Logs controller data to disk. More...

#include <mc_rtc/log/Logger.h>

Classes
struct	GUIEvent
	GUI callback event. More...

struct	KeyAddedEvent
	Data for a key added event. More...

struct	KeyRemovedEvent
	Data for a key removed event. More...

struct	Meta
	Log meta data written in the first call to log after a call to \start. More...

struct	StartEvent
	Start event. More...

Public Types
enum	Policy { Policy::NON_THREADED = 0, Policy::THREADED = 1 }
	Defines available policies for the logger. More...

typedef std::function< void(mc_rtc::MessagePackBuilder &)>	serialize_fn

using	LogEvent = std::variant< KeyAddedEvent, KeyRemovedEvent, GUIEvent, StartEvent >

Public Member Functions
	Logger (const Policy &policy, const std::string &directory, const std::string &tmpl)
	Constructor. More...

	~Logger ()
	Destructor. More...

void	setup (const Policy &policy, const std::string &directory, const std::string &tmpl)
	Setup the constructor configuration. More...

Meta &	meta () noexcept
	Access the log's metadata. More...

const Meta &	meta () const noexcept
	Access the log's metadata (const) More...

void	start (const std::string &ctl_name, double timestep, bool resume=false, double start_t=0.0)
	Start logging. More...

void	open (const std::string &file, double timestep, double start_t=0.0)
	Open a new file for logging. More...

void	log ()
	Log controller's data. More...

template<typename CallbackT , typename SourceT = void, typename std::enable_if< mc_rtc::log::callback_is_serializable< CallbackT >::value, int >::type = 0>
void	addLogEntry (const std::string &name, const SourceT *source, CallbackT &&get_fn, bool overwrite=false)

template<typename MemberPtrT , MemberPtrT member, typename SourceT , typename std::enable_if< mc_rtc::log::is_serializable_member< MemberPtrT >::value, int >::type = 0>
void	addLogEntry (const std::string &name, const SourceT *source, bool overwrite=false)

template<typename MethodPtrT , MethodPtrT method, typename SourceT , typename std::enable_if< mc_rtc::log::is_serializable_getter< MethodPtrT >::value, int >::type = 0>
void	addLogEntry (const std::string &name, const SourceT *source, bool overwrite=false)

template<typename T , typename std::enable_if< mc_rtc::log::callback_is_serializable< T >::value, int >::type = 0>
void	addLogEntry (const std::string &name, T &&get_fn, bool overwrite=false)

template<typename SourceT , typename CallbackT , typename... Args>
void	addLogEntries (const SourceT *source, const std::string &name, CallbackT &&get_fn, Args &&... args)

void	addGUIEvent (GUIEvent &&event)

void	removeLogEntry (const std::string &name)

void	removeLogEntries (const void *source)

double	t () const

const std::string &	path () const

void	flush ()

size_t	size () const

void	clear (bool record=true)

Static Public Attributes
static const uint8_t	magic [4]

static const uint8_t	version

Detailed Description

Logs controller data to disk.

The user can select a desired logging policy that will impact the behaviour of this class.

See mc_rtc::Logger::Policy documentation for details on available policies

Member Typedef Documentation

◆ LogEvent

using mc_rtc::Logger::LogEvent = std::variant<KeyAddedEvent, KeyRemovedEvent, GUIEvent, StartEvent>

◆ serialize_fn

typedef std::function<void(mc_rtc::MessagePackBuilder &)> mc_rtc::Logger::serialize_fn

A function that fills LogData vectors

Member Enumeration Documentation

◆ Policy

enum mc_rtc::Logger::Policy

strong

Defines available policies for the logger.

Enumerator

NON_THREADED

Non-threaded policy.

Using this policy, the logging disk operations are done in the same thread as the global controller running thread, this is well suited for simulations and environments where you can guarantee a very fast access to the disk (e.g. logging to a ramdisk)

THREADED

Threaded policy.

Using this policy, the logging disk operations are done in a separate thread from the global controller running thread. As a result, some buffering occurs and you might lose some data if the controller crashes. This is intended for real-time environments.

Constructor & Destructor Documentation

◆ Logger()

mc_rtc::Logger::Logger	(	const Policy &	policy,
		const std::string &	directory,
		const std::string &	tmpl
	)

Constructor.

Parameters

policy	The chosen logging policy
directory	Path to the directory where log files will be stored
tmpl	Log file template

◆ ~Logger()

mc_rtc::Logger::~Logger ( )

Destructor.

Member Function Documentation

◆ addGUIEvent()

void mc_rtc::Logger::addGUIEvent ( GUIEvent && event )

inline

Add a GUI event to the log

Parameters

event Event being added to the log

◆ addLogEntries()

template<typename SourceT , typename CallbackT , typename... Args>

void mc_rtc::Logger::addLogEntries	(	const SourceT *	source,
		const std::string &	name,
		CallbackT &&	get_fn,
		Args &&...	args
	)

inline

Add multiple entries at once with the same entry

See also: addLogEntry for requirements on the callbacks

Parameters

source	Source of the log entry
name	Name of the log entry
get_fn	A function that provides data that should be logged
args	A serie of name, get_fn values

◆ addLogEntry() [1/4]

template<typename MemberPtrT , MemberPtrT member, typename SourceT , typename std::enable_if< mc_rtc::log::is_serializable_member< MemberPtrT >::value, int >::type = 0>

void mc_rtc::Logger::addLogEntry	(	const std::string &	name,
		const SourceT *	source,
		bool	overwrite = `false`
	)

inline

Add a log entry from a source and a compile-time pointer to member

This is slightly more efficient than the source + pointer to member version at the cost of annoying syntax, typically:

logger.addLogEntry<decltype(&Source::member), &Source::member>("name", &source);

Parameters

name	Name of the log entry
source	Source of the log entry
overwrite	If true, overwrite the previous entry of the same name (if any), otherwise log and return

◆ addLogEntry() [2/4]

template<typename MethodPtrT , MethodPtrT method, typename SourceT , typename std::enable_if< mc_rtc::log::is_serializable_getter< MethodPtrT >::value, int >::type = 0>

void mc_rtc::Logger::addLogEntry	(	const std::string &	name,
		const SourceT *	source,
		bool	overwrite = `false`
	)

inline

Add a log entry from a source and a compile-time pointer to method

This is slightly more efficient than the source + pointer to method version at the cost of annoying syntax, typically:

logger.addLogEntry<decltype(&Source::method), &Source::method>("name", &source);

Parameters

name	Name of the log entry
source	Source of the log entry
overwrite	If true, overwrite the previous entry of the same name (if any), otherwise log and return

◆ addLogEntry() [3/4]

template<typename CallbackT , typename SourceT = void, typename std::enable_if< mc_rtc::log::callback_is_serializable< CallbackT >::value, int >::type = 0>

void mc_rtc::Logger::addLogEntry	(	const std::string &	name,
		const SourceT *	source,
		CallbackT &&	get_fn,
		bool	overwrite = `false`
	)

inline

Add a log entry into the log with the provided source

This function only accepts callable objects that returns a l/rvalue to a serializable object.

The log entry can be removed by calling:

removeLogEntry with the same name
removeLogEntries with the same source

The later remove all other log entries from the same source

Parameters

name	Name of the log entry, this should be unique at any given time but the same key can be re-used during the logger's life
source	Source of the log entry
get_fn	A function that provides data that should be logged
overwrite	If true, overwrite the previous entry of the same name (if any), otherwise log and return

◆ addLogEntry() [4/4]

template<typename T , typename std::enable_if< mc_rtc::log::callback_is_serializable< T >::value, int >::type = 0>

void mc_rtc::Logger::addLogEntry	(	const std::string &	name,
		T &&	get_fn,
		bool	overwrite = `false`
	)

inline

Add a log entry into the log with no source

This function only accepts callable objects that returns a l/rvalue to a serializable object.

The log entry can only be removed by calling removeLogEntry with the same name

Parameters

name	Name of the log entry, this should be unique at any given time but the same key can be re-used during the logger's life
get_fn	A function that provides data that should be logged
overwrite	If true, overwrite the previous entry of the same name (if any), otherwise log and return

◆ clear()

void mc_rtc::Logger::clear ( bool record = true )

Remove all entries (except t) from the log

Parameters

record If true record the removal events in the log

Note: if the record parameter is false and the log is written again it might be invalid

◆ flush()

void mc_rtc::Logger::flush ( )

Flush the log data to disk (only implemented in the synchronous method)

◆ log()

void mc_rtc::Logger::log ( )

Log controller's data.

Print controller data to the log.

◆ meta() [1/2]

const Meta& mc_rtc::Logger::meta ( ) const

inlinenoexcept

Access the log's metadata (const)

◆ meta() [2/2]

Meta& mc_rtc::Logger::meta ( )

inlinenoexcept

Access the log's metadata.

◆ open()

void mc_rtc::Logger::open	(	const std::string &	file,
		double	timestep,
		double	start_t = `0.0`
	)

Open a new file for logging.

This is similar to start but disregard the log directory and template. Instead the logging happens in the provided file: file.

Parameters

file	File where data is going to be written
timestep	Time increment for the log time entry
start_t	Start the log at the specified time

◆ path()

const std::string& mc_rtc::Logger::path ( ) const

Access the file opened by this Logger

Note: This is empty before start or open has been called

◆ removeLogEntries()

void mc_rtc::Logger::removeLogEntries ( const void * source )

Remove all log entries from a given source

This has no effect if no log entry is associated to the given source.

Parameters

source Source whose entries should be removed

◆ removeLogEntry()

void mc_rtc::Logger::removeLogEntry ( const std::string & name )

Remove a log entry from the log

This has no effect if the log entry does not exist.

Parameters

name	Name of the entry

◆ setup()

void mc_rtc::Logger::setup	(	const Policy &	policy,
		const std::string &	directory,
		const std::string &	tmpl
	)

Setup the constructor configuration.

Parameters

policy	The chosen logging policy
directory	Path to the directory where log files will be stored
tmpl	Log file template

◆ size()

size_t mc_rtc::Logger::size ( ) const

inline

Returns the number of entries currently in the log

◆ start()

void mc_rtc::Logger::start	(	const std::string &	ctl_name,
		double	timestep,
		bool	resume = `false`,
		double	start_t = `0.0`
	)

Start logging.

Print the file header to the log. This should be called at initialization or when a controller switch occurs

Parameters

ctl_name	Name of the running controller
timestep	Time increment for the log time entry
resume	If true, start the time entry at the current value, otherwise, start at 0
start_t	Start at the specified time, only used if resume is false

◆ t()

double mc_rtc::Logger::t ( ) const

Return the time elapsed since the controller start

Member Data Documentation

◆ magic

const uint8_t mc_rtc::Logger::magic[4]

static

Magic number used to identify binary logs

◆ version

const uint8_t mc_rtc::Logger::version

static

Version of the log format

This is stored in the binary file as data[3] - magic[3]

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

include/mc_rtc/log/Logger.h

Classes

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ LogEvent

◆ serialize_fn

Member Enumeration Documentation

◆ Policy

Constructor & Destructor Documentation

◆ Logger()

◆ ~Logger()

Member Function Documentation

◆ addGUIEvent()

◆ addLogEntries()

◆ addLogEntry() [1/4]

◆ addLogEntry() [2/4]

◆ addLogEntry() [3/4]

◆ addLogEntry() [4/4]

◆ clear()

◆ flush()

◆ log()

◆ meta() [1/2]

◆ meta() [2/2]

◆ open()

◆ path()

◆ removeLogEntries()

◆ removeLogEntry()

◆ setup()

◆ size()

◆ start()

◆ t()

Member Data Documentation

◆ magic

◆ version