bundles/addons/org.eclipse.apogy.addons.sensors.pose/src-gen-custom/org/eclipse/apogy/addons/sensors/pose/impl/CSVDataLoggerCustomImpl.java

/*******************************************************************************
 * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency 
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Contributors:
 *     Pierre Allard, 
 *     Regent L'Archeveque - initial API and implementation
 *     
 * SPDX-License-Identifier: EPL-1.0
 *     
 *******************************************************************************/
package org.eclipse.apogy.addons.sensors.pose.impl;

import java.io.BufferedWriter;
import java.io.FileWriter;
import java.io.IOException;

import org.eclipse.apogy.addons.sensors.pose.ApogyAddonsSensorsPosePackage;
import org.eclipse.apogy.common.geometry.data3d.Pose;
import org.eclipse.emf.common.notify.Notification;
import org.eclipse.emf.ecore.impl.ENotificationImpl;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

public class CSVDataLoggerCustomImpl extends CSVDataLoggerImpl {

	private static final Logger Logger = LoggerFactory.getLogger(CSVDataLoggerImpl.class);

	private BufferedWriter csvWriter = null;

	@Override
	public void setOutputFile(String newOutputFile) {
		String oldOutputFile = this.outputFile;
		this.outputFile = newOutputFile;
		if (eNotificationRequired())
			eNotify(new ENotificationImpl(this, Notification.SET,
					ApogyAddonsSensorsPosePackage.CSV_DATA_LOGGER__OUTPUT_FILE, oldOutputFile, this.outputFile));

		if (this.csvWriter != null) {
			try {
				this.csvWriter.flush();
				this.csvWriter.close();
				this.csvWriter = null;
			} catch (Exception e) {
				Logger.error("Failed to open file <" + " for output.");
			}
		}
	}

	@Override
	public void logPose(Pose pose) throws IOException {
		double tx = pose.getX();
		double ty = pose.getY();
		double tz = pose.getZ();

		double rx = pose.getXRotation();
		double ry = pose.getYRotation();
		double rz = pose.getZRotation();

		long timeStamp = System.currentTimeMillis();

		String line = Long.toString(timeStamp) + "," + Double.toString(tx) + "," + Double.toString(ty) + ","
				+ Double.toString(tz) + ",";
		line += Double.toString(rx) + "," + Double.toString(ry) + "," + Double.toString(rz) + "\n";

		getCsvWriter().write(line);
	}

	private BufferedWriter getCsvWriter() throws IOException {
		if (this.csvWriter == null) {
			this.csvWriter = new BufferedWriter(new FileWriter(getOutputFile()));
			String header = "Time stam,tx,ty,tz,rx,ry,rz \n";
			this.csvWriter.write(header);

			Logger.info("Sucessfully openned file <" + " for output.");
		}

		return this.csvWriter;

	}

	@Override
	protected void finalize() throws Throwable {
		if (this.csvWriter != null) {
			this.csvWriter.close();
		}
	}

} // CSVDataLoggerImpl