#include <ULogger.h>

Public Types
enum	Type { kTypeNoLog , kTypeConsole , kTypeFile }

enum	Level { kDebug , kInfo , kWarning , kError , kFatal }

Static Public Member Functions
static void	setType (Type type, const std::string &fileName=kDefaultLogFileName, bool append=true)

static Type	type ()

static void	setPrintTime (bool printTime)

static bool	isPrintTime ()

static void	setPrintLevel (bool printLevel)

static bool	isPrintLevel ()

static void	setPrintEndline (bool printEndline)

static bool	isPrintEndLine ()

static void	setPrintColored (bool printColored)

static bool	isPrintColored ()

static void	setPrintWhere (bool printWhere)

static bool	isPrintWhere ()

static void	setPrintThreadId (bool printThreadId)

static bool	isPrintThreadId ()

static void	setPrintWhereFullPath (bool printWhereFullPath)

static bool	isPrintWhereFullPath ()

static void	setBuffered (bool buffered)

static bool	isBuffered ()

static void	setLevel (ULogger::Level level)

static ULogger::Level	level ()

static void	setEventLevel (ULogger::Level eventSentLevel)

static ULogger::Level	eventLevel ()

static void	setTreadIdFilter (const std::set< unsigned long > &ids)

static void	setTreadIdFilter (const std::vector< std::string > &ids)

static const std::set< unsigned long > &	getTreadIdFilter ()

static void	registerCurrentThread (const std::string &name)

static void	unregisterCurrentThread ()

static std::map< std::string, unsigned long >	getRegisteredThreads ()

static void	reset ()

static void	flush ()

static void	write (ULogger::Level level, const char file, int line, const char function, const char *msg,...)

static int	getTime (std::string &timeStr)

Static Public Attributes
static const std::string	kDefaultLogFileName

Protected Member Functions
void	_flush ()

Static Protected Member Functions
static ULogger *	getInstance ()

Static Protected Attributes
static std::string	logFileName_

static bool	append_

Friends
class	UDestroyer< ULogger >

Detailed Description

This class is used to log messages with time on a console, in a file and/or with an event. At the start of the application, call ULogger::setType() with the type of the logger you want (see ULogger::Type, the type of the output can be changed at the run-time.). To use it, simply call the convenient macros UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL() depending of the severity of the message. You can disable some messages by setting the logger level ULogger::setLevel() to severity you want, defined by ULogger::Level. A fatal message will make the application to exit, printing the message on console (whatever the logger type) and posting a ULogEvent (synchronously... see UEventsManager::post()) before exiting.

The display of the logged messages can be modified:

If you don't want the level label, set ULogger::setPrintLevel() to false.
If you don't want the time label, set ULogger::setPrintTime() to false.
If you don't want the end of line added, set ULogger::setPrintEndline() to false.
If you don't the full path of the message, set ULogger::setPrintWhereFullPath() to false.
If you don't the path of the message, set ULogger::setPrintWhere() to false.

When using a file logger (kTypeLogger), it can be useful in some application to buffer messages before writing them to hard drive (avoiding hard drive latencies). You can set ULogger::setBuffered() to true to do that. When the buffered messages will be written to file on appllciation exit (ULogger destructor) or when ULogger::flush() is called.

If you want the application to exit on a lower severity level than kFatal, you can set ULogger::setExitLevel() to any ULogger::Type you want.

Example:

#include <utilite/ULogger.h>
int main(int argc, char * argv[])
{
   // Set the logger type. The choices are kTypeConsole,
   // kTypeFile or kTypeNoLog (nothing is logged).
   ULogger::setType(ULogger::kTypeConsole);
 
   // Set the logger severity level (kDebug, kInfo, kWarning, kError, kFatal).
   // All log entries under the severity level are not logged. Here,
   // only debug messages are not logged.
   ULogger::setLevel(ULogger::kInfo);
 
   // Use a predefined Macro to easy logging. It can be
   // called anywhere in the application as the logger is
   // a Singleton.
   UDEBUG("This message won't be logged because the "
          "severity level of the logger is set to kInfo.");
 
   UINFO("This message is logged.");
 
   UWARN("A warning message...");
 
   UERROR("An error message with code %d.", 42);
 
   return 0;
}

Output:

[ INFO] (2010-09-25 18:08:20) main.cpp:18::main() This message is logged.
[ WARN] (2010-09-25 18:08:20) main.cpp:20::main() A warning message...
[ERROR] (2010-09-25 18:08:20) main.cpp:22::main() An error message with code 42.

Another useful form of the ULogger is to use it with the UTimer class. Here an example:

#include <utilite/ULogger.h>
#include <utilite/UTimer.h>
...
UTimer timer; // automatically starts
// do some works for part A
UINFO("Time for part A = %f s", timer.ticks());
// do some works for part B
UINFO("Time for part B = %f s", timer.ticks());
// do some works for part C
UINFO("Time for part C = %f s", timer.ticks());
...

See also: setType(); setLevel(); UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL()

Definition at line 229 of file ULogger.h.

Member Enumeration Documentation

◆ Type

enum ULogger::Type

Loggers available:

kTypeNoLog, kTypeConsole, kTypeFile

Definition at line 244 of file ULogger.h.

◆ Level

enum ULogger::Level

Logger levels, from lowest severity to highest:

kDebug, kInfo, kWarning, kError, kFatal

Definition at line 252 of file ULogger.h.

Constructor & Destructor Documentation

◆ ULogger()

ULogger::ULogger ( )

inlineprotected

Definition at line 434 of file ULogger.h.

Member Function Documentation

◆ setType()

static void ULogger::setType	(	Type	type,
		const std::string &	fileName = `kDefaultLogFileName`,
		bool	append = `true`
	)

static

Set the type of the logger. When using kTypeFile, the parameter "fileName" would be changed (default is "./ULog.txt"), and optionally "append" if we want the logger to append messages to file or to overwrite the file.

Parameters

type	the ULogger::Type of the logger.
fileName	file name used with a file logger type.
append	if true, the file isn't overwritten, otherwise it is.

TODO : Can it be useful to have 2 or more types at the same time ? Print in console and file at the same time.

◆ type()

static Type ULogger::type ( )

inlinestatic

Definition at line 266 of file ULogger.h.

◆ setPrintTime()

static void ULogger::setPrintTime ( bool printTime )

inlinestatic

Print time: default true.

Parameters

printTime true to print time, otherwise set to false.

Definition at line 273 of file ULogger.h.

◆ isPrintTime()

static bool ULogger::isPrintTime ( )

inlinestatic

Definition at line 274 of file ULogger.h.

◆ setPrintLevel()

static void ULogger::setPrintLevel ( bool printLevel )

inlinestatic

Print level: default true.

Parameters

printLevel true to print level, otherwise set to false.

Definition at line 280 of file ULogger.h.

◆ isPrintLevel()

static bool ULogger::isPrintLevel ( )

inlinestatic

Definition at line 281 of file ULogger.h.

◆ setPrintEndline()

static void ULogger::setPrintEndline ( bool printEndline )

inlinestatic

Print end of line: default true.

Parameters

printLevel true to print end of line, otherwise set to false.

Definition at line 287 of file ULogger.h.

◆ isPrintEndLine()

static bool ULogger::isPrintEndLine ( )

inlinestatic

Definition at line 288 of file ULogger.h.

◆ setPrintColored()

static void ULogger::setPrintColored ( bool printColored )

inlinestatic

Print text with color: default true. Dark green for Debug, white for Info, yellow for Warning, red for Error and Fatal.

Parameters

printColored true to print text with color, otherwise set to false.

Definition at line 295 of file ULogger.h.

◆ isPrintColored()

static bool ULogger::isPrintColored ( )

inlinestatic

Definition at line 296 of file ULogger.h.

◆ setPrintWhere()

static void ULogger::setPrintWhere ( bool printWhere )

inlinestatic

Print where is this message in source code: default true.

Parameters

printWhere true to print where, otherwise set to false.

Definition at line 302 of file ULogger.h.

◆ isPrintWhere()

static bool ULogger::isPrintWhere ( )

inlinestatic

Definition at line 303 of file ULogger.h.

◆ setPrintThreadId()

static void ULogger::setPrintThreadId ( bool printThreadId )

inlinestatic

Print thread ID: default false.

Parameters

printThreadId true to print where, otherwise set to false.

Definition at line 309 of file ULogger.h.

◆ isPrintThreadId()

static bool ULogger::isPrintThreadId ( )

inlinestatic

Definition at line 310 of file ULogger.h.

◆ setPrintWhereFullPath()

static void ULogger::setPrintWhereFullPath ( bool printWhereFullPath )

inlinestatic

Print the full path: default true. ULogger::setPrintWhere() must be true to have path printed.

Parameters

printWhereFullPath true to print the full path, otherwise set to false.

Definition at line 316 of file ULogger.h.

◆ isPrintWhereFullPath()

static bool ULogger::isPrintWhereFullPath ( )

inlinestatic

Definition at line 317 of file ULogger.h.

◆ setBuffered()

static void ULogger::setBuffered ( bool buffered )

static

Set is the logger buffers messages, default false. When true, the messages are buffered until the application is closed or ULogger::flush() is called.

Note that if logging to a file, flush doesn't mean that messages are written to file right away. To write everything on disk, set logger type to kTypeNoLog.

See also: ULogger::flush()

Parameters

buffered true to buffer messages, otherwise set to false.

◆ isBuffered()

static bool ULogger::isBuffered ( )

inlinestatic

Definition at line 330 of file ULogger.h.

◆ setLevel()

static void ULogger::setLevel ( ULogger::Level level )

inlinestatic

Set logger level: default kInfo. All messages over the severity set are printed, other are ignored. The severity is from the lowest to highest:

kDebug
kInfo
kWarning
kError
kFatal
Parameters

level the minimum level of the messages printed.

Definition at line 343 of file ULogger.h.

◆ level()

static ULogger::Level ULogger::level ( )

inlinestatic

Definition at line 344 of file ULogger.h.

◆ setEventLevel()

static void ULogger::setEventLevel ( ULogger::Level eventSentLevel )

inlinestatic

An ULogEvent is sent on each message logged at the specified level. Note : On message with level >= exitLevel, the event is sent synchronously (see UEventsManager::post()).

See also: ULogEvent; setExitLevel()

Definition at line 352 of file ULogger.h.

◆ eventLevel()

static ULogger::Level ULogger::eventLevel ( )

inlinestatic

Definition at line 353 of file ULogger.h.

◆ setTreadIdFilter()

static void ULogger::setTreadIdFilter ( const std::set< unsigned long > & ids )

inlinestatic

If not empty, only show log messages from threads included in this list.

Definition at line 358 of file ULogger.h.

◆ getTreadIdFilter()

static const std::set< unsigned long > & ULogger::getTreadIdFilter ( )

inlinestatic

Definition at line 360 of file ULogger.h.

◆ registerCurrentThread()

static void ULogger::registerCurrentThread ( const std::string & name )

static

Threads can register to this list. If name is empty, it will clear the thread in the list. Should be called from the thread itself.

◆ reset()

static void ULogger::reset ( )

static

Reset to default parameters.

◆ flush()

static void ULogger::flush ( )

static

Flush buffered messages.

See also: setBuffered()

◆ getTime()

static int ULogger::getTime ( std::string & timeStr )

static

Get the time in the format "2008-7-13 12:23:44".

Parameters

timeStr string were the time will be copied.

Returns: the number of characters written, or 0 if an error occurred.

Friends And Related Symbol Documentation

◆ UDestroyer< ULogger >

friend class UDestroyer< ULogger >

friend

Definition at line 445 of file ULogger.h.

Member Data Documentation

◆ kDefaultLogFileName

const std::string ULogger::kDefaultLogFileName

static

The default log file name.

Definition at line 236 of file ULogger.h.

◆ logFileName_

std::string ULogger::logFileName_

staticprotected

Definition at line 459 of file ULogger.h.

◆ append_

bool ULogger::append_

staticprotected

Definition at line 464 of file ULogger.h.

The documentation for this class was generated from the following file:

utilite/include/rtabmap/utilite/ULogger.h

Public Types

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Static Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ Type

◆ Level

Constructor & Destructor Documentation

◆ ULogger()

Member Function Documentation

◆ setType()

◆ type()

◆ setPrintTime()

◆ isPrintTime()

◆ setPrintLevel()

◆ isPrintLevel()

◆ setPrintEndline()

◆ isPrintEndLine()

◆ setPrintColored()

◆ isPrintColored()

◆ setPrintWhere()

◆ isPrintWhere()

◆ setPrintThreadId()

◆ isPrintThreadId()

◆ setPrintWhereFullPath()

◆ isPrintWhereFullPath()

◆ setBuffered()

◆ isBuffered()

◆ setLevel()

◆ level()

◆ setEventLevel()

◆ eventLevel()

◆ setTreadIdFilter()

◆ getTreadIdFilter()

◆ registerCurrentThread()

◆ reset()

◆ flush()

◆ getTime()

Friends And Related Symbol Documentation

◆ UDestroyer< ULogger >

Member Data Documentation

◆ kDefaultLogFileName

◆ logFileName_

◆ append_