csv_writer.py

# Copyright (c) 2016-2022, Universal Robots A/S,
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# modification, are permitted provided that the following conditions are met:
#    * Redistributions of source code must retain the above copyright
#      notice, this list of conditions and the following disclaimer.
#    * Redistributions in binary form must reproduce the above copyright
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#      documentation and/or other materials provided with the distribution.
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#      contributors may be used to endorse or promote products derived
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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import csv

import sys

sys.path.append("..")

from rtde import serialize


class CSVWriter(object):
    def __init__(self, csvfile, names, types, delimiter=" "):
        if len(names) != len(types):
            raise ValueError("List sizes are not identical.")
        self.__names = names
        self.__types = types
        self.__header_names = []
        self.__columns = 0
        for i in range(len(self.__names)):
            size = serialize.get_item_size(self.__types[i])
            self.__columns += size
            if size > 1:
                for j in range(size):
                    name = self.__names[i] + "_" + str(j)
                    self.__header_names.append(name)
            else:
                name = self.__names[i]
                self.__header_names.append(name)
        self.__writer = csv.writer(csvfile, delimiter=delimiter)

    def writeheader(self):
        self.__writer.writerow(self.__header_names)

    def writerow(self, data_object):
        data = []
        for i in range(len(self.__names)):
            size = serialize.get_item_size(self.__types[i])
            value = data_object.__dict__[self.__names[i]]
            if size > 1:
                data.extend(value)
            else:
                data.append(value)
        self.__writer.writerow(data)