[openrtm-commit:02389] r2922 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 2月 7日 (火) 01:28:35 JST
Author: n-ando
Date: 2017-02-07 01:28:35 +0900 (Tue, 07 Feb 2017)
New Revision: 2922
Added:
trunk/OpenRTM-aist/src/lib/rtm/LogstreamBase.h
trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.cpp
trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.h
Modified:
trunk/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp
trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
trunk/OpenRTM-aist/src/lib/rtm/Manager.h
Log:
[incompat,new func] Logging system now supports logstream loadable modules. refs #3567
Modified: trunk/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp 2017-02-06 15:52:37 UTC (rev 2921)
+++ trunk/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp 2017-02-06 16:28:35 UTC (rev 2922)
@@ -5,7 +5,7 @@
* @date $Date: 2008-03-06 06:58:40 $
* @author Noriaki Ando <n-ando at aist.go.jp>
*
- * Copyright (C) 2009
+ * Copyright (C) 2009-2017
* Task-intelligence Research Group,
* Intelligent Systems Research Institute,
* National Institute of
@@ -16,6 +16,9 @@
*
*/
+// Logstream
+#include <rtm/LogstreamFile.h>
+
// Buffers
#include <rtm/CdrRingBuffer.h>
@@ -37,6 +40,9 @@
void FactoryInit()
{
+ // Logstream
+ LogstreamFileInit();
+
// Buffers
CdrRingBufferInit();
Added: trunk/OpenRTM-aist/src/lib/rtm/LogstreamBase.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/LogstreamBase.h (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/LogstreamBase.h 2017-02-06 16:28:35 UTC (rev 2922)
@@ -0,0 +1,105 @@
+// -*- C++ -*-
+/*!
+ * @file LogstreamBase.h
+ * @brief Logger stream buffer base class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2017
+ * Noriaki Ando
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef RTC_LOGSTREAMBASE_H
+#define RTC_LOGSTREAMBASE_H
+
+#include <coil/Properties.h>
+#include <coil/Factory.h>
+#include <coil/Logger.h>
+
+#include <rtm/RTC.h>
+#include <rtm/CdrBufferBase.h>
+#include <rtm/DataPortStatus.h>
+
+namespace RTC
+{
+ /*!
+ * @if jp
+ *
+ * @class PublisherBase
+ *
+ * @brief Publisher 基底クラス
+ *
+ * データ送出タイミングを管理して送出を駆動するPublisher* の基底クラス。
+ * 各種 Publisher はこのクラスを継承して詳細を実装する。
+ *
+ * @since 0.4.0
+ *
+ * @else
+ *
+ * @class PublisherBase
+ *
+ * @brief Base class of Publisher.
+ *
+ * This is a base class of Publisher*. This class manages data send timing.
+ * Variation of Publisher* which implements details of Publisher inherits
+ * this PublisherBase class.
+ *
+ * @endif
+ */
+ typedef std::basic_streambuf<char> StreambufType;
+ class LogstreamBase
+ {
+ public:
+ /*!
+ * @if jp
+ *
+ * @brief デストラクタ
+ *
+ * @else
+ *
+ * @brief Destructor
+ *
+ * @endif
+ */
+ virtual ~LogstreamBase(void){};
+
+ /*!
+ * @if jp
+ * @brief 設定初期化
+ *
+ * Logstreamクラスの各種設定を行う。実装クラスでは、与えられた
+ * Propertiesから必要な情報を取得して各種設定を行う。
+ *
+ * @param prop 設定情報
+ *
+ * @else
+ *
+ * @brief Initializing configuration
+ *
+ * This operation would be called to configure in initialization.
+ * In the concrete class, configuration should be performed
+ * getting appropriate information from the given Properties data.
+ *
+ * @param prop Configuration information
+ *
+ * @endif
+ */
+ virtual bool init(const coil::Properties& prop) = 0;
+
+ virtual StreambufType* getStreamBuffer() = 0;
+
+ };
+
+ typedef coil::GlobalFactory<LogstreamBase> LogstreamFactory;
+
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+ EXTERN template class DLL_PLUGIN coil::GlobalFactory<LogstreamBase>;
+#endif
+};
+#endif // RTC_LOGSTREAMBASE_H
Property changes on: trunk/OpenRTM-aist/src/lib/rtm/LogstreamBase.h
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.cpp (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.cpp 2017-02-06 16:28:35 UTC (rev 2922)
@@ -0,0 +1,105 @@
+// -*- C++ -*-
+/*!
+ * @file LogstreamBase.h
+ * @brief Logger stream buffer base class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2017
+ * Noriaki Ando
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+#include <algorithm>
+
+#include <rtm/LogstreamBase.h>
+#include <rtm/LogstreamFile.h>
+#include <coil/stringutil.h>
+
+namespace RTC
+{
+ coil::vstring LogstreamFile::s_files;
+
+ LogstreamFile::LogstreamFile()
+ : m_stdout(NULL), m_fileout(NULL)
+ {
+ }
+
+ LogstreamFile::~LogstreamFile()
+ {
+ s_files.erase(std::remove(s_files.begin(), s_files.end(), m_fileName),
+ s_files.end());
+ if (m_fileout != NULL)
+ {
+ m_fileout->close();
+ }
+ }
+
+ bool LogstreamFile::init(const coil::Properties& prop)
+ {
+ coil::vstring files = coil::split(prop["file_name"], ",");
+
+ for (size_t i(0); i < files.size(); ++i)
+ {
+ std::cout << "#### file: " << files[i] << std::endl;
+ if (std::count(s_files.begin(), s_files.end(), files[i]) > 0) { continue; }
+ m_fileName = files[i];
+ s_files.push_back(files[i]);
+
+ std::string fname(files[i]);
+ coil::normalize(fname);
+ if (fname == "stdout")
+ {
+ std::cout << "##### STDOUT!! #####" << std::endl;
+ m_stdout = std::cout.rdbuf();
+ return true;
+ }
+ else if (fname == "stderr")
+ {
+ std::cout << "##### STDOUT!! #####" << std::endl;
+ m_stdout = std::cerr.rdbuf();
+ return true;
+ }
+ else
+ {
+ std::cout << "##### file #####" << std::endl;
+ m_fileout = new std::filebuf();
+ m_fileout->open(files[i].c_str(), std::ios::out | std::ios::app);
+ if (m_fileout->is_open()) { return true; }
+ }
+ }
+ return false;
+ }
+
+ StreambufType* LogstreamFile::getStreamBuffer()
+ {
+ if (m_stdout != NULL)
+ {
+ return m_stdout;
+ }
+ else if (m_fileout != NULL)
+ {
+ return m_fileout;
+ }
+ return std::cout.rdbuf();
+ }
+
+};
+
+extern "C"
+{
+ void LogstreamFileInit()
+ {
+ ::RTC::LogstreamFactory::
+ instance().addFactory("file",
+ ::coil::Creator< ::RTC::LogstreamBase,
+ ::RTC::LogstreamFile>,
+ ::coil::Destructor< ::RTC::LogstreamBase,
+ ::RTC::LogstreamFile>);
+ }
+};
+
Property changes on: trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.cpp
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.h (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.h 2017-02-06 16:28:35 UTC (rev 2922)
@@ -0,0 +1,140 @@
+// -*- C++ -*-
+/*!
+ * @file LogstreamFile.h
+ * @brief File logger stream class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2017
+ * Noriaki Ando
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef RTC_LOGSTREAMFILE_H
+#define RTC_LOGSTREAMFILE_H
+
+#include <string>
+#include <fstream>
+#include <iostream>
+#include <coil/stringutil.h>
+#include <rtm/LogstreamBase.h>
+
+namespace RTC
+{
+ /*!
+ * @if jp
+ *
+ * @class PublisherBase
+ *
+ * @brief Publisher 基底クラス
+ *
+ * データ送出タイミングを管理して送出を駆動するPublisher* の基底クラス。
+ * 各種 Publisher はこのクラスを継承して詳細を実装する。
+ *
+ * @since 0.4.0
+ *
+ * @else
+ *
+ * @class PublisherBase
+ *
+ * @brief Base class of Publisher.
+ *
+ * This is a base class of Publisher*. This class manages data send timing.
+ * Variation of Publisher* which implements details of Publisher inherits
+ * this PublisherBase class.
+ *
+ * @endif
+ */
+ class LogstreamFile
+ : public LogstreamBase
+ {
+ public:
+ /*!
+ * @if jp
+ *
+ * @brief コンストラクタ
+ *
+ * @else
+ *
+ * @brief Constructor
+ *
+ * @endif
+ */
+ LogstreamFile();
+
+ /*!
+ * @if jp
+ *
+ * @brief デストラクタ
+ *
+ * @else
+ *
+ * @brief Destructor
+ *
+ * @endif
+ */
+ virtual ~LogstreamFile(void);
+
+ /*!
+ * @if jp
+ * @brief 設定初期化
+ *
+ * Logstreamクラスの各種設定を行う。実装クラスでは、与えられた
+ * Propertiesから必要な情報を取得して各種設定を行う。
+ *
+ * @param prop 設定情報
+ *
+ * @else
+ *
+ * @brief Initializing configuration
+ *
+ * This operation would be called to configure in initialization.
+ * In the concrete class, configuration should be performed
+ * getting appropriate information from the given Properties data.
+ *
+ * @param prop Configuration information
+ *
+ * @endif
+ */
+ virtual bool init(const coil::Properties& prop);
+
+ /*!
+ * @if jp
+ * @brief basic_strembuf へのポインタを返す
+ *
+ * Loggerで使用する basic_streambuf へのポインタを返す。
+ *
+ * @return basic_streambuf (coil::LogStreambuf) へのポインタ
+ *
+ * @else
+ *
+ * @brief Returns a pointer to the basic_streambuf
+ *
+ * This operation would returns a pointer to the basic_streambuf
+ * or its subclass that is kept in this class.
+ *
+ * @return pointer to the basic_streambuf (coil::LogStreambuf)
+ *
+ * @endif
+ */
+ virtual StreambufType* getStreamBuffer();
+
+ protected:
+ static coil::vstring s_files;
+ std::string m_fileName;
+ StreambufType* m_stdout;
+ std::filebuf* m_fileout;
+ };
+}; // namespace RTC
+
+extern "C"
+{
+ void DLL_EXPORT LogstreamFileInit();
+};
+
+#endif // RTC_LOGSTREAMFILE_H
Property changes on: trunk/OpenRTM-aist/src/lib/rtm/LogstreamFile.h
___________________________________________________________________
Added: svn:executable
+ *
Modified: trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Makefile.am 2017-02-06 15:52:37 UTC (rev 2921)
+++ trunk/OpenRTM-aist/src/lib/rtm/Makefile.am 2017-02-06 16:28:35 UTC (rev 2922)
@@ -68,6 +68,7 @@
NumberingPolicy.cpp \
ManagerServant.cpp \
SystemLogger.cpp \
+ LogstreamFile.cpp \
LocalServiceAdmin.cpp \
ManagerActionListener.cpp
@@ -168,6 +169,7 @@
StateMachine.h \
Typename.h \
LocalServiceBase.h \
+ LogstreamBase.h \
ListenerHolder.h \
config_rtc.h
Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2017-02-06 15:52:37 UTC (rev 2921)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2017-02-06 16:28:35 UTC (rev 2922)
@@ -42,6 +42,7 @@
#include <rtm/SdoServiceConsumerBase.h>
#include <rtm/LocalServiceAdmin.h>
#include <rtm/SystemLogger.h>
+#include <rtm/LogstreamBase.h>
#ifdef RTM_OS_LINUX
#ifndef _GNU_SOURCE
@@ -127,10 +128,10 @@
{
manager = new Manager();
manager->initManager(argc, argv);
+ manager->initFactories();
manager->initLogger();
manager->initORB();
manager->initNaming();
- manager->initFactories();
manager->initExecContext();
manager->initComposite();
manager->initTimer();
@@ -157,10 +158,10 @@
{
manager = new Manager();
manager->initManager(0, NULL);
+ manager->initFactories();
manager->initLogger();
manager->initORB();
manager->initNaming();
- manager->initFactories();
manager->initExecContext();
manager->initComposite();
manager->initTimer();
@@ -1209,8 +1210,6 @@
// load configurations
ManagerConfig config(argc, argv);
config.configure(m_config);
- m_config["logger.file_name"] =
- formatString(m_config["logger.file_name"].c_str(), m_config);
// initialize ModuleManager
m_module = new ModuleManager(m_config);
@@ -1298,73 +1297,137 @@
//============================================================
/*!
* @if jp
- * @brief System logger の初期化
+ * @brief File logger 初期化
+ * initLoggerから呼ばれる
* @else
- * @brief System logger initialization
+ * @brief File logger initialization
+ * This function is called from initLogger.
* @endif
*/
- bool Manager::initLogger()
+ void Manager::initLogstreamFile()
{
- rtclog.setLevel("SILENT");
- rtclog.setName("manager");
-
- if (!coil::toBool(m_config["logger.enable"], "YES", "NO", true))
- {
- return true;
- }
+ // format logger file name
+ m_config["logger.file_name"] =
+ formatString(m_config["logger.file_name"].c_str(), m_config);
- std::vector<std::string> logouts;
- logouts = coil::split(m_config["logger.file_name"], ",");
+ std::vector<std::string> logouts =
+ coil::split(m_config["logger.file_name"], ",");
+ coil::Properties& logprop = m_config.getNode("logger");
for (int i(0), len(logouts.size()); i < len; ++i)
{
- std::string logfile(logouts[i]);
- if (logfile == "") continue;
-
- // Open logfile
- if (logfile == "STDOUT" || logfile == "stdout")
+ if (logouts[i].empty()) { continue; }
+
+ LogstreamBase* logstream =
+ LogstreamFactory::instance().createObject("file");
+ if (logstream == NULL)
{
- m_logStreamBuf.addStream(std::cout.rdbuf());
+ std::cerr << "\"file\" logger creation failed" << std::endl;
continue;
}
-
- std::filebuf* of = new std::filebuf();
- of->open(logfile.c_str(), std::ios::out | std::ios::app);
+ if (!logstream->init(logprop))
+ {
+ std::cerr << "\"file\" logger initialization failed" << std::endl;
+ LogstreamFactory::instance().deleteObject("file", logstream);
+ continue;
+ }
+ m_logStreamBuf.addStream(logstream->getStreamBuffer());
+ }
+ }
- if (!of->is_open())
+ void Manager::initLogstreamPlugins()
+ {
+ // loading logstream module
+ // create logstream object and attach to the logger
+ coil::vstring mods = coil::split(m_config["logger.plugins"], ",");
+ for (size_t i(0); i < mods.size(); ++i)
+ {
+ std::string basename = mods[i].substr(0, mods[i].find('.'));
+ basename += "Init";
+ try
{
- std::cerr << "Error: cannot open logfile: "
- << logfile << std::endl;
- delete of;
+ m_module->load(mods[i], basename);
+ }
+ catch (...)
+ {
+ RTC_WARN(("Logstream plugin module load failed: %s",
+ mods[i].c_str()));
continue;
}
- m_logStreamBuf.addStream(of, true);
- m_logfiles.push_back(of);
}
-
+ }
+ void Manager::initLogstreamOthers()
+ {
+ LogstreamFactory& factory(LogstreamFactory::instance());
+
+ coil::Properties pp(m_config.getNode("logger.logstream"));
+
+ const std::vector<Properties*>& leaf0 = pp.getLeaf();
+ for (size_t i(0); i < leaf0.size(); ++i)
+ {
+ std::string lstype = leaf0[i]->getName();
+ LogstreamBase* logstream = factory.createObject(lstype);
+ if (logstream == NULL)
+ {
+ RTC_WARN(("Logstream %s creation failed.", lstype.c_str()));
+ continue;
+ }
+ RTC_INFO(("Logstream %s created.", lstype.c_str()));
+ if (!logstream->init(*leaf0[i]))
+ {
+ RTC_WARN(("Logstream %s init failed.", lstype.c_str()));
+ factory.deleteObject(lstype.c_str(), logstream);
+ RTC_WARN(("Logstream %s deleted.", lstype.c_str()));
+ }
+ RTC_INFO(("Logstream %s added.", lstype.c_str()));
+ m_logStreamBuf.addStream(logstream->getStreamBuffer());
+ }
+ }
+
+ /*!
+ * @if jp
+ * @brief System logger の初期化
+ * @else
+ * @brief System logger initialization
+ * @endif
+ */
+ bool Manager::initLogger()
+ {
+ // Enable logger or not
+ rtclog.setLevel("SILENT");
+ rtclog.setName("manager");
+ if (!coil::toBool(m_config["logger.enable"], "YES", "NO", true))
+ {
+ return true;
+ }
+
// Set date format for log entry header
rtclog.setDateFormat(m_config["logger.date_format"].c_str());
rtclog.setClockType(m_config["logger.clock_type"]);
// Loglevel was set from configuration file.
rtclog.setLevel(m_config["logger.log_level"].c_str());
-
// Log stream mutex locking mode
- coil::toBool(m_config["logger.stream_lock"],
- "enable", "disable", false) ?
+ coil::toBool(m_config["logger.stream_lock"], "enable", "disable", false) ?
rtclog.enableLock() : rtclog.disableLock();
-
-
+
+ // File Logstream init
+ initLogstreamFile();
+ // Load logstream plugin
+ initLogstreamPlugins();
+ // Initialize other logstreams
+ initLogstreamOthers();
+
RTC_INFO(("%s", m_config["openrtm.version"].c_str()));
- RTC_INFO(("Copyright (C) 2003-2012"));
+ RTC_INFO(("Copyright (C) 2003-2017"));
RTC_INFO((" Noriaki Ando"));
RTC_INFO((" Intelligent Systems Research Institute, AIST"));
RTC_INFO(("Manager starting."));
RTC_INFO(("Starting local logging."));
- return true;;
+ return true;
}
-
+
/*!
* @if jp
* @brief System Logger の終了処理
Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.h 2017-02-06 15:52:37 UTC (rev 2921)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.h 2017-02-06 16:28:35 UTC (rev 2922)
@@ -1187,6 +1187,9 @@
//============================================================
// Logger initialize and terminator
//============================================================
+ void initLogstreamFile();
+ void initLogstreamPlugins();
+ void initLogstreamOthers();
/*!
* @if jp
* @brief System logger の初期化
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