DataLogger.cpp

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/*******************************************************************************
 Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
 Technical University of Darmstadt.
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    or Technical University of Darmstadt, nor the names of its contributors may
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    specific prior written permission.

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#include "DataLogger.h"

#include <Rcs_macros.h>
#include <Rcs_VecNd.h>

#include <ctime>
#include <sstream>
#include <iostream>
#include <iomanip>

namespace Rcs
{

DataLogger::DataLogger() :
    fileCounter(0),
    running(false),
    buffer(nullptr),
    currentStep(0)
{
    // Nothing else to do
}

DataLogger::~DataLogger()
{
    // Make sure we stopped
    stop();
}

void DataLogger::start(const BoxSpace* observationSpace, const BoxSpace* actionSpace, unsigned int maxStepCount)
{
    // Guard against concurrency
    std::unique_lock<std::recursive_mutex> lock(mutex);
    if (running) {
        RLOG(1, "Already running!");
        return;
    }
    running = true;
    // Determine filename
    std::string fname;
    std::time_t t = std::time(nullptr); // get time now
    std::tm* now = std::localtime(&t);
    std::ostringstream os;
    os << (now->tm_year + 1900) << '-' << std::setfill('0') << std::setw(2) << (now->tm_mon + 1) << '-' <<
       std::setfill('0') << std::setw(2) << now->tm_mday << '_' << (fileCounter++) << ".csv";
    fname = os.str();
    
    // Open output file
    output.open(fname);
    
    // Write header (column names)
    output << R"("steps)";
    for (auto& name : observationSpace->getNames()) {
        output << "\",\"" << name;
    }
    for (auto& name : actionSpace->getNames()) {
        output << "\",\"" << name;
    }
    output << "\"" << std::endl;
    
    // Allocate buffer. Use maxStepCount + 1 to also count the final observation
    buffer = MatNd_create(maxStepCount + 1, observationSpace->getNames().size() + actionSpace->getNames().size());
    currentStep = 0;
    
    std::cout << "Logging started!" << std::endl;;
}

void DataLogger::stop()
{
    // Guard against concurrency
    std::unique_lock<std::recursive_mutex> lock(mutex);
    if (!running) {
        return;
    }
    running = false;
    
    // Write buffer contents to csv
    for (unsigned int row = 0; row <= currentStep; ++row) { // <= to also write the last row
        // Write step number
        output << row;
        
        // Write elements
        for (unsigned int col = 0; col < buffer->n; ++col) {
            output << "," << MatNd_get2(buffer, row, col);
        }
        output << std::endl;
    }
    
    // Close file
    output.flush();
    output.close();
    output.clear();
    
    // Delete buffer
    MatNd_destroy(buffer);
    
    std::cout << "Logging stopped!" << std::endl;;
}

void DataLogger::record(const MatNd* observation, const MatNd* action)
{
    // Try to obtain lock. If it's blocked, it's blocked by start or stop, so we don't want to lock anyways.
    std::unique_lock<std::recursive_mutex> lock(mutex, std::try_to_lock);
    if (!lock.owns_lock() || !running) {
        return;
    }
    
    // Check if the logging is over. The very last step is index by m
    if (currentStep >= buffer->m - 1) {
        // Add final observations and dummy actions (to later filter them out) to the buffer
        double* lineBuffer = MatNd_getRowPtr(buffer, currentStep);
        VecNd_copy(&lineBuffer[0], observation->ele, observation->m);
        double nanAction[action->m];
        for (unsigned int i = 0; i < action->m; i++) {
            nanAction[i] = NAN;
        }
        VecNd_copy(&lineBuffer[observation->m], nanAction, action->m);
        
        stop();
        return;
    }
    
    // Add a line to the buffer
    double* lineBuffer = MatNd_getRowPtr(buffer, currentStep++);
    VecNd_copy(&lineBuffer[0], observation->ele, observation->m);
    VecNd_copy(&lineBuffer[observation->m], action->ele, action->m);
}

} /* namespace Rcs */