Detailed Description

Threaded logger: any data sent to this logger is wrapped in a message and pushed to a queue, the queue is processed in a separate thread. Hence, time consuming output does not delay execution of the main thread(s).

Attention: A high frequency controller may easily flood the logger with data.; This logger uses mutexes, so it should be possible to use a single logger in multiple threads, however, this is not recommended.

Todo:: Consider using a nonblocking queue, e.g., <boost/lockfree/queue.hpp>.

Definition at line 555 of file logger.h.

#include <logger.h>

Inheritance diagram for humoto::Logger:

Public Member Functions
	Logger (const std::size_t thread_sleep_ms=default_thread_sleep_ms_)
	Constructor. More...

	Logger (std::ostream &output_stream, const std::size_t thread_sleep_ms=default_thread_sleep_ms_)
	Constructor. More...

	Logger (const std::string &output_filename, const std::size_t thread_sleep_ms=default_thread_sleep_ms_)
	Constructor. More...

	~Logger ()
	Destructor. More...

void	initialize (std::ostream &output_stream)
	initialize More...

void	initialize (const std::string &output_filename)
	initialize More...

void	initialize (std::ostream &output_stream, const std::size_t thread_sleep_ms=default_thread_sleep_ms_)
	initialize More...

void	initialize (const std::string &output_filename, const std::size_t thread_sleep_ms=default_thread_sleep_ms_)
	initialize More...

template<typename t_Data >
void	log (const t_Data &data, EIGENTOOLS_EIGENTYPE_DISABLER_TYPE(t_Data) *dummy=NULL)
	Log raw data. More...

template<typename t_Derived >
void	log (const Eigen::DenseBase< t_Derived > &matrix)
	Log entry (Eigen matrix) More...

void	log (const char *string)
	Log raw data (char string) More...

template<typename t_Data >
void	log (const LogEntryName &name, const t_Data &data, EIGENTOOLS_EIGENTYPE_DISABLER_TYPE(t_Data) *dummy=NULL)
	Log data (fundamental types) More...

template<typename t_Derived >
void	log (const LogEntryName &name, const Eigen::DenseBase< t_Derived > &matrix)
	Log entry (Eigen matrix) More...

void	log (const LogEntryName &name, const char *string)
	Log data (char string) More...

Public Attributes
bool	interrupted_

std::queue< LogMessageBase * >	message_queue_

boost::mutex	message_queue_mutex_

boost::thread	processor_thread_

std::size_t	thread_sleep_ms_

Static Public Attributes
static const std::size_t	default_thread_sleep_ms_ = 2

Protected Attributes
std::ostream *	output_stream_
	Output stream. More...

Private Member Functions
void	interrupt ()
	Stop the logging thread if necessary. More...

void	processQueue ()
	This function is running in a separate thread. More...

void	pushMessage (LogMessageBase *msg)
	Push message to a queue. More...

void	start ()
	Start the thread. More...

Constructor & Destructor Documentation

◆ Logger() [1/3]

humoto::Logger::Logger ( const std::size_t thread_sleep_ms = default_thread_sleep_ms_ )

inlineexplicit

Constructor.

Parameters

[in] thread_sleep_ms how long the queue processing thread should sleep if there is no data

Definition at line 670 of file logger.h.

◆ Logger() [2/3]

humoto::Logger::Logger	(	std::ostream &	output_stream,
		const std::size_t	thread_sleep_ms = `default_thread_sleep_ms_`
	)

inline

Constructor.

Parameters

[in,out]	output_stream	output stream
[in]	thread_sleep_ms	how long the queue processing thread should sleep if there is no data

Definition at line 684 of file logger.h.

◆ Logger() [3/3]

humoto::Logger::Logger	(	const std::string &	output_filename,
		const std::size_t	thread_sleep_ms = `default_thread_sleep_ms_`
	)

inline

Constructor.

Parameters

[in]	output_filename	name of the log file
[in]	thread_sleep_ms	how long the queue processing thread should sleep if there is no data

Definition at line 699 of file logger.h.

◆ ~Logger()

humoto::Logger::~Logger ( )

inline

Destructor.

Definition at line 710 of file logger.h.

Member Function Documentation

◆ initialize() [1/4]

void humoto::LoggerBase::initialize ( std::ostream & output_stream )

inlineinherited

initialize

Parameters

[in,out] output_stream output stream

Definition at line 409 of file logger.h.

◆ initialize() [2/4]

void humoto::LoggerBase::initialize ( const std::string & output_filename )

inlineinherited

initialize

Parameters

[in] output_filename name of the log file

Definition at line 423 of file logger.h.

◆ initialize() [3/4]

void humoto::Logger::initialize	(	std::ostream &	output_stream,
		const std::size_t	thread_sleep_ms = `default_thread_sleep_ms_`
	)

inline

initialize

Parameters

[in,out]	output_stream	output stream
[in]	thread_sleep_ms	how long the queue processing thread should sleep if there is no data

Definition at line 723 of file logger.h.

◆ initialize() [4/4]

void humoto::Logger::initialize	(	const std::string &	output_filename,
		const std::size_t	thread_sleep_ms = `default_thread_sleep_ms_`
	)

inline

initialize

Parameters

[in]	output_filename	name of the log file
[in]	thread_sleep_ms	how long the queue processing thread should sleep if there is no data

Definition at line 742 of file logger.h.

◆ interrupt()

void humoto::Logger::interrupt ( )

inlineprivate

Stop the logging thread if necessary.

Definition at line 643 of file logger.h.

◆ log() [1/6]

template<typename t_Data >

void humoto::Logger::log	(	const t_Data &	data,
		EIGENTOOLS_EIGENTYPE_DISABLER_TYPE(t_Data) *	dummy = `NULL`
	)

inline

Log raw data.

Template Parameters

t_Data data type

Parameters

[in]	data
[in]	dummy	dummy parameter for enabling/disabling of the template

Attention: This template relies on Boost to filter out Eigen types, which cannot be treated by it safely – the data might not be copied properly.

Definition at line 768 of file logger.h.

◆ log() [2/6]

template<typename t_Derived >

void humoto::Logger::log ( const Eigen::DenseBase< t_Derived > & matrix )

inline

Log entry (Eigen matrix)

Template Parameters

t_Derived Eigen template parameter

Parameters

[in] matrix matrix

Definition at line 782 of file logger.h.

◆ log() [3/6]

void humoto::Logger::log ( const char * string )

inline

Log raw data (char string)

Parameters

[in] string

Definition at line 806 of file logger.h.

◆ log() [4/6]

template<typename t_Data >

void humoto::Logger::log	(	const LogEntryName &	name,
		const t_Data &	data,
		EIGENTOOLS_EIGENTYPE_DISABLER_TYPE(t_Data) *	dummy = `NULL`
	)

inline

Log data (fundamental types)

Template Parameters

t_Data data type

Parameters

[in]	name
[in]	data
[in]	dummy	dummy parameter for enabling/disabling of the template

Attention: This template relies on Boost to filter out Eigen types, which cannot be treated by it safely – the data might not be copied properly.

Definition at line 827 of file logger.h.

◆ log() [5/6]

template<typename t_Derived >

void humoto::Logger::log	(	const LogEntryName &	name,
		const Eigen::DenseBase< t_Derived > &	matrix
	)

inline

Log entry (Eigen matrix)

Template Parameters

t_Derived Eigen template parameter

Parameters

[in]	name	name of the log entry
[in]	matrix	matrix

Definition at line 843 of file logger.h.

◆ log() [6/6]

void humoto::Logger::log	(	const LogEntryName &	name,
		const char *	string
	)

inline

Log data (char string)

Parameters

[in]	name
[in]	string

Definition at line 869 of file logger.h.

◆ processQueue()

void humoto::Logger::processQueue ( )

inlineprivate

This function is running in a separate thread.

Definition at line 587 of file logger.h.

◆ pushMessage()

void humoto::Logger::pushMessage ( LogMessageBase * msg )

inlineprivate

Push message to a queue.

Parameters

[in] msg message

Definition at line 576 of file logger.h.

◆ start()

void humoto::Logger::start ( )

inlineprivate

Start the thread.

Definition at line 656 of file logger.h.

Member Data Documentation

◆ default_thread_sleep_ms_

const std::size_t humoto::Logger::default_thread_sleep_ms_ = 2

static

Definition at line 567 of file logger.h.

◆ interrupted_

bool humoto::Logger::interrupted_

Definition at line 565 of file logger.h.

◆ message_queue_

std::queue<LogMessageBase *> humoto::Logger::message_queue_

Definition at line 560 of file logger.h.

◆ message_queue_mutex_

boost::mutex humoto::Logger::message_queue_mutex_

Definition at line 562 of file logger.h.

◆ output_stream_

std::ostream* humoto::LoggerBase::output_stream_

protectedinherited

Output stream.

Definition at line 357 of file logger.h.

◆ processor_thread_

boost::thread humoto::Logger::processor_thread_

Definition at line 563 of file logger.h.

◆ thread_sleep_ms_

std::size_t humoto::Logger::thread_sleep_ms_

Definition at line 558 of file logger.h.

The documentation for this class was generated from the following file:

core/include/humoto/logger.h

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Private Member Functions

Constructor & Destructor Documentation

◆ Logger() [1/3]

◆ Logger() [2/3]

◆ Logger() [3/3]

◆ ~Logger()

Member Function Documentation

◆ initialize() [1/4]

◆ initialize() [2/4]

◆ initialize() [3/4]

◆ initialize() [4/4]

◆ interrupt()

◆ log() [1/6]

◆ log() [2/6]

◆ log() [3/6]

◆ log() [4/6]

◆ log() [5/6]

◆ log() [6/6]

◆ processQueue()

◆ pushMessage()

◆ start()

Member Data Documentation

◆ default_thread_sleep_ms_

◆ interrupted_

◆ message_queue_

◆ message_queue_mutex_

◆ output_stream_

◆ processor_thread_

◆ thread_sleep_ms_