LogRecord.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2014 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.
 *
*/
/* Desc: A class to log data
 * Author: Nate Koenig
 * Date: 1 Jun 2010
 */

#ifndef _LOGRECORD_HH_
#define _LOGRECORD_HH_

#include <fstream>
#include <string>
#include <map>
#include <boost/thread.hpp>
#include <boost/archive/iterators/base64_from_binary.hpp>
#include <boost/archive/iterators/insert_linebreaks.hpp>
#include <boost/archive/iterators/transform_width.hpp>
#include <boost/archive/iterators/ostream_iterator.hpp>
#include <boost/filesystem.hpp>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/common/UpdateInfo.hh"
#include "gazebo/common/Event.hh"
#include "gazebo/common/SingletonT.hh"

#define GZ_LOG_VERSION "1.0"

namespace gazebo
{
  namespace util
  {

    class 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,
                    boost::function<bool (std::ostringstream &)> _logCallback);

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

      public: void Stop();

      public: void Notify();

      public: void SetPaused(bool _paused);

      public: bool GetPaused() const;

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

      public: bool GetRunning() const;

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

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

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

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

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

      public: std::string GetBasePath() const;

      public: common::Time GetRunTime() const;

      public: void Fini();

      public: bool GetFirstUpdate() const;

      public: void Write(bool _force = false);

      public: unsigned int GetBufferSize() const;

      // private: void Update(const common::UpdateInfo &_info);
      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(bool _pause);

      private: class Log
      {
        public: Log(LogRecord *_parent, const std::string &_relativeFilename,
                    boost::function<bool (std::ostringstream &)> _logCB);

        public: virtual ~Log();

        public: void Start(const boost::filesystem::path &_path);

        public: void Stop();

        public: void Write();

        public: unsigned int Update();

        public: void ClearBuffer();

        public: unsigned int GetBufferSize();

        public: std::string GetRelativeFilename() const;

        public: std::string GetCompleteFilename() const;

        public: LogRecord *parent;

        public: boost::function<bool (std::ostringstream &)> logCB;

        public: std::string buffer;

        public: std::ofstream logFile;

        public: std::string relativeFilename;

        private: boost::filesystem::path completePath;
      };

      private: typedef std::map<std::string, Log*> Log_M;

      private: Log_M logs;

      private: Log_M::iterator updateIter;

      private: Log_M::iterator logsEnd;

      private: boost::condition_variable startThreadCondition;

      private: boost::condition_variable updateCondition;

      private: boost::condition_variable cleanupCondition;

      private: bool running;

      private: boost::thread *writeThread;

      private: boost::thread *updateThread;

      private: boost::thread cleanupThread;

      private: mutable boost::mutex writeMutex;

      private: mutable boost::mutex runWriteMutex;

      private: mutable boost::mutex updateMutex;

      private: boost::mutex controlMutex;

      private: boost::condition_variable dataAvailableCondition;

      private: boost::filesystem::path logBasePath;

      private: boost::filesystem::path logCompletePath;

      private: std::string logSubDir;

      private: std::string encoding;

      private: bool initialized;

      private: bool paused;

      private: bool firstUpdate;

      private: bool stopThread;

      private: common::Time startTime;

      private: common::Time currTime;

      private: transport::NodePtr node;

      private: transport::SubscriberPtr logControlSub;

      private: transport::PublisherPtr logStatusPub;

      private: event::Connection_V connections;

      private: bool pauseState;

      private: friend class SingletonT<LogRecord>;

      private: bool readyToStart;
    };
  }
}
#endif