ULogger.cpp

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/*
*  utilite is a cross-platform library with
*  useful utilities for fast and small developing.
*  Copyright (C) 2010  Mathieu Labbe
*
*  utilite is free library: you can redistribute it and/or modify
*  it under the terms of the GNU Lesser General Public License as published by
*  the Free Software Foundation, either version 3 of the License, or
*  (at your option) any later version.
*
*  utilite is distributed in the hope that it will be useful,
*  but WITHOUT ANY WARRANTY; without even the implied warranty of
*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*  GNU Lesser General Public License for more details.
*
*  You should have received a copy of the GNU Lesser General Public License
*  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
 
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UFile.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UEventsManager.h"
#include <fstream>
#include <string>
#include <string.h>
 
#ifndef _WIN32
#include <sys/time.h>
#endif
 
#ifdef _WIN32
#include <Windows.h>
#define COLOR_NORMAL FOREGROUND_BLUE | FOREGROUND_GREEN | FOREGROUND_RED
#define COLOR_RED FOREGROUND_RED | FOREGROUND_INTENSITY
#define COLOR_GREEN FOREGROUND_GREEN
#define COLOR_YELLOW FOREGROUND_GREEN | FOREGROUND_RED
#else
#define COLOR_NORMAL "\033[0m"
#define COLOR_RED "\033[31m"
#define COLOR_GREEN "\033[32m"
#define COLOR_YELLOW "\033[33m"
#endif
 
bool ULogger::append_ = true;
bool ULogger::printTime_ = true;
bool ULogger::printLevel_ = true;
bool ULogger::printEndline_ = true;
bool ULogger::printColored_ = true;
bool ULogger::printWhere_ = true;
bool ULogger::printWhereFullPath_ = false;
bool ULogger::printThreadID_ = false;
bool ULogger::limitWhereLength_ = false;
bool ULogger::buffered_ = false;
ULogger::Level ULogger::level_ = kInfo; // By default, we show all info msgs + upper level (Warning, Error)
ULogger::Level ULogger::eventLevel_ = kFatal;
const char * ULogger::levelName_[5] = {"DEBUG", " INFO", " WARN", "ERROR", "FATAL"};
ULogger* ULogger::instance_ = 0;
UDestroyer<ULogger> ULogger::destroyer_;
ULogger::Type ULogger::type_ = ULogger::kTypeNoLog; // Default nothing
UMutex ULogger::loggerMutex_;
const std::string ULogger::kDefaultLogFileName = "./ULog.txt";
std::string ULogger::logFileName_;
std::string ULogger::bufferedMsgs_;
std::set<unsigned long> ULogger::threadIdFilter_;
std::map<std::string, unsigned long> ULogger::registeredThreads_;
 
class UConsoleLogger : public ULogger
{
public :
    virtual ~UConsoleLogger() {this->_flush();}
 
protected:
    friend class ULogger;
 
    UConsoleLogger() {}
 
private:
    virtual void _write(const char* msg, va_list arg)
    {
                vprintf(msg, arg);
    }
    virtual void _writeStr(const char* msg)
        {
                printf("%s", msg);
        }
};
 
class UFileLogger : public ULogger
{
public:
    virtual ~UFileLogger()
    {
        this->_flush();
        if(fout_)
        {
                fclose(fout_);
        }
    }
 
protected:
    friend class ULogger;
 
    UFileLogger(const std::string &fileName, bool append)
    {
        fileName_ = fileName;
 
        if(!append) {
                        std::ofstream fileToClear(fileName_.c_str(), std::ios::out);
                        fileToClear.clear();
                        fileToClear.close();
                }
 
#ifdef _MSC_VER
        fopen_s(&fout_, fileName_.c_str(), "a");
#else
        fout_ = fopen(fileName_.c_str(), "a");
#endif
 
        if(!fout_) {
            printf("FileLogger : Cannot open file : %s\n", fileName_.c_str()); // TODO send Event instead, or return error code
            return;
        }
    }
 
private:
    virtual void _write(const char* msg, va_list arg)
    {
        if(fout_)
        {
                vfprintf(fout_, msg, arg);
        }
    }
    virtual void _writeStr(const char* msg)
        {
                if(fout_)
                {
                        fprintf(fout_, "%s", msg);
                }
        }
 
private:
    std::string fileName_; 
    FILE* fout_;
    std::string bufferedMsgs_;
};
 
void ULogger::setType(Type type, const std::string &fileName, bool append)
{
        ULogger::flush();
    loggerMutex_.lock();
    {
                // instance not yet created
                if(!instance_)
                {
                        type_ = type;
                        logFileName_ = fileName;
                        append_ = append;
                        instance_ = createInstance();
                }
                // type changed
                else if(type_ != type || (type_ == kTypeFile && logFileName_.compare(fileName)!=0))
                {
                        destroyer_.setDoomed(0);
                        delete instance_;
                        instance_ = 0;
                        type_ = type;
                        logFileName_ = fileName;
                        append_ = append;
                        instance_ = createInstance();
                }
    }
    loggerMutex_.unlock();
}
 
void ULogger::setTreadIdFilter(const std::vector<std::string> & ids)
{
        loggerMutex_.lock();
        threadIdFilter_.clear();
        for(unsigned int i=0;i<ids.size();++i)
        {
                if(registeredThreads_.find(ids[i]) != registeredThreads_.end())
                {
                        threadIdFilter_.insert(registeredThreads_.at(ids[i]));
                }
        }
        loggerMutex_.unlock();
}
 
void ULogger::registerCurrentThread(const std::string & name)
{
        loggerMutex_.lock();
        UASSERT(!name.empty());
        uInsert(registeredThreads_, std::make_pair(name, UThread::currentThreadId()));
        loggerMutex_.unlock();
}
 
void ULogger::unregisterCurrentThread()
{
        loggerMutex_.lock();
 
        unsigned long id = UThread::currentThreadId();
        for(std::map<std::string, unsigned long>::iterator iter=registeredThreads_.begin(); iter!=registeredThreads_.end();)
        {
                if(iter->second == id)
                {
                        registeredThreads_.erase(iter++);
                        threadIdFilter_.erase(id);
                }
                else
                {
                        ++iter;
                }
        }
 
        loggerMutex_.unlock();
}
 
std::map<std::string, unsigned long> ULogger::getRegisteredThreads()
{
        loggerMutex_.lock();
        std::map<std::string, unsigned long> out = registeredThreads_;
        loggerMutex_.unlock();
        return out;
}
 
void ULogger::reset()
{
        ULogger::setType(ULogger::kTypeNoLog);
        append_ = true;
        printTime_ = true;
        printLevel_ = true;
        printEndline_ = true;
        printColored_ = true;
        printWhere_ = true;
        printWhereFullPath_ = false;
        printThreadID_ = false;
        limitWhereLength_ = false;
        level_ = kInfo; // By default, we show all info msgs + upper level (Warning, Error)
        logFileName_ = ULogger::kDefaultLogFileName;
}
 
void ULogger::setBuffered(bool buffered)
{
        if(!buffered)
        {
                ULogger::flush();
        }
        buffered_ = buffered;
}
 
 
void ULogger::flush()
{
        loggerMutex_.lock();
        if(!instance_ || bufferedMsgs_.size()==0)
        {
                loggerMutex_.unlock();
                return;
        }
 
        instance_->_flush();
        loggerMutex_.unlock();
}
 
void ULogger::_flush()
{
        ULogger::getInstance()->_writeStr(bufferedMsgs_.c_str());
        bufferedMsgs_.clear();
}
 
void ULogger::write(const char* msg, ...)
{
        loggerMutex_.lock();
        if(!instance_)
        {
                loggerMutex_.unlock();
                return;
        }
 
    std::string endline = "";
    if(printEndline_) {
        endline = "\r\n";
    }
 
    std::string time = "";
    if(printTime_)
    {
        getTime(time);
        time.append(" - ");
    }
 
 
    if(printTime_)
    {
        if(buffered_)
        {
                bufferedMsgs_.append(time.c_str());
        }
        else
        {
                ULogger::getInstance()->_writeStr(time.c_str());
        }
    }
 
    va_list args;
    va_start(args, msg);
    if(buffered_)
    {
        bufferedMsgs_.append(uFormatv(msg, args));
    }
        else
        {
                ULogger::getInstance()->_write(msg, args);
        }
    va_end(args);
    if(printEndline_)
    {
        if(buffered_)
        {
                bufferedMsgs_.append(endline.c_str());
        }
        else
        {
                ULogger::getInstance()->_writeStr(endline.c_str());
        }
    }
    loggerMutex_.unlock();
 
} 
 
void ULogger::write(ULogger::Level level,
                const char * file,
                int line,
                const char * function,
                const char* msg,
                ...)
{
        loggerMutex_.lock();
        if(type_ == kTypeNoLog && level < kFatal && level < eventLevel_)
        {
                loggerMutex_.unlock();
                return;
        }
        if(strlen(msg) == 0 && !printWhere_ && level < kFatal)
        {
                loggerMutex_.unlock();
                // No need to show an empty message if we don't print where.
                return;
        }
        if(level < kFatal &&
                threadIdFilter_.size() &&
                threadIdFilter_.find(UThread::currentThreadId()) == threadIdFilter_.end())
        {
                loggerMutex_.unlock();
                return;
        }
 
    if(level >= level_ || level >= eventLevel_)
    {
#ifdef _WIN32
        int color = 0;
#else
        const char* color = NULL;
#endif
        switch(level)
        {
        case kDebug:
                color = COLOR_GREEN;
                break;
        case kInfo:
                color = COLOR_NORMAL;
                break;
        case kWarning:
                color = COLOR_YELLOW;
                break;
        case kError:
        case kFatal:
                color = COLOR_RED;
                break;
        default:
                break;
        }
 
                std::string endline = "";
                if(printEndline_) {
                        endline = "\r\n";
                }
 
                std::string time = "";
                if(printTime_ || level == kFatal)
                {
                        time.append("(");
                        getTime(time);
                        time.append(") ");
                }
 
                std::string levelStr = "";
                if(printLevel_ || level == kFatal)
                {
                        const int bufSize = 30;
                        char buf[bufSize] = {0};
 
#ifdef _MSC_VER
                        sprintf_s(buf, bufSize, "[%s]", levelName_[level]);
#else
                        snprintf(buf, bufSize, "[%s]", levelName_[level]);
#endif
                        levelStr = buf;
                        levelStr.append(" ");
                }
 
                std::string pidStr;
                if(printThreadID_)
                {
                        pidStr = uFormat("{%lu} ", UThread::currentThreadId());
                }
 
                std::string whereStr = "";
                if(printWhere_ || level == kFatal)
                {
                        whereStr.append("");
                        //File
                        if(printWhereFullPath_)
                        {
                                whereStr.append(file);
                        }
                        else
                        {
                                std::string fileName = UFile::getName(file);
                                if(limitWhereLength_ && fileName.size() > 8)
                                {
                                        fileName.erase(8);
                                        fileName.append("~");
                                }
                                whereStr.append(fileName);
                        }
 
                        //Line
                        whereStr.append(":");
                        std::string lineStr = uNumber2Str(line);
                        whereStr.append(lineStr);
 
                        //Function
                        whereStr.append("::");
                        std::string funcStr = function;
                        if(!printWhereFullPath_ && limitWhereLength_ && funcStr.size() > 8)
                        {
                                funcStr.erase(8);
                                funcStr.append("~");
                        }
                        funcStr.append("()");
                        whereStr.append(funcStr);
 
                        whereStr.append(" ");
                }
 
                va_list args;
 
                if(type_ != kTypeNoLog)
                {
                        va_start(args, msg);
#ifdef _WIN32
                        HANDLE H = GetStdHandle(STD_OUTPUT_HANDLE);
#endif
                        if(type_ == ULogger::kTypeConsole && printColored_)
                        {
#ifdef _WIN32
                                SetConsoleTextAttribute(H,color);
#else
                                if(buffered_)
                                {
                                        bufferedMsgs_.append(color);
                                }
                                else
                                {
                                        ULogger::getInstance()->_writeStr(color);
                                }
#endif
                        }
 
                        if(buffered_)
                        {
                                bufferedMsgs_.append(levelStr.c_str());
                                bufferedMsgs_.append(pidStr.c_str());
                                bufferedMsgs_.append(time.c_str());
                                bufferedMsgs_.append(whereStr.c_str());
                                bufferedMsgs_.append(uFormatv(msg, args));
                        }
                        else
                        {
                                ULogger::getInstance()->_writeStr(levelStr.c_str());
                                ULogger::getInstance()->_writeStr(pidStr.c_str());
                                ULogger::getInstance()->_writeStr(time.c_str());
                                ULogger::getInstance()->_writeStr(whereStr.c_str());
                                ULogger::getInstance()->_write(msg, args);
                        }
                        if(type_ == ULogger::kTypeConsole && printColored_)
                        {
#ifdef _WIN32
                                SetConsoleTextAttribute(H,COLOR_NORMAL);
#else
                                if(buffered_)
                                {
                                        bufferedMsgs_.append(COLOR_NORMAL);
                                }
                                else
                                {
                                        ULogger::getInstance()->_writeStr(COLOR_NORMAL);
                                }
#endif
                        }
                        if(buffered_)
                        {
                                bufferedMsgs_.append(endline.c_str());
                        }
                        else
                        {
                                ULogger::getInstance()->_writeStr(endline.c_str());
                        }
                        va_end (args);
                }
 
                if(level >= eventLevel_)
                {
                        std::string fullMsg = uFormat("%s%s%s%s", levelStr.c_str(), pidStr.c_str(), time.c_str(), whereStr.c_str());
                        va_start(args, msg);
                        fullMsg.append(uFormatv(msg, args));
                        va_end(args);
                        if(level >= kFatal)
                        {
                                // Send it synchronously, then receivers
                                // can do something before the code (exiting) below is executed.
                                UEventsManager::post(new ULogEvent(fullMsg, kFatal), false);
                        }
                        else
                        {
                                UEventsManager::post(new ULogEvent(fullMsg, level));
                        }
                }
 
                if(level >= kFatal)
                {
                        std::string fullMsg = uFormat("%s%s%s%s", levelStr.c_str(), pidStr.c_str(), time.c_str(), whereStr.c_str());
                        va_start(args, msg);
                        fullMsg.append(uFormatv(msg, args));
                        va_end(args);
 
                        if(instance_)
                        {
                                destroyer_.setDoomed(0);
                                delete instance_; // If a FileLogger is used, this will close the file.
                                instance_ = 0;
                        }
                        //========================================================================
                        //                          Throw exception
                        loggerMutex_.unlock();
                         throw UException(fullMsg);
                        //========================================================================
                }
    }
    loggerMutex_.unlock();
}
 
int ULogger::getTime(std::string &timeStr)
{
    struct tm timeinfo;
    const int bufSize = 30;
    char buf[bufSize] = {0};
 
#if _MSC_VER
    time_t rawtime;
    time(&rawtime);
    localtime_s (&timeinfo, &rawtime );
    int result = sprintf_s(buf, bufSize, "%d-%s%d-%s%d %s%d:%s%d:%s%d",
        timeinfo.tm_year+1900,
        (timeinfo.tm_mon+1) < 10 ? "0":"", timeinfo.tm_mon+1,
        (timeinfo.tm_mday) < 10 ? "0":"", timeinfo.tm_mday,
        (timeinfo.tm_hour) < 10 ? "0":"", timeinfo.tm_hour,
        (timeinfo.tm_min) < 10 ? "0":"", timeinfo.tm_min,
        (timeinfo.tm_sec) < 10 ? "0":"", timeinfo.tm_sec);
#elif WIN32
    time_t rawtime;
    time(&rawtime);
    timeinfo = *localtime (&rawtime);
    int result = snprintf(buf, bufSize, "%d-%s%d-%s%d %s%d:%s%d:%s%d",
                timeinfo.tm_year+1900,
                (timeinfo.tm_mon+1) < 10 ? "0":"", timeinfo.tm_mon+1,
                (timeinfo.tm_mday) < 10 ? "0":"", timeinfo.tm_mday,
                (timeinfo.tm_hour) < 10 ? "0":"", timeinfo.tm_hour,
                (timeinfo.tm_min) < 10 ? "0":"", timeinfo.tm_min,
                (timeinfo.tm_sec) < 10 ? "0":"", timeinfo.tm_sec);
 #else
    struct timeval rawtime;
    gettimeofday(&rawtime, NULL);
    localtime_r (&rawtime.tv_sec, &timeinfo);
        int result = snprintf(buf, bufSize, "%d-%s%d-%s%d %s%d:%s%d:%s%d.%s%d",
                timeinfo.tm_year+1900,
                (timeinfo.tm_mon+1) < 10 ? "0":"", timeinfo.tm_mon+1,
                (timeinfo.tm_mday) < 10 ? "0":"", timeinfo.tm_mday,
                (timeinfo.tm_hour) < 10 ? "0":"", timeinfo.tm_hour,
                (timeinfo.tm_min) < 10 ? "0":"", timeinfo.tm_min,
                (timeinfo.tm_sec) < 10 ? "0":"", timeinfo.tm_sec,
            (rawtime.tv_usec/1000) < 10 ? "00":(rawtime.tv_usec/1000) < 100?"0":"", int(rawtime.tv_usec/1000));
#endif
    if(result)
    {
        timeStr.append(buf);
    }
    return result;
}
 
ULogger* ULogger::getInstance()
{
        if(!instance_)
        {
                instance_ = createInstance();
        }
    return instance_;
}
 
ULogger* ULogger::createInstance()
{
    ULogger* instance = 0;
    if(type_ == ULogger::kTypeConsole)
    {
        instance = new UConsoleLogger();
    }
    else if(type_ == ULogger::kTypeFile)
    {
        instance = new UFileLogger(logFileName_, append_);
    }
    destroyer_.setDoomed(instance);
    return instance;
}
 
ULogger::~ULogger() 
{
    instance_ = 0;
    //printf("Logger is destroyed...\n\r");
}