Improve logging

Source/Carla/AI/VehicleSpawnerBase.cpp

@@ -43,10 +43,10 @@ void AVehicleSpawnerBase::BeginPlay()
       TryToSpawnRandomVehicle();
       ++NumberOfAttempts;
     }
-  }
 
-  if (NumberOfVehicles > Vehicles.Num()) {
-    UE_LOG(LogCarla, Error, TEXT("Requested %d vehicles, but we were only able to spawn %d"), NumberOfVehicles, Vehicles.Num());
+    if (NumberOfVehicles > Vehicles.Num()) {
+      UE_LOG(LogCarla, Error, TEXT("Requested %d vehicles, but we were only able to spawn %d"), NumberOfVehicles, Vehicles.Num());
+    }
   }
 }
 

Source/Carla/AI/WalkerAIController.cpp

@@ -187,7 +187,12 @@ FPathFollowingRequestResult AWalkerAIController::MoveTo(
       const FAIMoveRequest& MoveRequest,
       FNavPathSharedPtr* OutPath)
 {
-  LOG_AI_WALKER(Log, "requested to move");
+#ifdef CARLA_AI_WALKERS_EXTRA_LOG
+  UE_LOG(LogCarla, Log, TEXT("Walker %s requested move from (%s) to (%s)"),
+      *GetPawn()->GetName(),
+      *GetPawn()->GetActorLocation().ToString(),
+      *MoveRequest.GetGoalLocation().ToString());
+#endif // CARLA_AI_WALKERS_EXTRA_LOG
   Status = EWalkerStatus::Moving;
   return Super::MoveTo(MoveRequest, OutPath);
 }
@@ -197,7 +202,11 @@ void AWalkerAIController::OnMoveCompleted(
     const FPathFollowingResult &Result)
 {
   Super::OnMoveCompleted(RequestID, Result);
-  LOG_AI_WALKER(Log, "completed move");
+#ifdef CARLA_AI_WALKERS_EXTRA_LOG
+  UE_LOG(LogCarla, Log, TEXT("Walker %s completed move at (%s)"),
+      *GetPawn()->GetName(),
+      *GetPawn()->GetActorLocation().ToString());
+#endif // CARLA_AI_WALKERS_EXTRA_LOG
   Status = EWalkerStatus::MoveCompleted;
 }
 

Source/Carla/AI/WalkerSpawnerBase.cpp

@@ -162,7 +162,9 @@ void AWalkerSpawnerBase::SetNumberOfWalkers(const int32 Count)
 const AWalkerSpawnPointBase &AWalkerSpawnerBase::GetRandomSpawnPoint()
 {
   check(SpawnPoints.Num() > 0);
-  return *GetRandomEngine()->PickOne(SpawnPoints);
+  const auto *SpawnPoint = GetRandomEngine()->PickOne(SpawnPoints);
+  check(SpawnPoint != nullptr);
+  return *SpawnPoint;
 }
 
 bool AWalkerSpawnerBase::TryGetValidDestination(const FVector &Origin, FVector &Destination)

Source/CarlaServer/source/carla/Logging.h

@@ -11,6 +11,22 @@
 // Choose here the log level.
 #define LOG_LEVEL LOG_LEVEL_ERROR
 
+// The following log functions are available, they are only active if LOG_LEVEL
+// is greater equal the function's log level.
+//
+//  * log_debug
+//  * log_info
+//  * log_error
+//  * log_critical
+//
+// And macros
+//
+//  * LOG_DEBUG_ONLY(/* code here */)
+//  * LOG_INFO_ONLY(/* code here */)
+
+// =============================================================================
+// -- Implementation of log functions ------------------------------------------
+// =============================================================================
 
 #include <iostream>
 
@@ -20,7 +36,7 @@ namespace detail {
 
   // https://stackoverflow.com/a/27375675
   template <typename Arg, typename ... Args>
-  void print_args(std::ostream &out, Arg &&arg, Args &&... args) {
+  static void print_args(std::ostream &out, Arg &&arg, Args &&... args) {
     out << std::forward<Arg>(arg);
     using expander = int[];
     (void)expander{0, (void(out << ' ' << std::forward<Args>(args)),0)...};
@@ -85,3 +101,19 @@ namespace detail {
 #endif
 
 } // namespace carla
+
+// =============================================================================
+// -- Implementation of macros -------------------------------------------------
+// =============================================================================
+
+#if LOG_LEVEL <= LOG_LEVEL_DEBUG
+#  define LOG_DEBUG_ONLY(code) code
+#else
+#  define LOG_DEBUG_ONLY(code)
+#endif
+
+#if LOG_LEVEL <= LOG_LEVEL_INFO
+#  define LOG_INFO_ONLY(code) code
+#else
+#  define LOG_INFO_ONLY(code)
+#endif

Source/CarlaServer/source/carla/thread/AsyncReaderJobQueue.h

@@ -70,23 +70,18 @@ namespace thread {
         _restart = false;
         _queue.canWait(true);
         while (!_restart && !done) {
-          {
-            using namespace std;
-            clock_t start = clock();
+          using namespace std;
+          LOG_DEBUG_ONLY(clock_t start = clock();)
 
-             auto value = _queue.wait_and_pop();
-             if (value != nullptr) {
-             _job(*value);
-
-            clock_t end = clock();
-            double elapsed_secs = double(end- start) / CLOCKS_PER_SEC;
-            cout<< "Send Thread: " << elapsed_secs << endl;
+          auto value = _queue.wait_and_pop();
+          if (value != nullptr) {
+            _job(*value);
 
+            LOG_DEBUG_ONLY(clock_t end = clock();)
+            LOG_DEBUG_ONLY(double elapsed_secs = double(end - start) / CLOCKS_PER_SEC;)
+            LOG_DEBUG_ONLY(log_debug("Send Thread:", elapsed_secs);)
           }
-
-    		  }//Sleep(10);
         }
-
       }
     }