--- a
+++ b/URBasic/dataLog.py
@@ -0,0 +1,132 @@
+'''
+Python 3.x library to control an UR robot through its TCP/IP interfaces
+Copyright (C) 2017  Martin Huus Bjerge, Rope Robotics ApS, Denmark
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+and associated documentation files (the "Software"), to deal in the Software without restriction,
+including without limitation the rights to use, copy, modify, merge, publish, distribute,
+sublicense, and/or sell copies of the Software, and to permit persons to whom the Software
+is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies
+or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL "Rope Robotics ApS" BE LIABLE FOR ANY CLAIM,
+DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Except as contained in this notice, the name of "Rope Robotics ApS" shall not be used
+in advertising or otherwise to promote the sale, use or other dealings in this Software
+without prior written authorization from "Rope Robotics ApS".
+'''
+__author__ = "Martin Huus Bjerge"
+__copyright__ = "Copyright 2017, Rope Robotics ApS, Denmark"
+__license__ = "MIT License"
+
+import threading
+import URBasic
+import numpy as np
+import time
+import xml.etree.ElementTree as ET
+from pkg_resources import resource_filename
+
+class DataLog(threading.Thread):
+    '''
+    This module handle logging of all data signal from the robot (not event logging).
+    '''
+    def __init__(self, robotModel):
+
+        if(False):
+            assert isinstance(robotModel, URBasic.robotModel.RobotModel)  ### This line is to get code completion for RobotModel
+        self.__robotModel = robotModel
+        threading.Thread.__init__(self)
+        logger = URBasic.dataLogging.DataLogging()
+        name = logger.AddDataLogging(__name__)
+        self.__dataLogger = logger.__dict__[name]
+        name = logger.AddEventLogging(__name__,log2Consol=False)
+        self.__logger = logger.__dict__[name]
+        self.__stop_event = True
+
+
+        configFilename = resource_filename(__name__, 'logConfig.xml')
+        self.__config = Config
+        self.__readConfig(configFileName=configFilename, config=self.__config)
+
+        self.__robotModelDataDirCopy = None
+        self.start()
+        self.__logger.info('DataLog constructor done')
+
+
+    def __readConfig(self, configFileName, config):
+        tree = ET.parse(configFileName)
+        logConfig = tree.getroot()
+        dataLogConfig = logConfig.find('dataLogConfig')
+        decimals = dataLogConfig.find('defaultDecimals')
+        config.Decimals = int(decimals.text)
+        logParameters = dataLogConfig.find('logParameters')
+        for Child in logParameters:
+            setattr(config, Child.tag, Child.text)
+
+
+
+    def logdata(self, robotModelDataDir):
+        if(self.__robotModelDataDirCopy != None):
+            if(self.__robotModelDataDirCopy['timestamp'] != robotModelDataDir['timestamp'] or robotModelDataDir['timestamp'] is None):
+                for tagname in robotModelDataDir.keys():
+                    if tagname != 'timestamp' and  robotModelDataDir[tagname] is not None:
+                        roundingDecimals = self.__config.Decimals
+                        tp = type(robotModelDataDir[tagname])
+                        if tp is np.ndarray:
+                            if tagname in self.__config.__dict__:
+                                roundingDecimals = int(self.__config.__dict__[tagname])
+                            roundedValues = np.round(robotModelDataDir[tagname], roundingDecimals)
+                            if self.__robotModelDataDirCopy[tagname] is None:
+                                roundedValuesCopy = roundedValues+1
+                            else:
+                                roundedValuesCopy = np.round(self.__robotModelDataDirCopy[tagname], roundingDecimals)
+                            if not (roundedValues==roundedValuesCopy).all():
+                                if 6==len(robotModelDataDir[tagname]):
+                                    self.__dataLogger.info((tagname+';%s;%s;%s;%s;%s;%s;%s'), robotModelDataDir['timestamp'], *roundedValues)
+                                elif 3==len(robotModelDataDir[tagname]):
+                                    self.__dataLogger.info((tagname+';%s;%s;%s;%s'), robotModelDataDir['timestamp'], *roundedValues)
+                                else:
+                                    self.__logger.warning('Logger data unexpected type in rtde.py - class URRTDElogger - def logdata Type: ' + str(tp) + ' - Len: ' + str(len(robotModelDataDir[tagname])))
+                        elif tp is float:
+                            if tagname in self.__config.__dict__:
+                                roundingDecimals = int(self.__config.__dict__[tagname])
+                            roundedValues = round(robotModelDataDir[tagname], roundingDecimals)
+                            if self.__robotModelDataDirCopy[tagname] is None:
+                                roundedValuesCopy = roundedValues+1
+                            else:
+                                roundedValuesCopy = round(self.__robotModelDataDirCopy[tagname], roundingDecimals)
+                            if roundedValues != roundedValuesCopy:
+                                self.__dataLogger.info((tagname+';%s;%s'), robotModelDataDir['timestamp'], roundedValues)
+                        elif tp is bool or tp is int or tp is np.float64:
+                            if robotModelDataDir[tagname] != self.__robotModelDataDirCopy[tagname]:
+                                self.__dataLogger.info((tagname+';%s;%s'), robotModelDataDir['timestamp'], robotModelDataDir[tagname])
+                        else:
+                            self.__logger.warning('Logger data unexpected type in rtde.py - class URRTDElogger - def logdata Type: ' + str(tp))
+        self.__robotModelDataDirCopy = robotModelDataDir
+
+
+    def close(self):
+        if self.__stop_event is False:
+            self.__stop_event = True
+            self.join()
+
+    def run(self):
+        self.__stop_event = False
+        while not self.__stop_event:
+            try:
+                dataDirCopy = self.__robotModel.dataDir.copy()
+                self.logdata(dataDirCopy)
+                time.sleep(0.005)
+            except:
+                self.__robotModelDataDirCopy = dataDirCopy
+                self.__logger.warning("DataLog error while running, but will retry")
+        self.__logger.info("DataLog is stopped")
+
+class Config(object):
+    Decimals = 5