/////////////////////////////////////////////////////////////////////////// // // MOOS - Mission Oriented Operating Suite // // A suit of Applications and Libraries for Mobile Robotics Research // Copyright (C) 2001-2005 Massachusetts Institute of Technology and // Oxford University. // // This software was written by Paul Newman at MIT 2001-2002 and Oxford // University 2003-2005. email: pnewman@robots.ox.ac.uk. // // This file is part of a MOOS Core Component. // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as // published by the Free Software Foundation; either version 2 of the // License, or (at your option) any later version. // // This program 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 // General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA // 02111-1307, USA. // ////////////////////////// END_GPL ////////////////////////////////// // MOOSLogger.h: interface for the CMOOSLogger class. // ////////////////////////////////////////////////////////////////////// #if !defined(MOOSLOGGERH) #define MOOSLOGGERH #include #include #include #include "Zipper.h" typedef std::vector STRING_VECTOR; class CMOOSLogger : public CMOOSApp { public: /* vanilla construction and destruction*/ CMOOSLogger(); virtual ~CMOOSLogger(); /** virtual overide of base class CMOOSApp member. Here we do all the processing and IO*/ bool Iterate(); /** virtual overide of base class CMOOSApp member. Here we register for data we wish be informed about*/ bool OnConnectToServer(); /** called when new mail arrives */ bool OnNewMail(MOOSMSG_LIST &NewMail); /** called just as the application is starting up*/ bool OnStartUp(); /** called when command mesage is recieved - use this channle for dynamic logging*/ bool OnCommandMsg(CMOOSMsg Msg); /** a endless loop looking to compress data to a zip file (if required) */ bool DoZipLogging(); /** call to shut everything down and exit cleanly */ bool ShutDown(); protected: /** called to set up machinery to log a variable geiven a command string Log = Var @ etc*/ bool HandleLogRequest(std::string sParam,std::string &sNewVariable, bool bDynamic= false); bool HandleDynamicLogRequest(std::string sRequest); bool HandleCopyFileRequest(std::string sFileToCopy); bool HandleWildCardLogging(); bool IsWildCardAccepted(const std::string & sVariableName) const; bool IsWildCardRejected(const std::string & sVariableName) const; bool CopyMissionFile(); bool ConfigureLogging(); bool DoAsyncLog(MOOSMSG_LIST & NewMail); bool OnLoggerRestart(); bool AddSyncLineOfTimes(double dfTimeNow=-1); bool LabelSyncColumns(); bool DoBanner(std::ostream & os,std::string & sFileName); bool IsSystemMessage(std::string & sKey); bool LogSystemMessages(MOOSMSG_LIST & NewMail); bool OpenAsyncFiles(); bool OpenSystemFile(); bool CloseFiles(); bool OpenSyncFile(); bool DoSyncLog(double dfTimeNow); std::string MakeLogName(std::string sStem); bool OpenFile(std::ofstream & of,const std::string & sName, bool bBinary = false); bool OnNewSession(); bool CreateDirectory(const std::string & sDirectory); std::string MakeStatusString(); std::ofstream m_AsyncLogFile; std::ofstream m_ExcludeLogFile; std::ofstream m_SyncLogFile; std::ofstream m_SystemLogFile; std::ofstream m_BinaryLogFile; std::string m_sLogRootName; std::string m_sAsyncFileName; std::string m_sExcludeFileName; std::string m_sSyncFileName; std::string m_sSystemFileName; std::string m_sBinaryFileName; std::string m_sMissionCopyName; std::string m_sHoofCopyName; std::string m_sPath; std::string m_sStemFileName; std::string m_sLogDirectoryName; STRING_VECTOR m_SynchronousLogVars; STRING_LIST m_UnusedDynamicVariables; bool m_bSynchronousLog; bool m_bAsynchronousLog; bool m_bWildCardLogging; bool m_bUseExcludedLog; //variables to do with compressed logging... bool m_bCompressAlog; CZipper m_AlogZipper; CZipper m_XlogZipper; //how many synline have been written? int m_nSyncLines; ///true if we want fancy date appended to file name bool m_bAppendFileTimeStamp; ///true if we want to create log directories with UTC time stamps bool m_bUseUTCLogNames; //.true if we want to log AuxSrc varaibles bool m_bLogAuxSrc; //housekeeping variables for performing tasks double m_dfLastSyncLogTime; double m_dfSyncLogPeriod; double m_dfLastMonitorTime; //what precision do we log doubles with? int m_nDoublePrecision; //name of a file where logger summary is written std::string m_sSummaryFile; //current position of bianry file pointer std::streampos m_BinaryCursor; //housekeeping variables for checking that monotired messages //rally are being written to... typedef std::map< std::string, double > VARIABLE_TIMER_MAP; VARIABLE_TIMER_MAP m_MonitorMap; //house keeping functions and storage to keeptrack of which variable //goes to which log (especially when xlogging is on) enum LogType { XLOG, YLOG, SLOG, ALOG, UNKNOWN }; CMOOSLogger::LogType GetDestinationLog(const std::string & sStr); std::map m_LogDestinations; private: //this is a collection of file position pointers which we will use //to fill in column names for dynamically registered variables //as and when they come in (housekeeping for the header block on //slog files) std::map< std::string, std::streampos > m_DynamicNameIndex; // collection of strings which specify names (can use wild card * and ? ) which // should be ommited from dynamic logging std::vector< std::string > m_sWildCardOmitted; // collection of strings which specify names (can use wild card * and ? ) which // should be allowed in dynamic logging. If empty all strings are assumed to be wanted // unless they are in m_sDynamicMasked std::list< std::string > m_sWildCardAccepted; }; #endif