320 lines
12 KiB
C++
320 lines
12 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_UTIL_LOGRECORD_HH_
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#define _GAZEBO_UTIL_LOGRECORD_HH_
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#include <fstream>
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#include <set>
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#include <string>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/common/SingletonT.hh"
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#include "gazebo/util/system.hh"
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#define GZ_LOG_VERSION "1.0"
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namespace gazebo
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{
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namespace util
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{
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/// \brief Log recording parameters.
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/// \sa LogRecord::Start
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class LogRecordParams
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{
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/// \brief The type of encoding (txt, zlib, or bz2).
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public: std::string encoding = "zlib";
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/// \brief Path in which to store log files.
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public: std::string path;
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/// \brief Recording period. A value < 0 indicates that every
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/// iteration should be recorded.
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public: double period = -1;
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/// \brief Log filter string
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public: std::string filter;
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};
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// Forward declare private data class
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class LogRecordPrivate;
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/// addtogroup gazebo_util
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/// \{
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/// \class LogRecord LogRecord.hh util/util.hh
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/// \brief Handles logging of data to disk
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///
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/// The LogRecord class is a Singleton that manages data logging of any
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/// entity within a running simulation. An entity may be a World, Model,
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/// or any of their child entities. This class only writes log files,
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/// see LogPlay for playback functionality.
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///
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/// State information for an entity may be logged through the LogRecord::Add
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/// function, and stopped through the LogRecord::Remove function. Data may
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/// be logged into a single file, or split into many separate files by
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/// specifying different filenames for the LogRecord::Add function.
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///
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/// The LogRecord is updated at the start of each simulation step. This
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/// guarantees that all data is stored.
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///
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/// \sa Logplay, State
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class GZ_UTIL_VISIBLE LogRecord : public SingletonT<LogRecord>
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{
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/// \brief Constructor
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private: LogRecord();
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/// \brief Destructor
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private: virtual ~LogRecord();
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/// \brief Initialize logging into a subdirectory.
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///
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/// Init may only be called once, False will be returned if called
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/// multiple times.
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/// \param[in] _subdir Directory to record to
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/// \return True if successful.
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public: bool Init(const std::string &_subdir);
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/// \brief Add an object to a log file.
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///
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/// Add a new object to a log. An object can be any valid named object
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/// in simulation, including the world itself. Duplicate additions are
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/// ignored. Objects can be added to the same file by
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/// specifying the same _filename.
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/// \param[in] _name Name of the object to log.
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/// \param[in] _filename Filename of the log file.
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/// \param[in] _logCallback Function used to log data for the object.
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/// Typically an object will have a log function that outputs data to
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/// the provided ofstream.
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/// \throws Exception
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public: void Add(const std::string &_name, const std::string &_filename,
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std::function<bool (std::ostringstream &)> _logCallback);
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/// \brief Remove an entity from a log
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///
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/// Removes an entity from the logger. The stops data recording for
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/// the entity and all its children. For example, specifying a world
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/// will stop all data logging.
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/// \param[in] _name Name of the log
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/// \return True if the entity existed and was removed. False if the
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/// entity was not registered with the logger.
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public: bool Remove(const std::string &_name);
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/// \brief Stop the logger.
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public: void Stop();
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/// \brief Tell the recorder that an update should occur.
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public: void Notify();
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/// \brief Set whether logging should pause. A paused state means the
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/// log file is still open, but data is not written to it.
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/// \param[in] _paused True to pause data logging.
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/// \sa LogRecord::GetPaused
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public: void SetPaused(const bool _paused);
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/// \brief Get whether logging is paused.
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/// \return True if logging is paused.
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/// \sa LogRecord::SetPaused
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/// \deprecated See Paused() const
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public: bool GetPaused() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get whether logging is paused.
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/// \return True if logging is paused.
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/// \sa LogRecord::SetPaused
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public: bool Paused() const;
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/// \brief Get the log recording period.
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/// \return Log recording period in seconds.
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public: double Period() const;
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/// \brief Set the log recording period.
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/// \param[in] _period New log recording period in seconds.
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public: void SetPeriod(const double _period);
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/// \brief Get the log recording filter string.
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/// \return Log recording filter string.
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public: std::string Filter() const;
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/// \brief Set the log recording filter string.
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/// \param[in] _filter New log record filter regex string
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public: void SetFilter(const std::string &_filter);
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/// \brief Get whether the model meshes and materials are saved when
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/// recording.
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/// \return True if model meshes and materials are saved when recording.
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public: bool RecordResources() const;
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/// \brief Set whether to save model meshes and materials when recording.
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/// \param[in] _record True to save model resources when recording.
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public: void SetRecordResources(const bool _record);
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/// \brief Get whether the logger is ready to start, which implies
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/// that any previous runs have finished.
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// \return True if logger is ready to start.
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public: bool IsReadyToStart() const;
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/// \brief Get whether logging is running.
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/// \return True if logging has been started.
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/// \deprecated See Running() const
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public: bool GetRunning() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get whether logging is running.
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/// \return True if logging has been started.
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public: bool Running() const;
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/// \brief Start the logger.
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/// \params[in] _params Log recording parameters.
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public: bool Start(const LogRecordParams &_params);
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/// \brief Start the logger.
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/// \param[in] _encoding The type of encoding (txt, zlib, or bz2).
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/// \param[in] _path Path in which to store log files.
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public: bool Start(const std::string &_encoding="zlib",
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const std::string &_path="");
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/// \brief Get the encoding used.
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/// \return Either [txt, zlib, or bz2], where txt is plain txt and bz2
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/// and zlib are compressed data with Base64 encoding.
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/// \deprecated See Encoding() const
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public: const std::string &GetEncoding() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the encoding used.
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/// \return Either [txt, zlib, or bz2], where txt is plain txt and bz2
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/// and zlib are compressed data with Base64 encoding.
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public: const std::string &Encoding() const;
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/// \brief Get the filename for a log object.
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/// \param[in] _name Name of the log object.
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/// \return Filename, empty string if not found.
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/// \deprecated See Filename(const std::string &) const
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public: std::string GetFilename(const std::string &_name = "") const
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get the filename for a log object.
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/// \param[in] _name Name of the log object.
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/// \return Filename, empty string if not found.
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public: std::string Filename(const std::string &_name = "") const;
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/// \brief Get the file size for a log object.
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/// \param[in] _name Name of the log object.
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/// \return Size in bytes.
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/// \deprecated See FileSize(const std::string) const
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public: unsigned int GetFileSize(const std::string &_name = "") const
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get the file size for a log object.
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/// \param[in] _name Name of the log object.
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/// \return Size in bytes.
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public: unsigned int FileSize(const std::string &_name = "") const;
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/// \brief Set the base path.
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/// \param[in] _path Path to the new logging location.
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public: void SetBasePath(const std::string &_path);
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/// \brief Get the base path for a log recording.
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/// \return Path for log recording.
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/// \deprecated See BasePath() const
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public: std::string GetBasePath() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the base path for a log recording.
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/// \return Path for log recording.
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public: std::string BasePath() const;
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/// \brief Get the run time in sim time.
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/// \return Run sim time.
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/// \deprecated See RunTime() const
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public: common::Time GetRunTime() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the run time in sim time.
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/// \return Run sim time.
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public: common::Time RunTime() const;
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/// \brief Finialize, and shutdown.
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public: void Fini();
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/// \brief Return true if an Update has not yet been completed.
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/// \return True if an Update has not yet been completed.
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/// \deprecated See FirstUpdate()
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public: bool GetFirstUpdate() const GAZEBO_DEPRECATED(7.0);
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/// \brief Return true if an Update has not yet been completed.
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/// \return True if an Update has not yet been completed.
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public: bool FirstUpdate() const;
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/// \brief Return true if all the models are saved successfully.
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/// \return True if all the models are saved successfully.
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public: bool SaveModels(const std::set<std::string> &models);
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/// \brief Return true if all the files are saved successfully.
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/// \return True if all the files are saved successfully, and false if
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/// there are errors saving the files.
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public: bool SaveFiles(const std::set<std::string> &resources);
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/// \brief Write all logs.
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/// \param[in] _force True to skip waiting on dataAvailableCondition.
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public: void Write(const bool _force = false);
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/// \brief Get the size of the buffer.
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/// \return Size of the buffer, in bytes.
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/// \deprecated See BufferSize() const
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public: unsigned int GetBufferSize() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the size of the buffer.
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/// \return Size of the buffer, in bytes.
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public: unsigned int BufferSize() const;
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/// \brief Update the log files
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///
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/// Captures the current state of all registered entities, and outputs
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/// the data to their respective log files.
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private: void Update();
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/// \brief Function used by the update thread.
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private: void RunUpdate();
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/// \brief Run the Write loop.
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private: void RunWrite();
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/// \brief Clear and delete the log buffers.
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private: void ClearLogs();
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/// \brief Publish log status message.
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private: void PublishLogStatus();
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/// \brief Called when a log control message is received.
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/// \param[in] _data The log control message.
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private: void OnLogControl(ConstLogControlPtr &_data);
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/// \brief Cleanup log recording. A thread uses this function, you
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/// should never call this function directly. Use the Stop() function
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/// to trigger a cleanup.
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private: void Cleanup();
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/// \brief Used to get the simulation pause state.
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private: void OnPause(const bool _pause);
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/// \brief This is a singleton
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private: friend class SingletonT<LogRecord>;
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/// \internal
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/// \brief Private data pointer.
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private: std::unique_ptr<LogRecordPrivate> dataPtr;
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};
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/// \}
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}
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}
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#endif
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