[topic/logger] Add Logger to all entities.

It stream messages on a shared file.
Each entity has a different verbosity level.
Uses a non real time thread to perform logging.
No yet working.

include/dynamic-graph/entity.h

@@ -29,6 +29,7 @@
 # include <dynamic-graph/exception-factory.h>
 # include <dynamic-graph/signal-array.h>
 # include <dynamic-graph/signal-base.h>
+# include <dynamic-graph/logger.h>
 
 /// \brief Helper macro for entity declaration.
 ///
@@ -108,6 +109,22 @@ namespace dynamicgraph
     command::Command* getNewStyleCommand( const std::string& cmdName );
 
     SignalMap getSignalMap() const;
+
+    /** \name Logger related methods */
+    /** \{*/
+    /// \brief Send messages \param msg with level t. Add string file and line to message.
+    void sendMsg(const std::string &msg,
+		 MsgType t=MSG_TYPE_INFO,
+		 const char *file="",
+		 int line=0);
+
+    /// \brief Specify the verbosity level of the logger.
+    void setLoggerVerbosityLevel(LoggerVerbosity lv)
+    {logger_.setVerbosity(lv);}
+
+    /// \brief Get the logger's verbosity level.
+    LoggerVerbosity getLoggerVerbosityLevel()
+    { return logger_.getVerbosity(); };
   protected:
     void addCommand(const std::string& name,command::Command* command);
 
@@ -120,6 +137,7 @@ namespace dynamicgraph
     std::string name;
     SignalMap signalMap;
     CommandMap_t commandMap;
+    Logger logger_;
   };
 
   DYNAMIC_GRAPH_DLLAPI std::ostream&

include/dynamic-graph/fwd.hh

@@ -31,6 +31,7 @@ namespace dynamicgraph
   class FactoryStorage;
   class Interpreter;
   class InterpreterHelper;
+  class Logger;
   class OutStringStream;
   class PluginLoader;
   class PoolStorage;

include/dynamic-graph/logger.h

 /*
  * Copyright 2015, 2019
  * LAAS-CNRS
- * Andrea Del Prete, François Bailly,
+ * Andrea Del Prete, François Bailly, Olivier Stasse
  *
  * This file is part of dynamic-graph.
  * See license file.
@@ -24,16 +24,33 @@
 #  define LOGGER_EXPORT
 #endif
 
+namespace dynamicgraph {
+
+  /** Enum representing the different kind of messages.
+   */
+  enum MsgType
+  {
+    MSG_TYPE_DEBUG          =0,
+    MSG_TYPE_INFO           =1,
+    MSG_TYPE_WARNING        =2,
+    MSG_TYPE_ERROR          =3,
+    MSG_TYPE_DEBUG_STREAM   =4,
+    MSG_TYPE_INFO_STREAM    =5,
+    MSG_TYPE_WARNING_STREAM =6,
+    MSG_TYPE_ERROR_STREAM   =7
+  };
+}
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-#include <dynamic-graph/signal-helper.h>
 #include <map>
 #include <iomanip> // std::setprecision
+#include <fstream>
+#include <sstream>
 #include "boost/assign.hpp"
-
+#include <dynamic-graph/linear-algebra.h>
 
 namespace dynamicgraph {
 
@@ -42,47 +59,10 @@ namespace dynamicgraph {
 
 #define SEND_MSG(msg,type)         sendMsg(msg,type,__FILE__,__LINE__)
 
-#ifdef LOGGER_VERBOSITY_ERROR
-  #define SEND_DEBUG_STREAM_MSG(msg)
-  #define SEND_INFO_STREAM_MSG(msg)
-  #define SEND_WARNING_STREAM_MSG(msg)
-  #define SEND_ERROR_STREAM_MSG(msg)    SEND_MSG(msg,MSG_TYPE_ERROR_STREAM)
-#endif
-
-#ifdef LOGGER_VERBOSITY_WARNING_ERROR
-  #define SEND_DEBUG_STREAM_MSG(msg)
-  #define SEND_INFO_STREAM_MSG(msg)\
-  #define SEND_WARNING_STREAM_MSG(msg)  SEND_MSG(msg,MSG_TYPE_WARNING_STREAM)
-  #define SEND_ERROR_STREAM_MSG(msg)    SEND_MSG(msg,MSG_TYPE_ERROR_STREAM)
-#endif
-
-#ifdef LOGGER_VERBOSITY_INFO_WARNING_ERROR
-  #define SEND_DEBUG_STREAM_MSG(msg)
-  #define SEND_INFO_STREAM_MSG(msg)     SEND_MSG(msg,MSG_TYPE_INFO_STREAM)
-  #define SEND_WARNING_STREAM_MSG(msg)  SEND_MSG(msg,MSG_TYPE_WARNING_STREAM)
-  #define SEND_ERROR_STREAM_MSG(msg)    SEND_MSG(msg,MSG_TYPE_ERROR_STREAM)
-#endif
-
-#ifdef LOGGER_VERBOSITY_ALL
-  #define SEND_DEBUG_STREAM_MSG(msg) SEND_MSG(msg,MSG_TYPE_DEBUG_STREAM)
-  #define SEND_INFO_STREAM_MSG(msg)   SEND_MSG(msg,MSG_TYPE_INFO_STREAM)
-  #define SEND_WARNING_STREAM_MSG(msg)  SEND_MSG(msg,MSG_TYPE_WARNING_STREAM)
-  #define SEND_ERROR_STREAM_MSG(msg)    SEND_MSG(msg,MSG_TYPE_ERROR_STREAM)
-#endif
-
-  /** Enum representing the different kind of messages.
-   */
-  enum MsgType
-  {
-    MSG_TYPE_DEBUG          =0,
-    MSG_TYPE_INFO           =1,
-    MSG_TYPE_WARNING        =2,
-    MSG_TYPE_ERROR          =3,
-    MSG_TYPE_DEBUG_STREAM   =4,
-    MSG_TYPE_INFO_STREAM    =5,
-    MSG_TYPE_WARNING_STREAM =6,
-    MSG_TYPE_ERROR_STREAM   =7
-  };
+#define SEND_DEBUG_STREAM_MSG(msg) SEND_MSG(msg,MSG_TYPE_DEBUG_STREAM)
+#define SEND_INFO_STREAM_MSG(msg)   SEND_MSG(msg,MSG_TYPE_INFO_STREAM)
+#define SEND_WARNING_STREAM_MSG(msg)  SEND_MSG(msg,MSG_TYPE_WARNING_STREAM)
+#define SEND_ERROR_STREAM_MSG(msg)    SEND_MSG(msg,MSG_TYPE_ERROR_STREAM)
 
   template<typename T>
   std::string toString(const T& v, const int precision=3, const int width=-1)
@@ -159,7 +139,7 @@ namespace dynamicgraph {
     Logger(double timeSample=0.001, double streamPrintPeriod=1.0);
 
     /** Destructor */
-    ~Logger(){}
+    ~Logger();
 
     /** Method to be called at every control iteration
        * to decrement the internal Logger's counter. */
@@ -182,7 +162,11 @@ namespace dynamicgraph {
     /** Set the verbosity level of the logger. */
     void setVerbosity(LoggerVerbosity lv);
 
+    /** Get the verbosity level of the logger. */
+    LoggerVerbosity getVerbosity();
+
   protected:
+    std::ofstream        m_output_fstream;    /// Output File Stream
     LoggerVerbosity m_lv;                /// verbosity of the logger
     double          m_timeSample;        /// specify the period of call of the countdown method
     double          m_streamPrintPeriod; /// specify the time period of the stream prints
@@ -207,8 +191,6 @@ namespace dynamicgraph {
     { return m==MSG_TYPE_ERROR_STREAM || m==MSG_TYPE_ERROR; }
   };
 
-  /** Method to get the logger (singleton). */
-  Logger& getLogger();
 }        // namespace dynamicgraph
 
 

src/debug/logger.cpp

 /*
  * Copyright 2015, 2019 
  * LAAS-CNRS
- * Andrea Del Prete, François Bailly 
+ * Andrea Del Prete, François Bailly, Olivier Stasse
  * 
  * This file is part of dynamic-graph.
  * See license file.
  */
 
 #ifndef WIN32
-  #include <sys/time.h>
+#include <sys/time.h>
 #else
-  #include <Windows.h>
+#include <Windows.h>
 #endif
+#define ENABLE_RT_LOG
 
 #include <stdio.h>
 #include <iostream>
 #include <iomanip>      // std::setprecision
 #include <dynamic-graph/logger.h>
 
+#include <dynamic-graph/real-time-logger.h>
+
 namespace dynamicgraph
 {
 
-    using namespace std;
+  using namespace std;
 
-    Logger& getLogger()
-    {
-      static Logger l(0.001, 1.0);
-      return l;
-    }
+  Logger::Logger(double timeSample, double streamPrintPeriod)
+    : m_timeSample(timeSample),
+      m_streamPrintPeriod(streamPrintPeriod),
+      m_printCountdown(0.0)
+  {
+    m_lv = VERBOSITY_ERROR;
+    //    m_output_fstream.open("/tmp/dg-LOGS.txt",std::ofstream::out|std::ofstream::app);
+    //dgADD_OSTREAM_TO_RTLOG(m_output_fstream);
+  }
 
-    Logger::Logger(double timeSample, double streamPrintPeriod)
-      : m_timeSample(timeSample),
-        m_streamPrintPeriod(streamPrintPeriod),
-        m_printCountdown(0.0)
-    {
-#ifdef LOGGER_VERBOSITY_ERROR
-        m_lv = VERBOSITY_ERROR;
-#endif
-#ifdef LOGGER_VERBOSITY_WARNING_ERROR
-        m_lv = VERBOSITY_WARNING_ERROR;
-#endif
-#ifdef LOGGER_VERBOSITY_INFO_WARNING_ERROR
-        m_lv = VERBOSITY_INFO_WARNING_ERROR;
-#endif
-#ifdef LOGGER_VERBOSITY_ALL
-        m_lv = VERBOSITY_ALL;
-#endif
-    }
+  Logger::~Logger()
+  {
+    //m_output_fstream.close();
+
+  }
+  
+  void Logger::setVerbosity(LoggerVerbosity lv)
+  {
+    m_lv=lv;
+  }
 
-    void Logger::countdown()
-    {
-      if(m_printCountdown<0.0)
-        m_printCountdown = m_streamPrintPeriod;
-      m_printCountdown -= m_timeSample;
-    }
+  LoggerVerbosity Logger::getVerbosity()
+  {
+    return m_lv;
+    
+  }
+  void Logger::countdown()
+  {
+    if(m_printCountdown<0.0)
+      m_printCountdown = m_streamPrintPeriod;
+    m_printCountdown -= m_timeSample;
+  }
 
-    void Logger::sendMsg(string msg, MsgType type, const char* file, int line)
-    {
-      if(m_lv==VERBOSITY_NONE ||
-        (m_lv==VERBOSITY_ERROR && !isErrorMsg(type)) ||
-        (m_lv==VERBOSITY_WARNING_ERROR && !(isWarningMsg(type) || isErrorMsg(type))) ||
-        (m_lv==VERBOSITY_INFO_WARNING_ERROR && isDebugMsg(type)))
-        return;
+  void Logger::sendMsg(string msg, MsgType type, const char* file, int line)
+  {
+    if(m_lv==VERBOSITY_NONE ||
+       (m_lv==VERBOSITY_ERROR && !isErrorMsg(type)) ||
+       (m_lv==VERBOSITY_WARNING_ERROR && !(isWarningMsg(type) || isErrorMsg(type))) ||
+       (m_lv==VERBOSITY_INFO_WARNING_ERROR && isDebugMsg(type)))
+      return;
 
-      // if print is allowed by current verbosity level
-      if(isStreamMsg(type))
+    // if print is allowed by current verbosity level
+    if(isStreamMsg(type))
       {
         // check whether counter already exists
         string id = file+toString(line);
         map<string,double>::iterator it = m_stream_msg_counters.find(id);
         if(it == m_stream_msg_counters.end())
-        {
-          // if counter doesn't exist then add one
-          m_stream_msg_counters.insert(make_pair(id, 0.0));
-          it = m_stream_msg_counters.find(id);
-        }
+	  {
+	    // if counter doesn't exist then add one
+	    m_stream_msg_counters.insert(make_pair(id, 0.0));
+	    it = m_stream_msg_counters.find(id);
+	  }
 
         // if counter is greater than 0 then decrement it and do not print
         if(it->second>0.0)
-        {
-          it->second -= m_timeSample;
-          return;
-        }
+	  {
+	    it->second -= m_timeSample;
+	    return;
+	  }
         else  // otherwise reset counter and print
           it->second = m_streamPrintPeriod;
       }
-      printf("%s\n", msg.c_str());
-      fflush(stdout); // Prints to screen or whatever your standard out is
-    }
+    //    std::cout << msg.c_str() << std::endl;
+    dgRTLOG() << msg.c_str() << "\n";
+    //m_output_fstream.flush();
+  }
 
-    bool Logger::setTimeSample(double t)
-    {
-      if(t<=0.0)
-        return false;
-      m_timeSample = t;
-      return true;
-    }
+  bool Logger::setTimeSample(double t)
+  {
+    if(t<=0.0)
+      return false;
+    m_timeSample = t;
+    return true;
+  }
 
-    bool Logger::setStreamPrintPeriod(double s)
-    {
-      if(s<=0.0)
-        return false;
-      m_streamPrintPeriod = s;
-      return true;
-    }
+  bool Logger::setStreamPrintPeriod(double s)
+  {
+    if(s<=0.0)
+      return false;
+    m_streamPrintPeriod = s;
+    return true;
+  }
 } // namespace dynamicgraph
 

src/dgraph/entity.cpp

@@ -278,3 +278,12 @@ getNewStyleCommand( const std::string& commandName )
   return commandMap[commandName];
 }
 
+void Entity::
+sendMsg(const std::string &msg,
+	MsgType t,
+	const char *file,
+	int line)
+{
+  logger_.sendMsg("["+name+"]"+msg,t,file,line);
+}
+

tests/entity.cpp

@@ -18,6 +18,7 @@
 #include <dynamic-graph/exception-factory.h>
 #include "dynamic-graph/factory.h"
 #include "dynamic-graph/pool.h"
+#include <dynamic-graph/real-time-logger.h>
 
 #define BOOST_TEST_MODULE entity
 
@@ -142,6 +143,51 @@ BOOST_AUTO_TEST_CASE (writeCompletionList)
   BOOST_CHECK (output.is_equal (""));
 }
 
+BOOST_AUTO_TEST_CASE (sendMsg)
+{
+  std::ofstream of;
+  of.open("/tmp/dg-LOGS.txt",std::ofstream::out|std::ofstream::app);
+  dgADD_OSTREAM_TO_RTLOG(of);
+
+  dynamicgraph::Entity& entity =
+    dynamicgraph::PoolStorage::getInstance()->getEntity("my-entity");
+  std::string AppendMsg[4] = {" INFO_WARNING_ERROR",
+			      " WARNING_ERROR",
+			      " ERROR",
+			      " ALL",
+  };
+
+  output_test_stream output;
+  
+  for(unsigned int i=0;
+      i<4;
+      i++)
+    {
+      for(unsigned int j=0;j<2000;j++)
+	{
+	  dynamicgraph::LoggerVerbosity aLoggerVerbosityLevel=
+	    (dynamicgraph::LoggerVerbosity) i;
+	  entity.setLoggerVerbosityLevel(aLoggerVerbosityLevel);
+	  if (entity.getLoggerVerbosityLevel()!=aLoggerVerbosityLevel)
+	    output << "Mismatch output";
+	  
+	  std::string aBaseMsg="Auto Test Case";
+	  std::string aMsg=aBaseMsg+" DEBUG";
+	  entity.sendMsg(aMsg, dynamicgraph::MSG_TYPE_DEBUG, __FILE__, __LINE__);
+	  aMsg=aBaseMsg+" INFO";
+	  entity.sendMsg(aMsg, dynamicgraph::MSG_TYPE_INFO, __FILE__, __LINE__);
+	  aMsg=aBaseMsg+" WARNING";
+	  entity.sendMsg(aMsg, dynamicgraph::MSG_TYPE_WARNING, __FILE__, __LINE__);
+	  aMsg=aBaseMsg+" DEBUG";
+	  entity.sendMsg(aMsg, dynamicgraph::MSG_TYPE_ERROR, __FILE__, __LINE__);
+	};
+    };
+
+  BOOST_CHECK (output.is_equal (""));
+  usleep (1000000);
+  dynamicgraph::RealTimeLogger::destroy();
+}
+
 // WTF?
 BOOST_AUTO_TEST_CASE (wtf)
 {