mrpt::system::COutputLogger Class Reference

Detailed Description

Versatile class for consistent logging and management of output messages.

COutputLogger is a versatile class for logging messages either to the terminal window or to an external file. Class instances can take messages in std::string using the logStr class methods. The following macros are also provided for usage within a class that inherits from COutputLogger:

// Plain strings:
MRPT_LOG_DEBUG("This will be shown only if verbosity level is LVL_DEBUG.");
MRPT_LOG_ERROR("This message will be always shown.");
// printf-like versions:
MRPT_LOG_ERROR_FMT("Out of range value: %i.", int_param);
// stream-like versions:
MRPT_LOG_ERROR_STREAM("Out of range value: " << int_param << " more vars: "
<< other_var);
// Minimum period (in seconds) between messages:
MRPT_LOG_THROTTLE_DEBUG_STREAM(5.0, "Var=" << value << " foo=" << foo_var);
// Only once:
MRPT_LOG_ONCE_WARN("Notice: blah blah");

From outside of a class inheriting from COutputLogger the following MRPT_UNSCOPED_{START|END} macros are provided:

MRPT_UNSCOPED_LOGGER_START;
MRPT_LOG_WARN("blah");
MRPT_LOG_ERROR_STREAM("error: " << strval);
MRPT_UNSCOPED_LOGGER_END;

• Logger instance keeps the messages in an internal container so that upon request it can dump them either to the console or to an external file altogether.
• The message, when printed in the terminal window, is colored according to the logger's current verbosity/logging level (Logging level with which the underlying TMsg instance was instantiatedd). The available verbosity levels as well as their corresponding colors are listed below:
  • LVL_DEBUG => CONCOL_BLUE
  • LVL_INFO => CONCOL_NORMAL
  • LVL_WARN => CONCOL_GREEN
  • LVL_ERROR => CONCOL_RED
• Logged messages are displayed in the screen if the current logger level is higher than m_min_verbosity_level (logger ignores those messages altogether). This can be used for filtering the output messages according to their importance (e.g. show only error messages by issuing setMinLoggingLevel(LVL_ERROR)).

  See also

  setLoggingLevel, setMinLoggingLevel

  Default logging level is LVL_INFO.

User may receive callbacks whenever a message is displayed to console by using logRegisterCallback(). If for some reason the callbacks are not needed any more, use logDeregisterCallback() to stop receiving calls. This mechanism is useful in case of showing the messages to a GUI, transmiting them to a remote machine, etc.

Note

By default every logged message is going to be dumped to the standard output as well (if VerbosityLevel > m_min_verbosity_level). Unset logging_enable_console_output class variable if that's not the desired behavior

[New in MRPT 1.5.0]

See also

TMsg

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

#include <mrpt/system/COutputLogger.h>

Inheritance diagram for mrpt::system::COutputLogger:

Classes
struct	TMsg
	Struct responsible of holding information relevant to the message (in std::string form) issued by the user. More...

Static Public Attributes
static mrpt::system::TConsoleColor	logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS]
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
static std::string	logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS]
	Map from VerbosityLevels to their corresponding names. More...

Protected Attributes
VerbosityLevel	m_min_verbosity_level
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Member Functions
std::string	generateStringFromFormat (const char *fmt, va_list argp) const
	Helper method for generating a std::string instance from printf-like arguments. More...

Private Attributes
std::string	m_logger_name
std::deque< TMsg >	m_history
std::deque< output_logger_callback_t >	m_listCallbacks

Logging methods
bool	logging_enable_console_output
	[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
	[Default=false] Enables storing all messages into an internal list. More...
	COutputLogger (const std::string &name)
	Construct a COutputLogger instance with the given name as the instance name. More...
	COutputLogger ()
	Default class constructor. More...
virtual	~COutputLogger ()
	virtual dtor (so we can derive classes from this one) More...
void	logStr (const VerbosityLevel level, const std::string &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=NULL) 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)

Constructor & Destructor Documentation

COutputLogger() [1/2]

COutputLogger::COutputLogger

(

const std::string &

name

)

Construct a COutputLogger instance with the given name as the instance name.

Call to this constructor can be used instead of first initializing the object and then explicitly setting the name like in the following case:

COutputLogger a_logger;
a_logger.setLoggerName("logger_name");

Definition at line 54 of file COutputLogger.cpp.

COutputLogger() [2/2]

COutputLogger::COutputLogger

(

)

Default class constructor.

Name of the logger is initialized to "logStr"

Definition at line 59 of file COutputLogger.cpp.

~COutputLogger()

COutputLogger::~COutputLogger ( )

virtual

virtual dtor (so we can derive classes from this one)

Definition at line 60 of file COutputLogger.cpp.

Member Function Documentation

dumpLogToConsole()

void COutputLogger::dumpLogToConsole

(

)

const

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

See also

writeToFile

Definition at line 179 of file COutputLogger.cpp.

generateStringFromFormat()

std::string COutputLogger::generateStringFromFormat ( const char *  fmt, va_list  argp  ) const

private

Helper method for generating a std::string instance from printf-like arguments.

Definition at line 99 of file COutputLogger.cpp.

References mrpt::system::os::vsnprintf().

getLogAsString() [1/2]

std::string COutputLogger::getLogAsString

(

)

const

Get the history of COutputLogger instance in a string representation.

Definition at line 148 of file COutputLogger.cpp.

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

getLogAsString() [2/2]

void COutputLogger::getLogAsString

(

std::string &

log_contents

)

const

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

Definition at line 143 of file COutputLogger.cpp.

getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg

(

)

const

Return the last Tmsg instance registered in the logger history.

Definition at line 184 of file COutputLogger.cpp.

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

getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg

(

std::string &

msg_str

)

const

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

Definition at line 190 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName

(

)

const

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 132 of file COutputLogger.cpp.

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

getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inline

See also

setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

isLoggingLevelVisible()

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

inline

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

References m_min_verbosity_level.

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

logCond()

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

Log the given message only if the condition is satisfied.

See also

log, logFmt

Definition at line 120 of file COutputLogger.cpp.

logDeregisterCallback()

bool COutputLogger::logDeregisterCallback

(

output_logger_callback_t

userFunc

)

Returns

true if an entry was found and deleted.

Definition at line 287 of file COutputLogger.cpp.

References getAddress().

logFmt()

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

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
 
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also

logStr, logCond

Definition at line 80 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

loggerReset()

void COutputLogger::loggerReset

(

)

Reset the contents of the logger instance.

Called upon construction.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logRegisterCallback()

void COutputLogger::logRegisterCallback

(

output_logger_callback_t

userFunc

)

Definition at line 274 of file COutputLogger.cpp.

logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		const std::string &	msg_str
	)		const

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

See also

logCond, logFmt

Definition at line 61 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(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

setLoggerName()

void COutputLogger::setLoggerName

(

const std::string &

name

)

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 127 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel

(

const VerbosityLevel

level

)

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 133 of file COutputLogger.cpp.

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

setVerbosityLevel()

void COutputLogger::setVerbosityLevel

(

const VerbosityLevel

level

)

alias of setMinLoggingLevel()

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

writeLogToFile()

void COutputLogger::writeLogToFile

(

const std::string *

fname_in = NULL

)

const

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 154 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Member Data Documentation

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

[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 239 of file system/COutputLogger.h.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record

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

See also

writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

logging_levels_to_colors

mrpt::system::TConsoleColor COutputLogger::logging_levels_to_colors

static

Initial value:

= {
                CONCOL_BLUE,  
                CONCOL_NORMAL,  
                CONCOL_GREEN,  
                CONCOL_RED  
}

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

Implementation file for the COutputLogger header class.

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

Definition at line 124 of file system/COutputLogger.h.

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

logging_levels_to_names

std::string COutputLogger::logging_levels_to_names

static

Initial value:

=
        {
                "DEBUG",  
                "INFO ",  
                "WARN ",  
                "ERROR"  
}

Map from VerbosityLevels to their corresponding names.

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

Definition at line 129 of file system/COutputLogger.h.

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

m_history

std::deque<TMsg> mrpt::system::COutputLogger::m_history

mutableprivate

Definition at line 312 of file system/COutputLogger.h.

m_listCallbacks

std::deque<output_logger_callback_t> mrpt::system::COutputLogger::m_listCallbacks

private

Definition at line 314 of file system/COutputLogger.h.

m_logger_name

std::string mrpt::system::COutputLogger::m_logger_name

private

Definition at line 310 of file system/COutputLogger.h.

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

protected

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

Definition at line 252 of file system/COutputLogger.h.

Referenced by getMinLoggingLevel(), and isLoggingLevelVisible().