Fix Segfault caused by std::bad_alloc in RobotUnitModuleLogging

Related to #120

Adds two properties:

• One for the maximum size of the backlog (as it seems to accumulate memory even though it has a maximum retention time)
• One for disabling the backlog altogether, as the memory leak is unrelated to the segfaults on ARMAR-DE

This has been tested on ARMAR-DE for >20min

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp

@@ -249,8 +249,8 @@ namespace armarx::RobotUnitModule {
             throw LogicError{"writeRecentIterationsToFile could not open filestream for '" +
                              pb.getPath() + ".messages'"};
         }
-        ARMARX_INFO << "writing the last " << backlog.size() << " iterations to " << pb.getPath()
-                    << ".{csv, messages}";
+//        ARMARX_INFO << "writing the last " << backlog.size() << " iterations to " << pb.getPath()
+//                    << ".{csv, messages}";
         //write csv header
         {
             outCSV << "iteration;timestamp";
@@ -269,58 +269,58 @@ namespace armarx::RobotUnitModule {
             outCSV << std::endl;
         }
 
-        for (const ::armarx::detail::ControlThreadOutputBufferEntry &iteration: backlog) {
-            //write csv data
-            {
-                outCSV << iteration.iteration << ";" << iteration.sensorValuesTimestamp;
-                //sens
-                {
-                    for (const SensorValueBase *val: iteration.sensors) {
-                        for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields();
-                             ++idxField) {
-                            std::string s;
-                            val->getDataFieldAs(idxField, s);
-                            outCSV << ";" << s;
-                        }
-                    }
-                }
-                //ctrl
-                {
-                    for (const auto &vals: iteration.control) {
-                        for (const ControlTargetBase *val: vals) {
-                            for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields();
-                                 ++idxField) {
-                                std::string s;
-                                val->getDataFieldAs(idxField, s);
-                                outCSV << ";" << s;
-                            }
-                        }
-                    }
-                }
-                outCSV << std::endl;
-            }
-            //write message data
-            {
-                bool atLeastOneMessage = false;
-                for (const ::armarx::detail::RtMessageLogEntryBase *msg:
-                        iteration.messages.getEntries()) {
-                    if (!msg) {
-                        break;
-                    }
-                    outMsg << "[" << msg->getTime().toDateTime() << "] iteration "
-                           << iteration.iteration << ":\n"
-                           << msg->format() << std::endl;
-                    atLeastOneMessage = true;
-                }
-                if (atLeastOneMessage) {
-                    outMsg << "\nmessages lost: " << iteration.messages.messagesLost
-                           << " (required additional "
-                           << iteration.messages.requiredAdditionalBufferSpace << " bytes, "
-                           << iteration.messages.requiredAdditionalEntries << " message entries)\n"
-                           << std::endl;
-                }
-            }
-        }
+//        for (const ::armarx::detail::ControlThreadOutputBufferEntry &iteration: backlog) {
+//            //write csv data
+//            {
+//                outCSV << iteration.iteration << ";" << iteration.sensorValuesTimestamp;
+//                //sens
+//                {
+//                    for (const SensorValueBase *val: iteration.sensors) {
+//                        for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields();
+//                             ++idxField) {
+//                            std::string s;
+//                            val->getDataFieldAs(idxField, s);
+//                            outCSV << ";" << s;
+//                        }
+//                    }
+//                }
+//                //ctrl
+//                {
+//                    for (const auto &vals: iteration.control) {
+//                        for (const ControlTargetBase *val: vals) {
+//                            for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields();
+//                                 ++idxField) {
+//                                std::string s;
+//                                val->getDataFieldAs(idxField, s);
+//                                outCSV << ";" << s;
+//                            }
+//                        }
+//                    }
+//                }
+//                outCSV << std::endl;
+//            }
+//            //write message data
+//            {
+//                bool atLeastOneMessage = false;
+//                for (const ::armarx::detail::RtMessageLogEntryBase *msg:
+//                        iteration.messages.getEntries()) {
+//                    if (!msg) {
+//                        break;
+//                    }
+//                    outMsg << "[" << msg->getTime().toDateTime() << "] iteration "
+//                           << iteration.iteration << ":\n"
+//                           << msg->format() << std::endl;
+//                    atLeastOneMessage = true;
+//                }
+//                if (atLeastOneMessage) {
+//                    outMsg << "\nmessages lost: " << iteration.messages.messagesLost
+//                           << " (required additional "
+//                           << iteration.messages.requiredAdditionalBufferSpace << " bytes, "
+//                           << iteration.messages.requiredAdditionalEntries << " message entries)\n"
+//                           << std::endl;
+//                }
+//            }
+//        }
     }
 
     RobotUnitDataStreaming::DataStreamingDescription
@@ -491,10 +491,10 @@ namespace armarx::RobotUnitModule {
         //remove backlog entries
         const auto start_time_remove_backlog_entries = IceUtil::Time::now();
         {
-            while (!backlog.empty() &&
-                   backlog.front().writeTimestamp + rtLoggingBacklogRetentionTime < now) {
-                backlog.pop_front();
-            }
+//            while (!backlog.empty() &&
+//                   backlog.front().writeTimestamp + rtLoggingBacklogRetentionTime < now) {
+//                backlog.pop_front();
+//            }
         }
         //log all
         const auto start_time_log_all = IceUtil::Time::now();
@@ -527,8 +527,8 @@ namespace armarx::RobotUnitModule {
             }
 
         }
-        ARMARX_DEBUG << ::deactivateSpam() << "the last " << backlog.size()
-                     << " iterations are stored";
+//        ARMARX_DEBUG << ::deactivateSpam() << "the last " << backlog.size()
+//                     << " iterations are stored";
         //flush all files
         const auto start_time_flush_all_files = IceUtil::Time::now();
         {
@@ -675,9 +675,9 @@ namespace armarx::RobotUnitModule {
                         }
                         if (!rtDataStreamingEntry.empty()) {
                             durations.sens_stream.start();
-                            for (auto &[_, data]: rtDataStreamingEntry) {
+                            for (auto &[_, streamingEntry]: rtDataStreamingEntry) {
                                 durations.sens_stream_elem.start();
-                                data.processSens(*val, idxDev, idxField);
+                                streamingEntry.processSens(*val, idxDev, idxField);
                                 durations.sens_stream_elem.stop();
                             }
                             durations.sens_stream.stop();
@@ -712,9 +712,9 @@ namespace armarx::RobotUnitModule {
                             }
                             if (!rtDataStreamingEntry.empty()) {
                                 durations.ctrl_stream.start();
-                                for (auto &[_, data]: rtDataStreamingEntry) {
+                                for (auto &[_, streamingEntry]: rtDataStreamingEntry) {
                                     durations.ctrl_stream_elem.start();
-                                    data.processCtrl(*val, idxDev, idxVal, idxField);
+                                    streamingEntry.processCtrl(*val, idxDev, idxVal, idxField);
                                     durations.ctrl_stream_elem.stop();
                                 }
                                 durations.ctrl_stream.stop();
@@ -730,14 +730,14 @@ namespace armarx::RobotUnitModule {
         //finish processing
         {
             //store data to backlog
-            {
-                durations.backlog.start();
-                ARMARX_TRACE;
-                if (data.writeTimestamp + rtLoggingBacklogRetentionTime >= now) {
-                    backlog.emplace_back(data, true); //true for minimal copy
-                }
-                durations.backlog.stop();
-            }
+//            {
+//                durations.backlog.start();
+//                ARMARX_TRACE;
+//                if (data.writeTimestamp + rtLoggingBacklogRetentionTime >= now) {
+//                    backlog.emplace_back(data, true); //true for minimal copy
+//                }
+//                durations.backlog.stop();
+//            }
             //print + reset messages
             {
                 durations.msg.start();
@@ -788,7 +788,6 @@ namespace armarx::RobotUnitModule {
 
         rtLoggingBacklogRetentionTime =
                 IceUtil::Time::milliSeconds(getProperty<std::size_t>("RTLogging_KeepIterationsForMs"));
-
         ARMARX_CHECK_GREATER(getControlThreadTargetPeriod().toMicroSeconds(), 0);
     }