DataLogger.h

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#ifndef _DATALOGGER_H_
#define _DATALOGGER_H_

#include "util/BoxSpace.h"

#include <Rcs_MatNd.h>

#include <mutex>
#include <fstream>
#include <string>

namespace Rcs
{

/**
 * Logs experiment data to a csv file.
 * For every time step, it records the observations and the actions.
 * The reward can be computed later on the Python side.
 */
class DataLogger
{
public:
    
    /**
     * Constructor. Automatically names files like `TIME_FILENUM`.csv on start
     */
    DataLogger();
    
    virtual ~DataLogger();
    
    /**
     * Start logging for at most stepCount steps.
     *
     * @param[in] observationSpace environment's observation space
     * @param[in] actionSpace environment's action space
     * @param[in] maxStepCount maximum number of time steps
     */
    void start(const BoxSpace* observationSpace, const BoxSpace* actionSpace, unsigned int maxStepCount);
    
    /**
     * Stop logging and flush data to file.
     */
    void stop();
    
    /**
     * Record data for the current step.
     */
    void record(const MatNd* observation, const MatNd* action);
    
    /**
     * Return true if running.
     */
    bool isRunning() const
    {
        return running;
    }

private:
    std::recursive_mutex mutex;
    
    //! Automatic log file naming
    unsigned int fileCounter;
    
    //! Flag if the logger is currently recording
    volatile bool running;
    
    //! Buffer to avoid writing on realtime main thread
    MatNd* buffer;
    
    //! Step counter in current logging run
    unsigned int currentStep;
    
    //! Current output stream
    std::ofstream output;
};

} /* namespace Rcs */

#endif /* _DATALOGGER_H_ */