Frivas glog

Deps/glog/CMakeLists.txt

@@ -0,0 +1,54 @@
+# - Try to find Glog
+#
+# The following variables are optionally searched for defaults
+#  GLOG_ROOT_DIR:            Base directory where all GLOG components are found
+#
+# The following are set after configuration is done:
+#  GLOG_FOUND
+#  GLOG_INCLUDE_DIRS
+#  GLOG_LIBRARIES
+#  GLOG_LIBRARYRARY_DIRS
+
+include(FindPackageHandleStandardArgs)
+
+set(GLOG_ROOT_DIR "" CACHE PATH "Folder contains Google glog")
+
+if(WIN32)
+    find_path(GLOG_INCLUDE_DIR glog/logging.h
+            PATHS ${GLOG_ROOT_DIR}/src/windows)
+else()
+    find_path(GLOG_INCLUDE_DIR glog/logging.h
+            PATHS ${GLOG_ROOT_DIR})
+endif()
+
+if(MSVC)
+    find_library(GLOG_LIBRARY_RELEASE libglog_static
+            PATHS ${GLOG_ROOT_DIR}
+            PATH_SUFFIXES Release)
+
+    find_library(GLOG_LIBRARY_DEBUG libglog_static
+            PATHS ${GLOG_ROOT_DIR}
+            PATH_SUFFIXES Debug)
+
+    set(GLOG_LIBRARY optimized ${GLOG_LIBRARY_RELEASE} debug ${GLOG_LIBRARY_DEBUG})
+else()
+    find_library(GLOG_LIBRARY glog
+            PATHS ${GLOG_ROOT_DIR}
+            PATH_SUFFIXES lib lib64)
+endif()
+
+find_package_handle_standard_args(Glog DEFAULT_MSG GLOG_INCLUDE_DIR GLOG_LIBRARY)
+
+if(GLOG_FOUND)
+    set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
+    set(GLOG_LIBRARIES ${GLOG_LIBRARY})
+    message(STATUS "Found glog    (include: ${GLOG_INCLUDE_DIR}, library: ${GLOG_LIBRARY})")
+    mark_as_advanced(GLOG_ROOT_DIR GLOG_LIBRARY_RELEASE GLOG_LIBRARY_DEBUG
+            GLOG_LIBRARY GLOG_INCLUDE_DIR)
+ELSE()
+    message(FATAL_ERROR "Google Logs is required (libgoogle-glog-dev)")
+endif()
+
+
+
+list(APPEND DEPS libgoogle-glog-dev)

src/drivers/cameraserver/CMakeLists.txt

@@ -29,4 +29,5 @@ TARGET_LINK_LIBRARIES(cameraserver
 	logger
     crypto
 ns
+		${GLOG_LIBRARIES}
 	)

src/drivers/cameraserver/cameraserver.cpp

@@ -226,7 +226,7 @@ int main(int argc, char** argv)
             }
             catch (Ice::ConnectionRefusedException& ex)
             {
-                jderobot::Logger::getInstance()->error("Impossible to connect with NameService!");
+                LOG(ERROR) << "Impossible to connect with NameService!";
                 exit(-1);
             }
         }

src/drivers/openniServer/CMakeLists.txt

@@ -86,6 +86,7 @@ IF(OPENNI2_LIB)
 	        ${LIBXML2_LIBRARIES}
 	        ${ZLIB_LIBRARIES}
 	        ${OPENSSL_LIBRARIES}
+			${GLOG_LIBRARIES}
 		)
 	endif()
 ENDIF()

src/drivers/openniServer/OpenNiServerLib/ConcurrentDevice.cpp

@@ -15,7 +15,7 @@ ConcurrentDevice::ConcurrentDevice(int fps, int cameraIdx, DeviceConfig config,
     openni::Status nRetVal = openni::OpenNI::initialize();
     if (nRetVal != openni::STATUS_OK)
     {
-        jderobot::Logger::getInstance()->error("Cannot initialize openni");
+        LOG(ERROR) << "Cannot initialize openni";
         return;
     }
 
@@ -32,15 +32,15 @@ ConcurrentDevice::ConcurrentDevice(int fps, int cameraIdx, DeviceConfig config,
 
     for (int i = 0; i < deviceList.getSize(); ++i)
     {
-        jderobot::Logger::getInstance()->info("[" + boost::lexical_cast<std::string>(i) + "]" + deviceList[i].getName() + " [" +  deviceList[i].getVendor() + "] " + "(" + deviceList[i].getUri() + ")");
+        LOG(INFO) << "[" + boost::lexical_cast<std::string>(i) + "]" + deviceList[i].getName() + " [" +  deviceList[i].getVendor() + "] " + "(" + deviceList[i].getUri() + ")";
     }
 
 
 
     //checking the number off connected devices
     if (deviceList.getSize() < 1)
     {
-        jderobot::Logger::getInstance()->error( "Missing devices" );
+        LOG(ERROR) <<  "Missing devices";
         openni::OpenNI::shutdown();
     }
 
@@ -52,7 +52,7 @@ ConcurrentDevice::ConcurrentDevice(int fps, int cameraIdx, DeviceConfig config,
     nRetVal = g_device.open(deviceUri);
     if (nRetVal != openni::STATUS_OK)
     {
-        jderobot::Logger::getInstance()->error("Error openning device");
+        LOG(ERROR) << "Error openning device";
         return;
     }
 
@@ -63,7 +63,7 @@ ConcurrentDevice::ConcurrentDevice(int fps, int cameraIdx, DeviceConfig config,
 
     if (0 != openCommon())
     {
-        jderobot::Logger::getInstance()->error("Error openning streams");
+        LOG(ERROR) << "Error openning streams";
     }
 
 //    this->changeRegistration(1); image registered over rgb
@@ -72,7 +72,7 @@ ConcurrentDevice::ConcurrentDevice(int fps, int cameraIdx, DeviceConfig config,
     cycle=(float)(1/(float)fps)*1000000;
 
 
-    jderobot::Logger::getInstance()->info("Device initialized");
+    LOG(INFO) << "Device initialized";
     return;
 
 
@@ -92,7 +92,7 @@ void ConcurrentDevice::run() {
         int process = IceUtil::Time::now().toMicroSeconds() - lastIT.toMicroSeconds();
 
         if (process > (int)cycle ){
-            jderobot::Logger::getInstance()->warning("-------- openniServer: RGB openni timeout-" );
+            DLOG(WARNING) << "-------- openniServer: RGB openni timeout-" ;
         }
         else{
             int delay = (int)cycle - process;
@@ -130,7 +130,7 @@ int ConcurrentDevice::openStream(const char* name, openni::SensorType sensorType
     {
         if (openType == SENSOR_ON)
         {
-            jderobot::Logger::getInstance()->error("No "  + std::string(name) + " sensor available");
+            LOG(ERROR) << "No "  + std::string(name) + " sensor available";
             return -1;
         }
         else
@@ -144,7 +144,7 @@ int ConcurrentDevice::openStream(const char* name, openni::SensorType sensorType
     {
         if (openType == SENSOR_ON)
         {
-            jderobot::Logger::getInstance()->error("Failed to create " + std::string(openni::OpenNI::getExtendedError()) + " " + std::string(name));
+            LOG(ERROR) << "Failed to create " + std::string(openni::OpenNI::getExtendedError()) + " " + std::string(name);
             return -2;
         }
         else
@@ -160,7 +160,7 @@ int ConcurrentDevice::openStream(const char* name, openni::SensorType sensorType
 
         if (openType == SENSOR_ON)
         {
-            jderobot::Logger::getInstance()->error("Failed to start depth stream: " + std::string(openni::OpenNI::getExtendedError()));
+            LOG(ERROR) << "Failed to start depth stream: " + std::string(openni::OpenNI::getExtendedError());
             return -3;
         }
         else
@@ -171,7 +171,7 @@ int ConcurrentDevice::openStream(const char* name, openni::SensorType sensorType
 
 
     if ((*ppSensorInfo)->getSupportedVideoModes().getSize()==1){
-        jderobot::Logger::getInstance()->warning("Only one mode is avialable image will be post processed is the mode does not match with the device output");
+        LOG(WARNING) << "Only one mode is avialable image will be post processed is the mode does not match with the device output";
         if (stream.getVideoMode().getResolutionX()== workingSize.width && stream.getVideoMode().getResolutionY() == workingSize.height) {
             this->videoMode = VideoMode(workingSize.width,workingSize.height);
             this->videoMode.setValid(true);
@@ -187,14 +187,14 @@ int ConcurrentDevice::openStream(const char* name, openni::SensorType sensorType
         for(int i=0;i < (*ppSensorInfo)->getSupportedVideoModes().getSize();i++)
         {
             openni::VideoMode videoMode = (*ppSensorInfo)->getSupportedVideoModes()[i];
-            jderobot::Logger::getInstance()->info("[" + boost::lexical_cast<std::string>(i)  + "]: fps: " + boost::lexical_cast<std::string>(videoMode.getFps()) + "x: " + boost::lexical_cast<std::string>(videoMode.getResolutionX()) + " x " +  boost::lexical_cast<std::string>(videoMode.getResolutionY()));
+            LOG(INFO) << "[" + boost::lexical_cast<std::string>(i)  + "]: fps: " + boost::lexical_cast<std::string>(videoMode.getFps()) + "x: " + boost::lexical_cast<std::string>(videoMode.getResolutionX()) + " x " +  boost::lexical_cast<std::string>(videoMode.getResolutionY());
             if (workingSize.width == videoMode.getResolutionX() && workingSize.height == videoMode.getResolutionY()){
                 id_fpsbyWorkingResolution.push_back(std::make_pair(videoMode.getFps(),i));
             }
         }
 
         if (id_fpsbyWorkingResolution.size() ==0){
-            jderobot::Logger::getInstance()->error("No videomode supported with the selected configutation: " + boost::lexical_cast<std::string>(workingSize.width) + " x "  + boost::lexical_cast<std::string>(workingSize.height));
+            LOG(ERROR) << "No videomode supported with the selected configutation: " + boost::lexical_cast<std::string>(workingSize.width) + " x "  + boost::lexical_cast<std::string>(workingSize.height);
             exit(2);
         }
 
@@ -210,8 +210,8 @@ int ConcurrentDevice::openStream(const char* name, openni::SensorType sensorType
             }
         }
 
-        jderobot::Logger::getInstance()->info("Setting video mode to:");
-        jderobot::Logger::getInstance()->info("[" + boost::lexical_cast<std::string>(bestId)  + "]: fps: " + boost::lexical_cast<std::string>((*ppSensorInfo)->getSupportedVideoModes()[bestId].getFps()) + "x: " + boost::lexical_cast<std::string>((*ppSensorInfo)->getSupportedVideoModes()[bestId].getResolutionX()) + " x " +  boost::lexical_cast<std::string>((*ppSensorInfo)->getSupportedVideoModes()[bestId].getResolutionY()));
+        LOG(INFO) << "Setting video mode to:";
+        LOG(INFO) << "[" + boost::lexical_cast<std::string>(bestId)  + "]: fps: " + boost::lexical_cast<std::string>((*ppSensorInfo)->getSupportedVideoModes()[bestId].getFps()) + "x: " + boost::lexical_cast<std::string>((*ppSensorInfo)->getSupportedVideoModes()[bestId].getResolutionX()) + " x " +  boost::lexical_cast<std::string>((*ppSensorInfo)->getSupportedVideoModes()[bestId].getResolutionY());
 
 
 
@@ -222,7 +222,7 @@ int ConcurrentDevice::openStream(const char* name, openni::SensorType sensorType
 
             if (openType == SENSOR_ON)
             {
-                jderobot::Logger::getInstance()->error("Failed to change video mode: " + std::string(openni::OpenNI::getExtendedError()));
+                LOG(ERROR) << "Failed to change video mode: " + std::string(openni::OpenNI::getExtendedError());
                 return -3;
             }
             else
@@ -280,7 +280,7 @@ void ConcurrentDevice::readFrame()
                 case 2:
                     g_irStream.readFrame(&g_irFrame); break;
                 default:
-                    jderobot::Logger::getInstance()->error("Error in wait");
+                    LOG(ERROR) << "Error in wait";
 
             }
             mutex.unlock();
@@ -295,13 +295,13 @@ int ConcurrentDevice::openCommon()
 
     int ret;
 
-    jderobot::Logger::getInstance()->info("--------------------------   DEPTH    ------------------------");
+    LOG(INFO) << "--------------------------   DEPTH    ------------------------";
     ret = openStream( "depth", openni::SENSOR_DEPTH, config.openDepth, g_depthStream, &g_depthSensorInfo, &g_bIsDepthOn);
     if (ret != 0)
     {
         return ret;
     }
-    jderobot::Logger::getInstance()->info("--------------------------   COLOR    ------------------------");
+    LOG(INFO) << "--------------------------   COLOR    ------------------------";
     ret = openStream( "color", openni::SENSOR_COLOR, config.openColor, g_colorStream, &g_colorSensorInfo, &g_bIsColorOn);
     if (ret != 0)
     {

src/drivers/openniServer/OpenNiServerLib/DepthCamera.cpp

@@ -14,11 +14,11 @@ namespace openniServer{
         std::string fmtStr = prop->getPropertyWithDefault(prefix+"Format","YUY2");//default format YUY2
         imageFmt = colorspaces::Image::Format::searchFormat(fmtStr);
         if (!imageFmt)
-            jderobot::Logger::getInstance()->warning( "Format " + fmtStr + " unknown" );
+            LOG(WARNING) <<"Format " + fmtStr + " unknown" ;
         imageDescription->size = imageDescription->width * imageDescription->height * CV_ELEM_SIZE(imageFmt->cvType);
         imageDescription->format = imageFmt->name;
 
-        jderobot::Logger::getInstance()->info( "Starting thread for camera: " + cameraDescription->name );
+        LOG(INFO) <<  "Starting thread for camera: " + cameraDescription->name ;
         replyTask = new ReplyTask(this, framerateN, device);
 
         this->control=replyTask->start();//my own thread
@@ -32,7 +32,7 @@ namespace openniServer{
     }
 
     DepthCamera::~DepthCamera() {
-        jderobot::Logger::getInstance()->info( "Stopping and joining thread for Depth Camera" );
+        LOG(INFO) <<  "Stopping and joining thread for Depth Camera" ;
         replyTask->destroy();
     }
 

src/drivers/openniServer/OpenNiServerLib/PointCloudServer.cpp

@@ -18,7 +18,7 @@ namespace openniServer {
     }
 
     PointCloudServer::~PointCloudServer() {
-        jderobot::Logger::getInstance()->info("Stopping and joining thread for pointCloud");
+        LOG(INFO) << "Stopping and joining thread for pointCloud";
         replyCloud->destroy();
         this->control.join();
 
@@ -134,7 +134,7 @@ namespace openniServer {
 
             int delay = IceUtil::Time::now().toMicroSeconds() - lastIT.toMicroSeconds();
             if (delay > cycle) {
-                jderobot::Logger::getInstance()->warning("-------- openniServer: POINTCLOUD openni timeout-");
+                LOG(WARNING) << "-------- openniServer: POINTCLOUD openni timeout-";
             } else {
                 if (delay < 1 || delay > cycle)
                     delay = 1;

src/drivers/openniServer/OpenNiServerLib/RGBCamera.cpp

@@ -14,11 +14,11 @@ namespace openniServer{
         std::string fmtStr = prop->getPropertyWithDefault(prefix+"Format","YUY2");//default format YUY2
         imageFmt = colorspaces::Image::Format::searchFormat(fmtStr);
         if (!imageFmt)
-            jderobot::Logger::getInstance()->warning( "Format " + fmtStr + " unknown" );
+            LOG(WARNING) <<  "Format " + fmtStr + " unknown" ;
         imageDescription->size = imageDescription->width * imageDescription->height * CV_ELEM_SIZE(imageFmt->cvType);
         imageDescription->format = imageFmt->name;
 
-        jderobot::Logger::getInstance()->info( "Starting thread for camera: " + cameraDescription->name );
+        LOG(INFO) <<  "Starting thread for camera: " + cameraDescription->name ;
         replyTask = new ReplyTask(this, framerateN, device);
 
         this->control=replyTask->start();//my own thread
@@ -32,7 +32,7 @@ namespace openniServer{
     }
 
     RGBCamera::~RGBCamera() {
-        jderobot::Logger::getInstance()->info( "Stopping and joining thread for color camera" );
+        LOG(INFO) <<  "Stopping and joining thread for color camera" ;
         replyTask->destroy();
         this->control.join();
     }

src/drivers/openniServer/openniServer.cpp

@@ -85,27 +85,7 @@ int main(int argc, char** argv){
 
 
 	// Analyze LOG section
-
-	std::string logFile = prop->getProperty(componentPrefix + ".Log.File.Name");
-	if (logFile.size()==0)
-		jderobot::Logger::getInstance()->warning("You didn't set log file!");
-	else
-		jderobot::Logger::getInstance()->setFileLog(logFile);
-
-	std::string logLevel = prop->getProperty(componentPrefix + ".Log.File.Level");
-	if (logLevel.size()==0)
-		jderobot::Logger::getInstance()->warning("You didn't set *.Log.File.Level key!");
-	else
-		jderobot::Logger::getInstance()->setFileLevel(jderobot::Levels(boost::lexical_cast<int>(logLevel)));
-
-	std::string screenLevel = prop->getProperty(componentPrefix + ".Log.Screen.Level");
-	if (screenLevel.size()==0)
-		jderobot::Logger::getInstance()->warning("You didn't set *.Log.Screen.Level key!");
-	else
-		jderobot::Logger::getInstance()->setScreenLevel(jderobot::Levels(boost::lexical_cast<int>(screenLevel)));
-
-	jderobot::Logger::getInstance()->info("Logger:: screenLevel=" + screenLevel + " logLevel=" + logLevel + " LogFile=" + logFile);
-
+    jderobot::Logger::initialize(argv[0],prop,componentPrefix);
 
 
 	bool cameraR = prop->getPropertyAsIntWithDefault(componentPrefix + ".CameraRGB",0);
@@ -124,7 +104,7 @@ int main(int argc, char** argv){
 	Ice::ObjectAdapterPtr adapter =ic->createObjectAdapterWithEndpoints(componentPrefix, Endpoints);
 
 	int cameraID = prop->getPropertyAsIntWithDefault(componentPrefix + ".deviceId",0);
-	jderobot::Logger::getInstance()->info( "OpenniServer: Selected device: " + cameraID );
+	LOG(INFO) <<  "OpenniServer: Selected device: " + cameraID;
 	int nCameras=0;
 
 
@@ -158,7 +138,7 @@ int main(int argc, char** argv){
 		}
 		catch (Ice::ConnectionRefusedException& ex)
 		{
-			jderobot::Logger::getInstance()->error("Impossible to connect with NameService!");
+			LOG(ERROR) << "Impossible to connect with NameService!";
 			exit(-1);
 		}
 	}
@@ -170,10 +150,10 @@ int main(int argc, char** argv){
 			cameraName = "cameraR";
 			prop->setProperty(objPrefix + "Name",cameraName);//set the value
 		}
-		jderobot::Logger::getInstance()->info("Creating camera " + cameraName );
+		LOG(INFO) << "Creating camera " + cameraName ;
 		camRGB = new openniServer::RGBCamera(objPrefix,ic,device);
 		adapter->add(camRGB, ic->stringToIdentity(cameraName));
-		jderobot::Logger::getInstance()->info("              -------- openniServer: Component: CameraRGB created successfully(" + Endpoints + "@" + cameraName );
+		LOG(INFO) << "               -------- openniServer: Component: CameraRGB created successfully(" + Endpoints + "@" + cameraName ;
 
 
 		if (namingService)
@@ -190,11 +170,11 @@ int main(int argc, char** argv){
 			cameraName = "cameraD";
 			prop->setProperty(objPrefix + "Name",cameraName);//set the value
 		}
-		jderobot::Logger::getInstance()->info( "Creating camera " +  cameraName );
+		LOG(INFO) <<  "Creating camera " +  cameraName ;
 		camDEPTH = new openniServer::DepthCamera(objPrefix,ic,device);
 		adapter->add(camDEPTH, ic->stringToIdentity(cameraName));
 		//test camera ok
-		jderobot::Logger::getInstance()->info("              -------- openniServer: Component: CameraDEPTH created successfully(" + Endpoints + "@" + cameraName );
+		LOG(INFO) << "              -------- openniServer: Component: CameraDEPTH created successfully(" + Endpoints + "@" + cameraName;
 
 		if (namingService)
 			namingService->bind(cameraName, Endpoints, camDEPTH->ice_staticId());
@@ -204,10 +184,10 @@ int main(int argc, char** argv){
 	if (pointCloud){
 		std::string objPrefix(componentPrefix + ".PointCloud.");
 		std::string Name = prop->getProperty(objPrefix + "Name");
-		jderobot::Logger::getInstance()->info( "Creating pointcloud1 " + Name );
+		LOG(INFO) <<  "Creating pointcloud1 " + Name ;
 		pc1 = new openniServer::PointCloudServer(objPrefix,prop,device);
 		adapter->add(pc1 , ic->stringToIdentity(Name));
-		jderobot::Logger::getInstance()->info("              -------- openniServer: Component: PointCloud created successfully(" + Endpoints + "@" + Name );
+		LOG(INFO) << "              -------- openniServer: Component: PointCloud created successfully(" + Endpoints + "@" + Name ;
 	}
 	adapter->activate();
 	ic->waitForShutdown();