logger.h

/*
 * Copyright 2015, 2019
 * LAAS-CNRS
 * Andrea Del Prete, François Bailly, Olivier Stasse
 *
 */
 
#ifndef __dynamic_graph_logger_H__
#define __dynamic_graph_logger_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(logger_EXPORTS)
#define LOGGER_EXPORT __declspec(dllexport)
#else
#define LOGGER_EXPORT __declspec(dllimport)
#endif
#else
#define LOGGER_EXPORT
#endif
 
namespace dynamicgraph {
 
enum MsgType {
  MSG_TYPE_TYPE_BITS = 1 << 0 | 1 << 1 | 1 << 2 | 1 << 3,  // 15
  MSG_TYPE_STREAM_BIT = 1 << 4,                            // 16
 
  MSG_TYPE_DEBUG = 1 << 3,                                           // 1
  MSG_TYPE_INFO = 1 << 2,                                            // 2
  MSG_TYPE_WARNING = 1 << 1,                                         // 4
  MSG_TYPE_ERROR = 1 << 0,                                           // 8
  MSG_TYPE_DEBUG_STREAM = MSG_TYPE_DEBUG | MSG_TYPE_STREAM_BIT,      // 17
  MSG_TYPE_INFO_STREAM = MSG_TYPE_INFO | MSG_TYPE_STREAM_BIT,        // 18
  MSG_TYPE_WARNING_STREAM = MSG_TYPE_WARNING | MSG_TYPE_STREAM_BIT,  // 20
  MSG_TYPE_ERROR_STREAM = MSG_TYPE_ERROR | MSG_TYPE_STREAM_BIT       // 24
};
}  // namespace dynamicgraph
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <map>
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/real-time-logger-def.h>
 
#include <boost/assign.hpp>
#include <boost/preprocessor/stringize.hpp>
#include <dynamic-graph/deprecated.hh>
#include <fstream>
#include <iomanip>  // std::setprecision
#include <sstream>
 
namespace dynamicgraph {
 
//#define LOGGER_VERBOSITY_INFO_WARNING_ERROR
#define LOGGER_VERBOSITY_ALL
 
#define SEND_MSG(msg, type) \
  sendMsg(msg, type, __FILE__ ":" BOOST_PP_STRINGIZE(__LINE__))
 
#define SEND_DEBUG_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_DEBUG_STREAM)
#define SEND_INFO_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO_STREAM)
#define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
#define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
 
#define _DYNAMIC_GRAPH_ENTITY_MSG(entity, type) \
  (entity).logger().stream(type, __FILE__ BOOST_PP_STRINGIZE(__LINE__))
 
#define DYNAMIC_GRAPH_ENTITY_DEBUG(entity) \
  _DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_DEBUG)
#define DYNAMIC_GRAPH_ENTITY_INFO(entity) \
  _DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_INFO)
#define DYNAMIC_GRAPH_ENTITY_WARNING(entity) \
  _DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_WARNING)
#define DYNAMIC_GRAPH_ENTITY_ERROR(entity) \
  _DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_ERROR)
 
#define DYNAMIC_GRAPH_ENTITY_DEBUG_STREAM(entity) \
  _DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_DEBUG_STREAM)
#define DYNAMIC_GRAPH_ENTITY_INFO_STREAM(entity) \
  _DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_INFO_STREAM)
#define DYNAMIC_GRAPH_ENTITY_WARNING_STREAM(entity) \
  _DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_WARNING_STREAM)
#define DYNAMIC_GRAPH_ENTITY_ERROR_STREAM(entity) \
  _DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_ERROR_STREAM)
 
template <typename T>
std::string toString(const T &v, const int precision = 3,
                     const int width = -1) {
  std::stringstream ss;
  if (width > precision)
    ss << std::fixed << std::setw(width) << std::setprecision(precision) << v;
  else
    ss << std::fixed << std::setprecision(precision) << v;
  return ss.str();
}
 
template <typename T>
std::string toString(const std::vector<T> &v, const int precision = 3,
                     const int width = -1, const std::string separator = ", ") {
  std::stringstream ss;
  if (width > precision) {
    for (unsigned int i = 0; i < v.size() - 1; i++)
      ss << std::fixed << std::setw(width) << std::setprecision(precision)
         << v[i] << separator;
    ss << std::fixed << std::setw(width) << std::setprecision(precision)
       << v[v.size() - 1];
  } else {
    for (unsigned int i = 0; i < v.size() - 1; i++)
      ss << std::fixed << std::setprecision(precision) << v[i] << separator;
    ss << std::fixed << std::setprecision(precision) << v[v.size() - 1];
  }
 
  return ss.str();
}
 
template <typename T>
std::string toString(const Eigen::MatrixBase<T> &v, const int precision = 3,
                     const int width = -1, const std::string separator = ", ") {
  std::stringstream ss;
  if (width > precision) {
    for (unsigned int i = 0; i < v.size() - 1; i++)
      ss << std::fixed << std::setw(width) << std::setprecision(precision)
         << v[i] << separator;
    ss << std::fixed << std::setw(width) << std::setprecision(precision)
       << v[v.size() - 1];
  } else {
    for (unsigned int i = 0; i < v.size() - 1; i++)
      ss << std::fixed << std::setprecision(precision) << v[i] << separator;
    ss << std::setprecision(precision) << v[v.size() - 1];
  }
 
  return ss.str();
}
 
enum LoggerVerbosity {
  VERBOSITY_ALL = MSG_TYPE_DEBUG,
  VERBOSITY_INFO_WARNING_ERROR = MSG_TYPE_INFO,
  VERBOSITY_WARNING_ERROR = MSG_TYPE_WARNING,
  VERBOSITY_ERROR = MSG_TYPE_ERROR,
  VERBOSITY_NONE = 0
};
 
class Logger {
 public:
  Logger(double timeSample = 0.001, double streamPrintPeriod = 1.0);
 
  ~Logger();
 
  void countdown();
 
  RTLoggerStream stream() {
    return ::dynamicgraph::RealTimeLogger::instance().front();
  }
 
  RTLoggerStream stream(MsgType type, const std::string &lineId = "") {
    RealTimeLogger &rtlogger = ::dynamicgraph::RealTimeLogger::instance();
    if (acceptMsg(type, lineId)) return rtlogger.front();
    return rtlogger.emptyStream();
  }
 
  [[deprecated("use stream(type, lineId) << msg")]] void sendMsg(
      std::string msg, MsgType type, const std::string &lineId = "");
 
  [[deprecated("use stream(type, lineId) << msg")]] void sendMsg(
      std::string msg, MsgType type, const std::string &file, int line);
 
  bool setTimeSample(double t);
 
  double getTimeSample();
 
  bool setStreamPrintPeriod(double s);
 
  double getStreamPrintPeriod();
 
  void setVerbosity(LoggerVerbosity lv);
 
  LoggerVerbosity getVerbosity();
 
 protected:
  LoggerVerbosity m_lv;  
  double m_timeSample;
  double m_streamPrintPeriod;  
  double m_printCountdown;
 
  typedef std::map<std::string, double> StreamCounterMap_t;
  StreamCounterMap_t m_stream_msg_counters;
 
  inline bool isStreamMsg(MsgType m) { return (m & MSG_TYPE_STREAM_BIT); }
 
  bool acceptMsg(MsgType m, const std::string &lineId) {
    // If more verbose than the current verbosity level
    if ((m & MSG_TYPE_TYPE_BITS) > m_lv) return false;
 
    // if print is allowed by current verbosity level
    if (isStreamMsg(m)) return checkStreamPeriod(lineId);
    return true;
  }
 
  bool checkStreamPeriod(const std::string &lineId);
};
 
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_logger_H__