii));
+		}
+
+		//Talon Data
+		for(int ii = 0; ii < motors.size(); ii++)
+		{
+			LOG("\t" << motors[ii]->GetBusVoltage());
+			LOG("\t" << motors[ii]->GetOutputVoltage());
+			LOG("\t" << motors[ii]->GetOutputCurrent());
+			LOG("\t" << motors[ii]->GetTemperature());
+		}
+		//control data
+		LOG("\t" << driver_stick.GetX());
+		LOG("\t" << driver_stick.GetY());
+		LOG("\t" << driver_stick.GetTwist());
+
+		//DriverStation Data
+		LOG("\t" << ds->GetAlliance());
+		LOG("\t" << ds->GetLocation());
+		LOG("\t" << ds->GetMatchTime());
+		LOG("\t" << ds->IsFMSAttached());
+		LOG("\t" << ds->IsSysBrownedOut());
+		LOG(std::endl);
 	}
 };