Method initLogRecorder

Controller/src/so3_control/src/NetworkControl.cpp:3–73

#include "so3_control/NetworkControl.h"

void NetworkControl::initLogRecorder()
{   
    // Use file count as name to avoid date confusion
    std::cout << "logger_file_name: " << logger_file_name << std::endl;
    int max_number = -1;
    boost::filesystem::path dir(logger_file_name);
    if (boost::filesystem::exists(dir) && boost::filesystem::is_directory(dir)) {
        std::regex filename_pattern(R"(^(\d+)_.*$)"); // 匹配以数字开头，并以"_"分隔的文件名
        for (const auto& entry : boost::filesystem::directory_iterator(dir)) {
            if (boost::filesystem::is_regular_file(entry)) {
                std::string filename = entry.path().filename().string();
                std::smatch match;
                if (std::regex_match(filename, match, filename_pattern)) {
                    int number = std::stoi(match[1]); // 提取第一个"_"前的数字
                    max_number = std::max(max_number, number);
                }
            }
        }
    } else {
        std::cerr << "Error: invalid logger path" << std::endl;
    }
    std::string fileCountStr = std::to_string(max_number + 1);
    std::string temp_file_name = logger_file_name + fileCountStr + "_Net_logger_";
    time_t timep;
    timep = time(0);
    char tmp[64];
    strftime(tmp, sizeof(tmp), "%Y_%m_%d_%H_%M_%S", localtime(&timep));
    temp_file_name += tmp;
    temp_file_name += ".csv";
    if (logger.is_open())
    {
        logger.close();
    }
    logger.open(temp_file_name.c_str(), std::ios::out);
    std::cout << "logger: " << temp_file_name << std::endl;
    if (!logger.is_open())
    {
        std::cout << "cannot open the logger." << std::endl;
    }
    else
    {
        logger << "timestamp" << ',';
        logger << "cur_px" << ',';
        logger << "cur_py" << ',';
        logger << "cur_pz" << ',';
        logger << "cur_vx" << ',';
        logger << "cur_vy" << ',';
        logger << "cur_vz" << ',';
        logger << "cur_ax" << ',';
        logger << "cur_ay" << ',';
        logger << "cur_az" << ',';
        logger << "des_px" << ',';
        logger << "des_py" << ',';
        logger << "des_pz" << ',';
        logger << "des_vx" << ',';
        logger << "des_vy" << ',';
        logger << "des_vz" << ',';
        logger << "des_ax" << ',';