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/* |
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* Copyright 2015, LAAS-CNRS |
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* Author: Andrea Del Prete |
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*/ |
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#ifndef WIN32 |
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#include <sys/time.h> |
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#else |
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#include <Windows.h> |
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#endif |
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#include <stdio.h> |
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#include <boost/algorithm/string.hpp> |
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#include <hpp/centroidal-dynamics/logger.hh> |
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#include <iomanip> // std::setprecision |
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#include <iostream> |
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namespace centroidal_dynamics { |
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using namespace std; |
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Logger& getLogger() { |
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static Logger l(0.001, 1.0); |
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return l; |
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} |
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Logger::Logger(double timeSample, double streamPrintPeriod) |
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: m_timeSample(timeSample), |
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m_streamPrintPeriod(streamPrintPeriod), |
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m_printCountdown(0.0) { |
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#ifdef LOGGER_VERBOSITY_ERROR |
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m_lv = VERBOSITY_ERROR; |
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#endif |
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#ifdef LOGGER_VERBOSITY_WARNING_ERROR |
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m_lv = VERBOSITY_WARNING_ERROR; |
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#endif |
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#ifdef LOGGER_VERBOSITY_INFO_WARNING_ERROR |
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m_lv = VERBOSITY_INFO_WARNING_ERROR; |
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#endif |
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#ifdef LOGGER_VERBOSITY_ALL |
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m_lv = VERBOSITY_ALL; |
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#endif |
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} |
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void Logger::countdown() { |
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if (m_printCountdown < 0.0) m_printCountdown = m_streamPrintPeriod; |
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m_printCountdown -= m_timeSample; |
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} |
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void Logger::sendMsg(string msg, MsgType type, const char* file, int line) { |
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// if(m_lv==VERBOSITY_NONE || |
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// (m_lv==VERBOSITY_ERROR && !isErrorMsg(type)) || |
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// (m_lv==VERBOSITY_WARNING_ERROR && !(isWarningMsg(type) || |
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// isErrorMsg(type))) || (m_lv==VERBOSITY_INFO_WARNING_ERROR && |
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// isDebugMsg(type))) |
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// return; |
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// if print is allowed by current verbosity level |
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if (isStreamMsg(type)) { |
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// check whether counter already exists |
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string id = file + toString(line); |
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map<string, double>::iterator it = m_stream_msg_counters.find(id); |
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if (it == m_stream_msg_counters.end()) { |
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// if counter doesn't exist then add one |
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m_stream_msg_counters.insert(make_pair(id, 0.0)); |
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it = m_stream_msg_counters.find(id); |
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} |
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// if counter is greater than 0 then decrement it and do not print |
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if (it->second > 0.0) { |
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it->second -= m_timeSample; |
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return; |
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} else // otherwise reset counter and print |
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it->second = m_streamPrintPeriod; |
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} |
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vector<string> fields; |
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boost::split(fields, file, boost::is_any_of("/")); |
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const char* file_name = fields[fields.size() - 1].c_str(); |
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if (isErrorMsg(type)) |
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printf("[ERROR %s %d] %s\n", file_name, line, msg.c_str()); |
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else if (isWarningMsg(type)) |
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printf("[WARNING %s %d] %s\n", file_name, line, msg.c_str()); |
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else if (isInfoMsg(type)) |
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printf("[INFO %s %d] %s\n", file_name, line, msg.c_str()); |
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else |
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printf("[DEBUG %s %d] %s\n", file_name, line, msg.c_str()); |
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fflush(stdout); // Prints to screen or whatever your standard out is |
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} |
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bool Logger::setTimeSample(double t) { |
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if (t <= 0.0) return false; |
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m_timeSample = t; |
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return true; |
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} |
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bool Logger::setStreamPrintPeriod(double s) { |
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if (s <= 0.0) return false; |
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m_streamPrintPeriod = s; |
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return true; |
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} |
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} // namespace centroidal_dynamics |
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