Logger
----------------------------------------------------

Summary
================

     This service logs all broadcasted Sick laser and SimplePosition messages to a 
file.  This file can then be played back with the Player service to recreate the 
exact run.


Installing
================

     Extract the zip in the Robotics Developers Studio root.  It will place the
files at: <RoboticsDevelopersStudioRoot>/packages/BA/Logger.  Then run
<RoboticsDevelopersStudioRoot>/packages/MigrateUser.cmd to customize the project 
files to your user and RDS version.  Then compile.

Usage
================

     Run this service along with services that broadcast Sick LRF messages and/or 
SimplePosition messages.  You can choose a file name by accessing the service 
through a web browser.  You can also start and stop log file writing there.

     Now run the Player service alone.  It will be a substitute for the services
you previously ran.  Access the Player service in a web browser to select a file
and start playing.

For example, you might run SimRobot, Mapper, and Logger to record a run; 
then at a later date, run Mapper and Player to recreate that run.

How it Works
================

     Every SimplePosition and Sick LRF message received gets written to file with
the time received.  Then, at a later date, Player broadcasts these messages at 
the right time.  Player also keeps an up to date state for the services and 
responds to Get messages.


Known Issues
================

 * Messages may be recorded out of order
 * There may be some discontinuity between real operation and Player operation


Version History
================

Version 2.0
 - Version upgrade
 - Change file location to be in 'packages' directory
 - Add XSLT

Version 1.5
 - Version upgrade

Version 1.0
 - Initial release

-----------------------------------------------------------------------
Ben Axelrod 2009
http://www.benaxelrod.com


