MRPT  1.9.9
List of all members | Classes | Public Member Functions | Static Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes | Private Attributes
mrpt::system::CTimeLogger Class Reference

Detailed Description

A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X), among other stats.

The results can be dumped to cout or to Visual Studio's output panel. This class can be also used to monitorize min/mean/max/total stats of any user-provided parameters via the method CTimeLogger::registerUserMeasure().

Optional recording of all data can be enabled via enableKeepWholeHistory() (use with caution!).

Cost of the profiler itself (measured on MSVC2015, Windows 10, Intel i5-2310 2.9GHz):

See also
CTimeLoggerEntry
Note
The default behavior is dumping all the information at destruction.

Definition at line 50 of file system/CTimeLogger.h.

#include <mrpt/system/CTimeLogger.h>

Inheritance diagram for mrpt::system::CTimeLogger:

Classes

struct  TCallData
 Data of all the calls: More...
 
struct  TCallStats
 Data of each call section: # of calls, minimum, maximum, average and overall execution time (in seconds) More...
 

Public Member Functions

 CTimeLogger (bool enabled=true, const std::string &name="", const bool keep_whole_history=false)
 
 ~CTimeLogger () override
 Destructor. More...
 
 CTimeLogger (const CTimeLogger &o)=default
 
CTimeLoggeroperator= (const CTimeLogger &o)=default
 
 CTimeLogger (CTimeLogger &&o)=default
 
CTimeLoggeroperator= (CTimeLogger &&o)=default
 
std::string getStatsAsText (const size_t column_width=80) const
 Dump all stats to a multi-line text string. More...
 
void getStats (std::map< std::string, TCallStats > &out_stats) const
 Returns all the current stats as a map: section_name => stats. More...
 
void dumpAllStats (const size_t column_width=80) const
 Dump all stats through the COutputLogger interface. More...
 
void clear (bool deep_clear=false)
 Resets all stats. More...
 
void enable (bool enabled=true)
 
void disable ()
 
bool isEnabled () const
 
void enableKeepWholeHistory (bool enable=true)
 
bool isEnabledKeepWholeHistory () const
 
void saveToCSVFile (const std::string &csv_file) const
 Dump all stats to a Comma Separated Values (CSV) file. More...
 
void saveToMFile (const std::string &m_file) const
 Dump all stats to a Matlab/Octave (.m) file. More...
 
void registerUserMeasure (const std::string_view &event_name, const double value, const bool is_time=false) noexcept
 
const std::stringgetName () const noexcept
 
void setName (const std::string &name) noexcept
 
void enter (const std::string_view &func_name) noexcept
 Start of a named section. More...
 
double leave (const std::string_view &func_name) noexcept
 End of a named section. More...
 
double getMeanTime (const std::string &name) const
 Return the mean execution time of the given "section", or 0 if it hasn't ever been called "enter" with that section name. More...
 
double getLastTime (const std::string &name) const
 Return the last execution time of the given "section", or 0 if it hasn't ever been called "enter" with that section name. More...
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Protected Types

using TDataMap = mrpt::containers::ts_hash_map< std::string, TCallData, HASH_SIZE_IN_BYTES, HASH_ALLOWED_COLLISIONS >
 

Protected Member Functions

void do_enter (const std::string_view &func_name) noexcept
 
double do_leave (const std::string_view &func_name) noexcept
 

Protected Attributes

TDataMap m_data
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Static Protected Attributes

static constexpr unsigned int HASH_SIZE_IN_BYTES = 1
 
static constexpr unsigned int HASH_ALLOWED_COLLISIONS = 10
 

Private Attributes

CTicTac m_tictac
 
bool m_enabled
 
std::string m_name
 
bool m_keep_whole_history {false}
 

Logging methods

void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 
bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 

Member Typedef Documentation

◆ TDataMap

Definition at line 75 of file system/CTimeLogger.h.

Constructor & Destructor Documentation

◆ CTimeLogger() [1/3]

CTimeLogger::CTimeLogger ( bool  enabled = true,
const std::string name = "",
const bool  keep_whole_history = false 
)

Definition at line 64 of file CTimeLogger.cpp.

References m_tictac, and mrpt::system::CTicTac::Tic().

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◆ ~CTimeLogger()

CTimeLogger::~CTimeLogger ( )
override

Destructor.

Definition at line 75 of file CTimeLogger.cpp.

References dumpAllStats(), and m_data.

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◆ CTimeLogger() [2/3]

mrpt::system::CTimeLogger::CTimeLogger ( const CTimeLogger o)
default

◆ CTimeLogger() [3/3]

mrpt::system::CTimeLogger::CTimeLogger ( CTimeLogger &&  o)
default

Member Function Documentation

◆ clear()

void CTimeLogger::clear ( bool  deep_clear = false)

Resets all stats.

By default (deep_clear=false), all section names are remembered (not freed) so the cost of creating upon the first next call is avoided.

Definition at line 82 of file CTimeLogger.cpp.

References mrpt::containers::deep_clear(), and m_data.

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◆ disable()

void mrpt::system::CTimeLogger::disable ( )
inline

Definition at line 118 of file system/CTimeLogger.h.

References m_enabled.

◆ do_enter()

void CTimeLogger::do_enter ( const std::string_view &  func_name)
protectednoexcept

Definition at line 299 of file CTimeLogger.cpp.

References m_data, m_tictac, mrpt::system::CTimeLogger::TCallData::n_calls, and mrpt::system::CTicTac::Tac().

Referenced by enter().

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◆ do_leave()

double CTimeLogger::do_leave ( const std::string_view &  func_name)
protectednoexcept

Definition at line 314 of file CTimeLogger.cpp.

References mrpt::keep_max(), mrpt::keep_min(), m_data, m_keep_whole_history, m_tictac, mrpt::system::CTimeLogger::TCallData::open_calls, and mrpt::system::CTicTac::Tac().

Referenced by leave().

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◆ dumpAllStats()

void CTimeLogger::dumpAllStats ( const size_t  column_width = 80) const

Dump all stats through the COutputLogger interface.

See also
getStatsAsText, saveToCVSFile

Definition at line 294 of file CTimeLogger.cpp.

References getStatsAsText(), and MRPT_LOG_INFO_STREAM.

Referenced by ~CTimeLogger().

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enable()

void mrpt::system::CTimeLogger::enable ( bool  enabled = true)
inline

Definition at line 117 of file system/CTimeLogger.h.

References m_enabled.

Referenced by enableKeepWholeHistory(), mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog(), mrpt::vision::CGenericFeatureTracker::enableTimeLogger(), mrpt::nav::CAbstractNavigator::loadConfigFile(), and mrpt::graphs::ScalarFactorGraph::updateEstimation().

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◆ enableKeepWholeHistory()

void mrpt::system::CTimeLogger::enableKeepWholeHistory ( bool  enable = true)
inline

Definition at line 121 of file system/CTimeLogger.h.

References enable(), and m_keep_whole_history.

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◆ enter()

void mrpt::system::CTimeLogger::enter ( const std::string_view &  func_name)
inlinenoexcept

Start of a named section.

See also
enter

Definition at line 140 of file system/CTimeLogger.h.

References do_enter(), and m_enabled.

Referenced by mrpt::bayes::detail::addNewLandmarks(), mrpt::system::global_profiler_enter(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), main(), mrpt::graphslam::optimize_graph_spa_levmarq(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::graphs::ScalarFactorGraph::updateEstimation(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState().

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◆ getLastTime()

double CTimeLogger::getLastTime ( const std::string name) const

Return the last execution time of the given "section", or 0 if it hasn't ever been called "enter" with that section name.

Definition at line 405 of file CTimeLogger.cpp.

References m_data.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

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◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMeanTime()

double CTimeLogger::getMeanTime ( const std::string name) const

Return the mean execution time of the given "section", or 0 if it hasn't ever been called "enter" with that section name.

Definition at line 397 of file CTimeLogger.cpp.

References m_data.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited
See also
setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ getName()

const std::string& mrpt::system::CTimeLogger::getName ( ) const
inlinenoexcept

Definition at line 136 of file system/CTimeLogger.h.

References m_name.

Referenced by mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ getStats()

void CTimeLogger::getStats ( std::map< std::string, TCallStats > &  out_stats) const

◆ getStatsAsText()

std::string CTimeLogger::getStatsAsText ( const size_t  column_width = 80) const

Dump all stats to a multi-line text string.

See also
dumpAllStats, saveToCVSFile

Definition at line 119 of file CTimeLogger.cpp.

References aux_format_string_multilines(), mrpt::format(), m_data, m_name, and mrpt::system::unitsFormat().

Referenced by dumpAllStats(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ isEnabled()

bool mrpt::system::CTimeLogger::isEnabled ( ) const
inline

Definition at line 119 of file system/CTimeLogger.h.

References m_enabled.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CAbstractNavigator::loadConfigFile().

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◆ isEnabledKeepWholeHistory()

bool mrpt::system::CTimeLogger::isEnabledKeepWholeHistory ( ) const
inline

Definition at line 125 of file system/CTimeLogger.h.

References m_keep_whole_history.

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ leave()

double mrpt::system::CTimeLogger::leave ( const std::string_view &  func_name)
inlinenoexcept

End of a named section.

Returns
The ellapsed time, in seconds or 0 if disabled.
See also
enter

Definition at line 146 of file system/CTimeLogger.h.

References do_leave(), and m_enabled.

Referenced by mrpt::system::global_profiler_leave(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), mrpt::graphslam::optimize_graph_spa_levmarq(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::graphs::ScalarFactorGraph::updateEstimation(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState().

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ operator=() [1/2]

CTimeLogger& mrpt::system::CTimeLogger::operator= ( const CTimeLogger o)
default

◆ operator=() [2/2]

CTimeLogger& mrpt::system::CTimeLogger::operator= ( CTimeLogger &&  o)
default

◆ registerUserMeasure()

void CTimeLogger::registerUserMeasure ( const std::string_view &  event_name,
const double  value,
const bool  is_time = false 
)
noexcept

Definition at line 358 of file CTimeLogger.cpp.

References mrpt::system::CTimeLogger::TCallData::has_time_units, mrpt::keep_max(), mrpt::keep_min(), m_data, m_enabled, and m_keep_whole_history.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::system::CTimeLoggerEntry::stop().

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◆ saveToCSVFile()

void CTimeLogger::saveToCSVFile ( const std::string csv_file) const

Dump all stats to a Comma Separated Values (CSV) file.

See also
dumpAllStats

Definition at line 210 of file CTimeLogger.cpp.

References mrpt::format(), m_data, and mrpt::to_string().

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◆ saveToMFile()

void CTimeLogger::saveToMFile ( const std::string m_file) const

Dump all stats to a Matlab/Octave (.m) file.

See also
dumpAllStats

Definition at line 238 of file CTimeLogger.cpp.

References mrpt::system::extractFileName(), mrpt::system::fileNameStripInvalidChars(), mrpt::format(), m_data, and mrpt::to_string().

Referenced by mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ setName()

void mrpt::system::CTimeLogger::setName ( const std::string name)
inlinenoexcept

Definition at line 137 of file system/CTimeLogger.h.

References m_name.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ HASH_ALLOWED_COLLISIONS

constexpr unsigned int mrpt::system::CTimeLogger::HASH_ALLOWED_COLLISIONS = 10
staticprotected

Definition at line 72 of file system/CTimeLogger.h.

◆ HASH_SIZE_IN_BYTES

constexpr unsigned int mrpt::system::CTimeLogger::HASH_SIZE_IN_BYTES = 1
staticprotected

Definition at line 71 of file system/CTimeLogger.h.

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_data

TDataMap mrpt::system::CTimeLogger::m_data
protected

◆ m_enabled

bool mrpt::system::CTimeLogger::m_enabled
private

Definition at line 54 of file system/CTimeLogger.h.

Referenced by disable(), enable(), enter(), isEnabled(), leave(), and registerUserMeasure().

◆ m_keep_whole_history

bool mrpt::system::CTimeLogger::m_keep_whole_history {false}
private

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_name

std::string mrpt::system::CTimeLogger::m_name
private

Definition at line 55 of file system/CTimeLogger.h.

Referenced by getName(), getStatsAsText(), and setName().

◆ m_tictac

CTicTac mrpt::system::CTimeLogger::m_tictac
private

Definition at line 53 of file system/CTimeLogger.h.

Referenced by CTimeLogger(), do_enter(), and do_leave().




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