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 *
 *   Copyright (c) 2019 ECL Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
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 *    distribution.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * Class to write EKF state to file
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */
#pragma once

#include "EKF/ekf.h"
#include "EKF/estimator_interface.h"
#include "ekf_wrapper.h"
#include <fstream>
#include <iostream>

class EkfLogger
{
public:
	EkfLogger(std::shared_ptr<Ekf> ekf);
	~EkfLogger();
	void setFilePath(std::string file_path);

	void enableStateLogging(){ _state_logging_enabled = true; };
	void disableStateLogging(){ _state_logging_enabled = false; };
	void enableVarianceLogging(){ _variance_logging_enabled = true; };
	void disableVarianceLogging(){ _variance_logging_enabled = false; };

	void writeStateToFile();

private:
	std::shared_ptr<Ekf> _ekf;
	EkfWrapper _ekf_wrapper;

	std::string _file_path;
	std::ofstream _file;

	bool _file_opened {false};

	bool _state_logging_enabled {true};
	bool _variance_logging_enabled {true};

	void writeState();

};
