From 73a016f0e5bd98c7965374d4731838c7f4b6dc75 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 28 Sep 2018 17:02:04 +0200
Subject: [PATCH] Add macros to use real time logs.
---
include/dynamic-graph/real-time-logger.h | 28 ++++++++++++---
src/debug/real-time-logger.cpp | 46 ++++++++++++++++++++++++
tests/real-time-logger.cpp | 32 ++++++-----------
3 files changed, 79 insertions(+), 27 deletions(-)
diff --git a/include/dynamic-graph/real-time-logger.h b/include/dynamic-graph/real-time-logger.h
index 55dea17..b0a4283 100644
--- a/include/dynamic-graph/real-time-logger.h
+++ b/include/dynamic-graph/real-time-logger.h
@@ -23,6 +23,8 @@
# include <boost/shared_ptr.hpp>
# include <dynamic-graph/config.hh>
+# include <dynamic-graph/debug.h>
+
namespace dynamicgraph
{
@@ -50,7 +52,8 @@ namespace dynamicgraph
{
public:
RTLoggerStream (RealTimeLogger* logger, std::ostream& os) : logger_(logger), os_ (os) {}
- template <typename T> RTLoggerStream& operator<< (T t) { os_ << t; return *this; }
+ template <typename T> inline RTLoggerStream& operator<< (T t) { os_ << t; return *this; }
+ inline RTLoggerStream& operator<< (std::ostream& (*pf)(std::ostream&)) { os_ << pf; return *this; }
~RTLoggerStream();
private:
@@ -65,6 +68,10 @@ namespace dynamicgraph
class DYNAMIC_GRAPH_DLLAPI RealTimeLogger
{
public:
+ static RealTimeLogger& instance();
+
+ static void destroy();
+
/// \todo add an argument to preallocate the internal string to a given size.
RealTimeLogger (const std::size_t& bufferSize);
@@ -72,9 +79,6 @@ namespace dynamicgraph
inline void addOutputStream (const LoggerStreamPtr_t& os) { outputs_.push_back(os); }
- /// The function to be called by the thread who exports the outputs
- //void spin ();
-
/// Write next message to output.
/// It does nothing if the buffer is empty.
/// \return true if it wrote something
@@ -104,7 +108,7 @@ namespace dynamicgraph
return backIdx_ + buffer_.size() - frontIdx_;
}
- inline std::size_t getBufferSize () { return buffer_.capacity(); }
+ inline std::size_t getBufferSize () { return buffer_.size(); }
~RealTimeLogger ();
@@ -121,7 +125,21 @@ namespace dynamicgraph
/// Index of the slot where to write next value (does not contain valid data).
std::size_t backIdx_;
std::ostream oss_;
+
+ struct thread;
+
+ static RealTimeLogger* instance_;
+ static thread* thread_;
};
} // end of namespace dynamicgraph
+#ifdef ENABLE_RT_LOG
+# define dgADD_OSTREAM_TO_RTLOG(ostr) ::dynamicgraph::RealTimeLogger::instance() \
+ .addOutputStream(::dynamicgraph::LoggerStreamPtr_t(new ::dynamicgraph::LoggerIOStream(ostr)))
+# define dgRTLOG() ::dynamicgraph::RealTimeLogger::instance().front()
+#else // ENABLE_RT_LOG
+# define dgADD_OSTREAM_TO_RTLOG(ostr) struct __end_with_semicolon
+# define dgRTLOG() if (1) ; else __null_stream()
+#endif
+
#endif //! DYNAMIC_GRAPH_LOGGER_REAL_TIME_H
diff --git a/src/debug/real-time-logger.cpp b/src/debug/real-time-logger.cpp
index 4386b58..d98f98c 100644
--- a/src/debug/real-time-logger.cpp
+++ b/src/debug/real-time-logger.cpp
@@ -19,6 +19,9 @@
#include <dynamic-graph/real-time-logger.h>
+#include <boost/thread/thread.hpp>
+#include <boost/date_time/posix_time/posix_time.hpp>
+
namespace dynamicgraph
{
RealTimeLogger::RealTimeLogger (const std::size_t& bufferSize)
@@ -68,4 +71,47 @@ namespace dynamicgraph
os_ << std::ends;
if (logger_ != NULL) logger_->frontReady();
}
+
+ struct RealTimeLogger::thread
+ {
+ bool requestShutdown_;
+ boost::thread t_;
+
+ thread (RealTimeLogger* logger)
+ : requestShutdown_ (false)
+ , t_ (&thread::spin, this, logger)
+ {}
+
+ void spin (RealTimeLogger* logger)
+ {
+ while (!requestShutdown_ || !logger->empty())
+ {
+ // If the logger did not write anything, it means the buffer is empty.
+ // Do a pause
+ if (!logger->spinOnce())
+ boost::this_thread::sleep(boost::posix_time::milliseconds(100));
+ }
+ }
+ };
+
+ RealTimeLogger* RealTimeLogger::instance_ = NULL;
+ RealTimeLogger::thread* RealTimeLogger::thread_ = NULL;
+
+ RealTimeLogger& RealTimeLogger::instance()
+ {
+ if (instance_ == NULL) {
+ instance_ = new RealTimeLogger (1000);
+ thread_ = new thread (instance_);
+ }
+ return *instance_;
+ }
+
+ void RealTimeLogger::destroy ()
+ {
+ if (instance_ == NULL) return;
+ thread_->requestShutdown_ = true;
+ thread_->t_.join();
+ delete instance_;
+ delete thread_;
+ }
}
diff --git a/tests/real-time-logger.cpp b/tests/real-time-logger.cpp
index 064ae10..055a365 100644
--- a/tests/real-time-logger.cpp
+++ b/tests/real-time-logger.cpp
@@ -18,6 +18,8 @@
*/
#include <iostream>
+
+#define ENABLE_RT_LOG
#include <dynamic-graph/real-time-logger.h>
#define BOOST_TEST_MODULE real_time_logger
@@ -25,7 +27,6 @@
#include <boost/test/unit_test.hpp>
#include <boost/test/output_test_stream.hpp>
-#include <boost/thread.hpp>
#include <boost/thread/thread.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
@@ -51,33 +52,20 @@ BOOST_AUTO_TEST_CASE (monothread)
rtl.spinOnce();
}
-bool requestShutdown = false;
-void spin (RealTimeLogger* logger)
-{
- while (!requestShutdown || !logger->empty())
- {
- // If the logger did not write anything, it means the buffer is empty.
- // Do a pause
- if (!logger->spinOnce())
- boost::this_thread::sleep(boost::posix_time::milliseconds(100));
- }
-}
-
BOOST_AUTO_TEST_CASE (multithread)
{
- RealTimeLogger rtl (10);
- rtl.addOutputStream (LoggerStreamPtr_t (new LoggerIOStream(std::cout)));
-
- boost::thread loggerThread (spin, &rtl);
+ RealTimeLogger& rtl = RealTimeLogger::instance();
+ dgADD_OSTREAM_TO_RTLOG (std::cout);
- for (int i = 0; i < 10; ++i) {
- boost::this_thread::sleep(boost::posix_time::milliseconds(20));
+ for (std::size_t i = 0; i < rtl.getBufferSize()-1; ++i)
rtl.front() << "Call number " << i << '\n';
+ for (std::size_t i = 0; i < 12; ++i) {
+ boost::this_thread::sleep(boost::posix_time::milliseconds(20));
+ rtl.front() << "Call number " << i << std::endl;
BOOST_CHECK (!rtl.full());
}
- rtl.front() << "This call should appear in the output" << '\n';
+ dgRTLOG() << "This call should appear in the output" << '\n';
- requestShutdown = true;
- loggerThread.join();
+ RealTimeLogger::destroy();
}
--
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