Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDROICEUTIL_LOCAL_TRACER_H
00012 #define HYDROICEUTIL_LOCAL_TRACER_H
00013 
00014 #include <gbxsickacfr/gbxutilacfr/tracer.h>
00015 #include <hydroutil/properties.h>
00016 #include <hydroutil/uncopyable.h>
00017 
00018 #include <map>
00019 #include <IceUtil/Mutex.h>
00020 
00021 namespace hydroiceutil
00022 {
00023 
00024 namespace detail {
00025     class SysLogger;
00026 }
00027 
00033 class LocalTracer : public gbxsickacfr::gbxutilacfr::Tracer,
00034                     public hydroutil::Uncopyable
00035 {
00036 public:
00038     LocalTracer();
00040     LocalTracer( const hydroutil::Properties& props, const std::string& sysName="Tracer" );
00041     virtual ~LocalTracer(); 
00042 
00043     // from gbxsickacfr::gbxutilacfr::Tracer
00044     virtual void print( const std::string &message );
00045     virtual void info( const std::string &message, int level=1 );
00046     virtual void warning( const std::string &message, int level=1 );    
00047     virtual void error( const std::string &message, int level=1 );
00048     virtual void debug( const std::string &message, int level=1 );
00049     virtual int verbosity( TraceType traceType, DestinationType destType ) const;
00050 
00051     // experimental!
00052     virtual void setLevel( const std::string &subsystem, int level=0 );
00053     virtual void debug( const std::string &subsystem, const std::string &message, int level=1 );
00054 
00055 protected:
00056 
00057     Tracer::Config  config_;
00058     std::string prefix_;
00059 
00060     // custom outgoing commands
00061     void toDisplay( const std::string& category, const std::string& message, int level );
00062 
00063     // to file
00064     void toFile( const std::string& category, const std::string& message, int level );
00065 
00066     // to log
00067     void toLog( const std::string& category, const std::string& message, int level );
00068 
00069     std::string prevWarning_;
00070     std::string prevError_;
00071 
00072     // We only have one communicator but may have multiple threads.
00073     IceUtil::Mutex mutex_;
00074     
00075     // utilities, not thread-safe!
00076     void setDefaults();
00077     void parseConfig();
00078     void assembleMessage( const std::string& category, const std::string& message, int level, std::string& s );
00079     void recalcMarginals();
00080 
00081 private:
00082 
00083     hydroutil::Properties properties_;
00084     std::ofstream *file_;
00085     detail::SysLogger *sysLogger_;
00086     
00087     // experimental
00088     std::map<std::string,int> subsysVerbosity_;
00089 };
00090 
00091 } // namespace
00092 
00093 #endif
localtracer.h
