Merge pull request #364 from xlz/logging

Logging refactoring continued

Author: floe

examples/protonect/CMakeLists.txt

@@ -101,7 +101,7 @@ SET(SOURCES
   src/resource.cpp
   src/command_transaction.cpp
   src/registration.cpp
-  src/timer.cpp
+  src/logging.cpp
   src/libfreenect2.cpp
 
   ${LIBFREENECT2_THREADING_SOURCE}
@@ -166,6 +166,13 @@ IF(ENABLE_OPENCL)
     LIST(APPEND RESOURCES
       src/opencl_depth_packet_processor.cl
     )
+
+    # Major Linux distro stable releases have buggy OpenCL ICD loader.
+    # The workaround of disabling exceptions can only be set up during compile time.
+    # Diabling it for all should be harmless. The flag is the same for GCC/Clang/ICC.
+    IF(UNIX AND NOT APPLE)
+      SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-exceptions")
+    ENDIF()
   ENDIF(OPENCL_FOUND)
 ENDIF(ENABLE_OPENCL)
 

examples/protonect/Protonect.cpp

@@ -33,6 +33,7 @@
 #include <libfreenect2/threading.h>
 #include <libfreenect2/registration.h>
 #include <libfreenect2/packet_pipeline.h>
+#include <libfreenect2/logger.h>
 #ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
 #include "viewer.h"
 #endif
@@ -45,6 +46,29 @@ void sigint_handler(int s)
   protonect_shutdown = true;
 }
 
+//The following demostrates how to create a custom logger
+#include <fstream>
+#include <cstdlib>
+class MyFileLogger: public libfreenect2::Logger
+{
+private:
+  std::ofstream logfile_;
+public:
+  MyFileLogger(const char *filename)
+    : logfile_(filename)
+  {
+    level_ = Debug;
+  }
+  bool good()
+  {
+    return logfile_.good();
+  }
+  virtual void log(Level level, const std::string &message)
+  {
+    logfile_ << "[" << libfreenect2::Logger::level2str(level) << "] " << message << std::endl;
+  }
+};
+
 int main(int argc, char *argv[])
 {
   std::string program_path(argv[0]);
@@ -58,6 +82,12 @@ int main(int argc, char *argv[])
   }
 
   libfreenect2::Freenect2 freenect2;
+  // create a console logger with debug level (default is console logger with info level)
+  libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Debug));
+  MyFileLogger *filelogger = new MyFileLogger(getenv("LOGFILE"));
+  if (filelogger->good())
+    libfreenect2::setGlobalLogger(filelogger);
+
   libfreenect2::Freenect2Device *dev = 0;
   libfreenect2::PacketPipeline *pipeline = 0;
 
@@ -69,6 +99,8 @@ int main(int argc, char *argv[])
 
   std::string serial = freenect2.getDefaultDeviceSerialNumber();
 
+  bool viewer_enabled = true;
+
   for(int argI = 1; argI < argc; ++argI)
   {
     const std::string arg(argv[argI]);
@@ -100,6 +132,10 @@ int main(int argc, char *argv[])
     {
       serial = arg;
     }
+    else if(arg == "-noviewer")
+    {
+      viewer_enabled = false;
+    }
     else
     {
       std::cout << "Unknown argument: " << arg << std::endl;
@@ -137,9 +173,13 @@ int main(int argc, char *argv[])
 
   libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
 
+  size_t framecount = 0;
 #ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
   Viewer viewer;
-  viewer.initialize();
+  if (viewer_enabled)
+    viewer.initialize();
+#else
+  viewer_enabled = false;
 #endif
 
   while(!protonect_shutdown)
@@ -151,15 +191,22 @@ int main(int argc, char *argv[])
 
     registration->apply(rgb, depth, &undistorted, &registered);
 
+    framecount++;
+    if (!viewer_enabled)
+    {
+      if (framecount % 100 == 0)
+        std::cout << "The viewer is turned off. Received " << framecount << " frames. Ctrl-C to stop." << std::endl;
+      listener.release(frames);
+      continue;
+    }
+
 #ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
     viewer.addFrame("RGB", rgb);
     viewer.addFrame("ir", ir);
     viewer.addFrame("depth", depth);
     viewer.addFrame("registered", &registered);
 
-    protonect_shutdown = viewer.render();
-#else
-    protonect_shutdown = true;
+    protonect_shutdown = protonect_shutdown || viewer.render();
 #endif
 
     listener.release(frames);

…s/protonect/include/libfreenect2/timer.h …/protonect/include/libfreenect2/logger.hexamples/protonect/include/libfreenect2/timer.h renamed to examples/protonect/include/libfreenect2/logger.h examples/protonect/include/libfreenect2/timer.h renamed to examples/protonect/include/libfreenect2/logger.h

@@ -24,28 +24,46 @@
  * either License.
  */
 
-#ifndef TIMER_H_
-#define TIMER_H_
+#ifndef LIBFREENECT2_LOGGER_H_
+#define LIBFREENECT2_LOGGER_H_
+
+#include <string>
+#include <sstream>
 
 #include <libfreenect2/config.h>
 
 namespace libfreenect2
 {
 
-class TimerImpl;
+class LIBFREENECT2_API Logger
+{
+public:
+  enum Level
+  {
+    None = 0,
+    Error = 1,
+    Warning = 2,
+    Info = 3,
+    Debug = 4,
+  };
+  static Level getDefaultLevel();
+  static std::string level2str(Level level);
 
-class Timer {
- public:
-  Timer();
-  virtual ~Timer();
+  virtual ~Logger();
 
-  void start();
-  double stop();
+  virtual Level level() const;
 
- private:
-  TimerImpl *impl_;
+  virtual void log(Level level, const std::string &message) = 0;
+protected:
+  Level level_;
 };
 
-} /* namespace libfreenect2 */
+LIBFREENECT2_API Logger *createConsoleLogger(Logger::Level level);
+LIBFREENECT2_API Logger *createConsoleLoggerWithDefaultLevel();
 
-#endif /* TIMER_H_ */
+//libfreenect2 frees the memory of the logger passed in.
+LIBFREENECT2_API Logger *getGlobalLogger();
+LIBFREENECT2_API void setGlobalLogger(Logger *logger);
+
+} /* namespace libfreenect2 */
+#endif /* LIBFREENECT2_LOGGER_H_ */

examples/protonect/include/libfreenect2/logging.h

@@ -0,0 +1,83 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2014 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+
+#ifndef LOGGING_H_
+#define LOGGING_H_
+
+#include <string>
+#include <sstream>
+
+#include <libfreenect2/config.h>
+#include <libfreenect2/logger.h>
+
+namespace libfreenect2
+{
+
+class WithPerfLoggingImpl;
+
+class WithPerfLogging
+{
+public:
+  WithPerfLogging();
+  virtual ~WithPerfLogging();
+  void startTiming();
+  std::ostream &stopTiming(std::ostream &stream);
+private:
+  WithPerfLoggingImpl *impl_;
+};
+
+class LogMessage
+{
+private:
+  Logger *logger_;
+  Logger::Level level_;
+  std::ostringstream stream_;
+public:
+  LogMessage(Logger *logger, Logger::Level level);
+  ~LogMessage();
+
+  std::ostream &stream();
+};
+
+std::string getShortName(const char *func);
+
+} /* namespace libfreenect2 */
+
+#if defined(__GNUC__) or defined(__clang__)
+#define LOG_SOURCE ::libfreenect2::getShortName(__PRETTY_FUNCTION__)
+#elif defined(_MSC_VER)
+#define LOG_SOURCE ::libfreenect2::getShortName(__FUNCSIG__)
+#else
+#define LOG_SOURCE ""
+#endif
+
+#define LOG(LEVEL) (::libfreenect2::LogMessage(::libfreenect2::getGlobalLogger(), ::libfreenect2::Logger::LEVEL).stream() << "[" << LOG_SOURCE << "] ")
+#define LOG_DEBUG LOG(Debug)
+#define LOG_INFO LOG(Info)
+#define LOG_WARNING LOG(Warning)
+#define LOG_ERROR LOG(Error)
+
+#endif /* LOGGING_H_ */

examples/protonect/include/libfreenect2/packet_processor.h

@@ -27,8 +27,6 @@
 #ifndef PACKET_PROCESSOR_H_
 #define PACKET_PROCESSOR_H_
 
-#include <libfreenect2/timer.h>
-
 namespace libfreenect2
 {
 

examples/protonect/src/command_transaction.cpp

@@ -25,9 +25,9 @@
  */
 
 #include <libfreenect2/protocol/command_transaction.h>
+#include <libfreenect2/logging.h>
 
 #include <stdint.h>
-#include <iostream>
 
 namespace libfreenect2
 {
@@ -106,7 +106,7 @@ void CommandTransaction::execute(const CommandBase& command, Result& result)
 
     if(complete)
     {
-      std::cerr << "[CommandTransaction::execute] received premature response complete!" << std::endl;
+      LOG_ERROR << "received premature response complete!";
       result.code = Error;
     }
 
@@ -119,7 +119,7 @@ void CommandTransaction::execute(const CommandBase& command, Result& result)
 
   if(!complete)
   {
-    std::cerr << "[CommandTransaction::execute] missing response complete!" << std::endl;
+    LOG_ERROR << "missing response complete!";
     result.code = Error;
   }
 
@@ -135,13 +135,13 @@ CommandTransaction::ResultCode CommandTransaction::send(const CommandBase& comma
 
   if(r != LIBUSB_SUCCESS)
   {
-    std::cerr << "[CommandTransaction::send] bulk transfer failed! libusb error " << r << ": " << libusb_error_name(r) << std::endl;
+    LOG_ERROR << "bulk transfer failed! libusb error " << r << ": " << libusb_error_name(r);
     code = Error;
   }
 
   if(transferred_bytes != command.size())
   {
-    std::cerr << "[CommandTransaction::send] sent number of bytes differs from expected number! expected: " << command.size() << " got: " << transferred_bytes << std::endl;
+    LOG_ERROR << "sent number of bytes differs from expected number! expected: " << command.size() << " got: " << transferred_bytes;
     code = Error;
   }
 
@@ -157,7 +157,7 @@ void CommandTransaction::receive(CommandTransaction::Result& result)
 
   if(r != LIBUSB_SUCCESS)
   {
-    std::cerr << "[CommandTransaction::receive] bulk transfer failed! libusb error " << r << ": " << libusb_error_name(r) << std::endl;
+    LOG_ERROR << "bulk transfer failed! libusb error " << r << ": " << libusb_error_name(r);
     result.code = Error;
   }
 }
@@ -176,7 +176,7 @@ bool CommandTransaction::isResponseCompleteResult(CommandTransaction::Result& re
 
       if(data[1] != sequence)
       {
-        std::cerr << "[CommandTransaction::isResponseCompleteResult] response complete with wrong sequence number! expected: " << sequence << " got: " << data[1]<< std::endl;
+        LOG_ERROR << "response complete with wrong sequence number! expected: " << sequence << " got: " << data[1];
       }
     }
   }