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Feature: Bag Recorder #165

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Feature: Bag Recorder #165

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24 changes: 22 additions & 2 deletions clearpath_config/platform/platform.py
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,9 @@ class PlatformConfig(BaseConfig):
# Enable/disable EKF
ENABLE_EKF = 'enable_ekf'

# Enable/disable recorder
ENABLE_RECORDER = 'enable_recorder'

TEMPLATE = {
PLATFORM: {
CONTROLLER: CONTROLLER,
Expand All @@ -131,7 +134,8 @@ class PlatformConfig(BaseConfig):
CONTROL: CONTROL,
BATTERY: BATTERY,
WHEEL: WHEEL,
ENABLE_EKF: ENABLE_EKF
ENABLE_EKF: ENABLE_EKF,
ENABLE_RECORDER: ENABLE_RECORDER,
}
}

Expand All @@ -150,6 +154,7 @@ class PlatformConfig(BaseConfig):
BATTERY: BatteryConfig.DEFAULTS,
WHEEL: 'default',
ENABLE_EKF: True,
ENABLE_RECORDER: False,
}

def __init__(
Expand All @@ -163,6 +168,7 @@ def __init__(
extras: dict = DEFAULTS[EXTRAS],
wheel: dict = DEFAULTS[WHEEL],
enable_ekf: bool = DEFAULTS[ENABLE_EKF],
enable_recorder: bool = DEFAULTS[ENABLE_RECORDER],
) -> None:
# Initialization
self._config = {}
Expand All @@ -177,6 +183,7 @@ def __init__(
self.control = self.DEFAULTS[self.CONTROL]
self.wheel = wheel
self.enable_ekf = enable_ekf
self.enable_recorder = enable_recorder
# Setter Template
setters = {
self.KEYS[self.CONTROLLER]: PlatformConfig.controller,
Expand All @@ -186,7 +193,8 @@ def __init__(
self.KEYS[self.BATTERY]: PlatformConfig.battery,
self.KEYS[self.EXTRAS]: PlatformConfig.extras,
self.KEYS[self.WHEEL]: PlatformConfig.wheel,
self.KEYS[self.ENABLE_EKF]: PlatformConfig.enable_ekf
self.KEYS[self.ENABLE_EKF]: PlatformConfig.enable_ekf,
self.KEYS[self.ENABLE_RECORDER]: PlatformConfig.enable_recorder,
}
super().__init__(setters, config, self.PLATFORM)

Expand Down Expand Up @@ -385,3 +393,15 @@ def enable_ekf(self) -> bool:
@enable_ekf.setter
def enable_ekf(self, value: bool) -> None:
self._enable_ekf = value

@property
def enable_recorder(self) -> bool:
self.set_config_param(
key=self.KEYS[self.ENABLE_RECORDER],
value=self._enable_recorder
)
return self._enable_recorder

@enable_recorder.setter
def enable_recorder(self, value: bool) -> None:
self._enable_recorder = value