LogRecord.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_UTIL_LOGRECORD_HH_
#define _GAZEBO_UTIL_LOGRECORD_HH_

#include <fstream>
#include <set>
#include <string>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/common/SingletonT.hh"
#include "gazebo/util/system.hh"

#define GZ_LOG_VERSION "1.0"

GZ_SINGLETON_DECLARE(GZ_UTIL_VISIBLE, gazebo, util, LogRecord)

namespace gazebo
{
  namespace util
  {
    class LogRecordParams
    {
      public: std::string encoding = "zlib";

      public: std::string path;

      public: double period = -1;

      public: std::string filter;

      public: bool recordResources = false;
    };

    // Forward declare private data class
    class LogRecordPrivate;


    class GZ_UTIL_VISIBLE LogRecord : public SingletonT<LogRecord>
    {
      private: LogRecord();

      private: virtual ~LogRecord();

      public: bool Init(const std::string &_subdir);

      public: void Add(const std::string &_name, const std::string &_filename,
                    std::function<bool (std::ostringstream &)> _logCallback);

      public: bool Remove(const std::string &_name);

      public: void Stop();

      public: void Notify();

      public: void SetPaused(const bool _paused);

      public: bool Paused() const;

      public: double Period() const;

      public: void SetPeriod(const double _period);

      public: std::string Filter() const;

      public: void SetFilter(const std::string &_filter);

      public: bool RecordResources() const;

      public: void SetRecordResources(const bool _record);

      // \return True if logger is ready to start.
      public: bool IsReadyToStart() const;

      public: bool Running() const;

      public: bool Start(const LogRecordParams &_params);

      public: bool Start(const std::string &_encoding="zlib",
                         const std::string &_path="");

      public: const std::string &Encoding() const;

      public: std::string Filename(const std::string &_name = "") const;

      public: unsigned int FileSize(const std::string &_name = "") const;

      public: void SetBasePath(const std::string &_path);

      public: std::string BasePath() const;

      public: common::Time RunTime() const;

      public: void Fini();

      public: bool FirstUpdate() const;

      public: bool SaveModels(const std::set<std::string> &models);

      public: bool SaveFiles(const std::set<std::string> &resources);

      public: void Write(const bool _force = false);

      public: unsigned int BufferSize() const;

      private: void Update();

      private: void RunUpdate();

      private: void RunWrite();

      private: void ClearLogs();

      private: void PublishLogStatus();

      private: void OnLogControl(ConstLogControlPtr &_data);

      private: void Cleanup();

      private: void OnPause(const bool _pause);

      private: friend class SingletonT<LogRecord>;

      private: std::unique_ptr<LogRecordPrivate> dataPtr;
    };
  }
}
#endif