addtogroup gazebo_util More...

#include <util/util.hh>

Public Member Functions
void	Add (const std::string &_name, const std::string &_filename, std::function< bool(std::ostringstream &)> _logCallback)
	Add an object to a log file. More...

std::string	BasePath () const
	Get the base path for a log recording. More...

unsigned int	BufferSize () const
	Get the size of the buffer. More...

const std::string &	Encoding () const
	Get the encoding used. More...

std::string	Filename (const std::string &_name="") const
	Get the filename for a log object. More...

unsigned int	FileSize (const std::string &_name="") const
	Get the file size for a log object. More...

std::string	Filter () const
	Get the log recording filter string. More...

void	Fini ()
	Finialize, and shutdown. More...

bool	FirstUpdate () const
	Return true if an Update has not yet been completed. More...

bool	Init (const std::string &_subdir)
	Initialize logging into a subdirectory. More...

bool	IsReadyToStart () const
	Get whether the logger is ready to start, which implies that any previous runs have finished. More...

void	Notify ()
	Tell the recorder that an update should occur. More...

bool	Paused () const
	Get whether logging is paused. More...

double	Period () const
	Get the log recording period. More...

bool	RecordResources () const
	Get whether the model meshes and materials are saved when recording. More...

bool	Remove (const std::string &_name)
	Remove an entity from a log. More...

bool	Running () const
	Get whether logging is running. More...

common::Time	RunTime () const
	Get the run time in sim time. More...

bool	SaveFiles (const std::set< std::string > &resources)
	Return true if all the files are saved successfully. More...

bool	SaveModels (const std::set< std::string > &models)
	Return true if all the models are saved successfully. More...

void	SetBasePath (const std::string &_path)
	Set the base path. More...

void	SetFilter (const std::string &_filter)
	Set the log recording filter string. More...

void	SetPaused (const bool _paused)
	Set whether logging should pause. More...

void	SetPeriod (const double _period)
	Set the log recording period. More...

void	SetRecordResources (const bool _record)
	Set whether to save model meshes and materials when recording. More...

bool	Start (const LogRecordParams &_params)
	Start the logger. More...

bool	Start (const std::string &_encoding="zlib", const std::string &_path="")
	Start the logger. More...

void	Stop ()
	Stop the logger. More...

void	Write (const bool _force=false)
	Write all logs. More...

Static Public Member Functions
static LogRecord *	Instance ()
	Get an instance of the singleton. More...

Detailed Description

addtogroup gazebo_util

Handles logging of data to disk

The LogRecord class is a Singleton that manages data logging of any entity within a running simulation. An entity may be a World, Model, or any of their child entities. This class only writes log files, see LogPlay for playback functionality.

State information for an entity may be logged through the LogRecord::Add function, and stopped through the LogRecord::Remove function. Data may be logged into a single file, or split into many separate files by specifying different filenames for the LogRecord::Add function.

The LogRecord is updated at the start of each simulation step. This guarantees that all data is stored.

See also: Logplay, State

Member Function Documentation

◆ Add()

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

Add an object to a log file.

Add a new object to a log. An object can be any valid named object in simulation, including the world itself. Duplicate additions are ignored. Objects can be added to the same file by specifying the same _filename.

Parameters

[in]	_name	Name of the object to log.
[in]	_filename	Filename of the log file.
[in]	_logCallback	Function used to log data for the object. Typically an object will have a log function that outputs data to the provided ofstream.

Exceptions

Exception

◆ BasePath()

std::string BasePath ( ) const

Get the base path for a log recording.

Returns: Path for log recording.

◆ BufferSize()

unsigned int BufferSize ( ) const

Get the size of the buffer.

Returns: Size of the buffer, in bytes.

◆ Encoding()

const std::string& Encoding ( ) const

Get the encoding used.

Returns: Either [txt, zlib, or bz2], where txt is plain txt and bz2 and zlib are compressed data with Base64 encoding.

◆ Filename()

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

Get the filename for a log object.

Parameters

[in] _name Name of the log object.

Returns: Filename, empty string if not found.

◆ FileSize()

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

Get the file size for a log object.

Parameters

[in] _name Name of the log object.

Returns: Size in bytes.

◆ Filter()

std::string Filter ( ) const

Get the log recording filter string.

Returns: Log recording filter string.

◆ Fini()

void Fini ( )

Finialize, and shutdown.

◆ FirstUpdate()

bool FirstUpdate ( ) const

Return true if an Update has not yet been completed.

Returns: True if an Update has not yet been completed.

◆ Init()

bool Init ( const std::string & _subdir )

Initialize logging into a subdirectory.

Init may only be called once, False will be returned if called multiple times.

Parameters

[in] _subdir Directory to record to

Returns: True if successful.

◆ Instance()

static LogRecord * Instance ( )

inlinestaticinherited

Get an instance of the singleton.

◆ IsReadyToStart()

bool IsReadyToStart ( ) const

Get whether the logger is ready to start, which implies that any previous runs have finished.

◆ Notify()

void Notify ( )

Tell the recorder that an update should occur.

◆ Paused()

bool Paused ( ) const

Get whether logging is paused.

Returns: True if logging is paused.

See also: LogRecord::SetPaused

◆ Period()

double Period ( ) const

Get the log recording period.

Returns: Log recording period in seconds.

◆ RecordResources()

bool RecordResources ( ) const

Get whether the model meshes and materials are saved when recording.

Returns: True if model meshes and materials are saved when recording.

◆ Remove()

bool Remove ( const std::string & _name )

Remove an entity from a log.

Removes an entity from the logger. The stops data recording for the entity and all its children. For example, specifying a world will stop all data logging.

Parameters

[in] _name Name of the log

Returns: True if the entity existed and was removed. False if the entity was not registered with the logger.

◆ Running()

bool Running ( ) const

Get whether logging is running.

Returns: True if logging has been started.

◆ RunTime()

common::Time RunTime ( ) const

Get the run time in sim time.

Returns: Run sim time.

◆ SaveFiles()

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

Return true if all the files are saved successfully.

Returns: True if all the files are saved successfully, and false if there are errors saving the files.

◆ SaveModels()

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

Return true if all the models are saved successfully.

Returns: True if all the models are saved successfully.

◆ SetBasePath()

void SetBasePath ( const std::string & _path )

Set the base path.

Parameters

[in] _path Path to the new logging location.

◆ SetFilter()

void SetFilter ( const std::string & _filter )

Set the log recording filter string.

Parameters

[in] _filter New log record filter regex string

◆ SetPaused()

void SetPaused ( const bool _paused )

Set whether logging should pause.

A paused state means the log file is still open, but data is not written to it.

Parameters

[in] _paused True to pause data logging.

See also: LogRecord::GetPaused

◆ SetPeriod()

void SetPeriod ( const double _period )

Set the log recording period.

Parameters

[in] _period New log recording period in seconds.

◆ SetRecordResources()

void SetRecordResources ( const bool _record )

Set whether to save model meshes and materials when recording.

Parameters

[in] _record True to save model resources when recording.

◆ Start() [1/2]

bool Start ( const LogRecordParams & _params )

Start the logger.

[in] _params Log recording parameters.

◆ Start() [2/2]

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

Start the logger.

Parameters

[in]	_encoding	The type of encoding (txt, zlib, or bz2).
[in]	_path	Path in which to store log files.

◆ Stop()

void Stop ( )

Stop the logger.

◆ Write()

void Write ( const bool _force = false )

Write all logs.

Parameters

[in] _force True to skip waiting on dataAvailableCondition.

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

LogRecord.hh

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ Add()

◆ BasePath()

◆ BufferSize()

◆ Encoding()

◆ Filename()

◆ FileSize()

◆ Filter()

◆ Fini()

◆ FirstUpdate()

◆ Init()

◆ Instance()

◆ IsReadyToStart()

◆ Notify()

◆ Paused()

◆ Period()

◆ RecordResources()

◆ Remove()

◆ Running()

◆ RunTime()

◆ SaveFiles()

◆ SaveModels()

◆ SetBasePath()

◆ SetFilter()

◆ SetPaused()

◆ SetPeriod()

◆ SetRecordResources()

◆ Start() [1/2]

◆ Start() [2/2]

◆ Stop()

◆ Write()