class mrpt::apps::RawlogGrabberApp

Overview

RawlogGrabber application wrapper class.

If the environment variable MRPT_HWDRIVERS_VERBOSE=1 is defined before calling initialize(), verbosity level will be changed to LVL_DEBUG.

#include <mrpt/apps_cli/RawlogGrabberApp.h>

class RawlogGrabberApp: public mrpt::system::COutputLogger
{
public:
    // fields

    std::mutex params_mtx;
    double run_for_seconds = 0;
    bool show_sensor_thread_exceptions = true;
    mrpt::config::CConfigFileMemory params;
    std::mutex results_mtx;
    std::string rawlog_filename;
    std::size_t rawlog_saved_objects = 0;

    // construction

    RawlogGrabberApp();

    // methods

    void initialize(int argc, const char** argv);

    void initialize(
        int argc,
        char** argv
        );

    void run();
    bool isRunning() const;
    void SensorThread(std::string sensor_label);
};

Inherited Members

public:
    // structs

    struct TMsg;

    // fields

    bool logging_enable_console_output {true};
    bool logging_enable_keep_record {false};

    // methods

    void logStr(const VerbosityLevel level, std::string_view msg_str) const;
    void logFmt(const VerbosityLevel level, const char* fmt, ...) const;
    void void logCond(const VerbosityLevel level, bool cond, const std::string& msg_str) const;
    void setLoggerName(const std::string& name);
    std::string getLoggerName() const;
    void setVerbosityLevel(const VerbosityLevel level);
    void setVerbosityLevelForCallbacks(const VerbosityLevel level);
    void setMinLoggingLevel(const VerbosityLevel level);
    VerbosityLevel getMinLoggingLevel() const;
    VerbosityLevel getMinLoggingLevelForCallbacks() const;
    bool isLoggingLevelVisible(VerbosityLevel level) const;
    void getLogAsString(std::string& log_contents) const;
    std::string getLogAsString() const;
    void writeLogToFile(const std::optional<std::string>& fname_in = std::nullopt) const;
    void dumpLogToConsole() const;
    std::string getLoggerLastMsg() const;
    void getLoggerLastMsg(std::string& msg_str) const;
    void loggerReset();
    void logRegisterCallback(output_logger_callback_t userFunc);
    bool logDeregisterCallback(output_logger_callback_t userFunc);
    COutputLogger& operator = (const COutputLogger&);
    COutputLogger& operator = (COutputLogger&&);
    static std::array<mrpt::system::ConsoleForegroundColor, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_colors();
    static const std::array<const char*, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_names();

Fields

std::mutex params_mtx

Acquire this mutex if changing parameters while the app is running.

double run_for_seconds = 0

If >0, run() will return after this period (in seconds)

bool show_sensor_thread_exceptions = true

If enabled (default), exceptions in sensor threads will be reported to std::cerr.

mrpt::config::CConfigFileMemory params

Populated in initialize().

Can be replaced or manipulated by the user after that and before run() to change the parameters loaded from INI file.

std::mutex results_mtx

Acquire this mutex if reading these output variables while the app is running.

std::string rawlog_filename

The generated .rawlog file.

std::size_t rawlog_saved_objects = 0

Counter of saved objects.

Methods

void initialize(int argc, const char** argv)

Initializes the application from CLI parameters.

Refer to the manpage of rawlog-grabber. Throws on errors.

void run()

Runs with the current parameter set.

Throws on errors.