RTLogging is now redirected to ARMARX_LOGGING if RTLogging is not yet initialized

source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp

@@ -25,7 +25,8 @@
 namespace armarx
 {
     detail::RtMessageLogEntryDummy detail::RtMessageLogEntryDummy::Instance;
-    thread_local ControlThreadOutputBuffer* ControlThreadOutputBuffer::RtLoggingInstance{nullptr};
+    detail::RtMessageLogEntryNull detail::RtMessageLogEntryNull::Instance;
+    thread_local ControlThreadOutputBuffer* ControlThreadOutputBuffer::RtLoggingInstance {nullptr};
 
     ControlThreadOutputBuffer::Entry& ControlThreadOutputBuffer::getWriteBuffer()
     {
@@ -192,27 +193,27 @@ namespace armarx
     }
 
     detail::RtMessageLogBuffer::RtMessageLogBuffer(const detail::RtMessageLogBuffer& other, bool minimize):
-        initialBufferSize{other.initialBufferSize * minimize},
-        initialBufferEntryNumbers{other.initialBufferEntryNumbers * minimize},
-        bufferMaxSize{other.bufferMaxSize * minimize},
-        bufferMaxNumberEntries{other.bufferMaxNumberEntries * minimize},
-        buffer(
-            minimize ?
-            other.buffer.size() + other.maxAlign - 1 - other.bufferSpace :
-            other.buffer.size(),
-            0),
-        bufferSpace{buffer.size()},
-        bufferPlace{buffer.data()},
-        entries(
-            minimize ?
-            other.entriesWritten :
-            other.entries.size(),
-            nullptr),
-        entriesWritten{0},
-        requiredAdditionalBufferSpace{other.requiredAdditionalBufferSpace},
-        requiredAdditionalEntries{other.requiredAdditionalEntries},
-        messagesLost{other.messagesLost},
-        maxAlign{1}
+        initialBufferSize {other.initialBufferSize * minimize},
+                      initialBufferEntryNumbers {other.initialBufferEntryNumbers * minimize},
+                      bufferMaxSize {other.bufferMaxSize * minimize},
+                      bufferMaxNumberEntries {other.bufferMaxNumberEntries * minimize},
+                      buffer(
+                          minimize ?
+                          other.buffer.size() + other.maxAlign - 1 - other.bufferSpace :
+                          other.buffer.size(),
+                          0),
+                      bufferSpace {buffer.size()},
+                      bufferPlace {buffer.data()},
+                      entries(
+                          minimize ?
+                          other.entriesWritten :
+                          other.entries.size(),
+                          nullptr),
+                      entriesWritten {0},
+                      requiredAdditionalBufferSpace {other.requiredAdditionalBufferSpace},
+                      requiredAdditionalEntries {other.requiredAdditionalEntries},
+                      messagesLost {other.messagesLost},
+    maxAlign {1}
     {
         for (std::size_t idx = 0; idx < other.entries.size() && other.entries.at(idx); ++idx)
         {
@@ -223,19 +224,19 @@ namespace armarx
             const auto hint = ARMARX_STREAM_PRINTER
             {
                 out << "entry " << idx << " of " << other.entriesWritten
-                    << "\nbuffer first       = " << static_cast<void*>(&buffer.front())
-                    << "\nbuffer last        = " << static_cast<void*>(&buffer.back())
-                    << "\nbuffer size        = " << buffer.size()
-                    << "\nbuffer place       = " << bufferPlace
-                    << "\nbuffer space       = " << bufferSpace
-                    << "\nentry size         = " << entry->_sizeof()
-                    << "\nentry align        = " << entry->_alignof()
-                    << "\n"
-                    << "\nother buffer size  = " << other.buffer.size()
-                    << "\nother buffer space = " << other.bufferSpace
-                    << "\nother max align    = " << other.maxAlign
-                    << "\n"
-                    << "\nthis               = " << this;
+                << "\nbuffer first       = " << static_cast<void*>(&buffer.front())
+                << "\nbuffer last        = " << static_cast<void*>(&buffer.back())
+                << "\nbuffer size        = " << buffer.size()
+                << "\nbuffer place       = " << bufferPlace
+                << "\nbuffer space       = " << bufferSpace
+                << "\nentry size         = " << entry->_sizeof()
+                << "\nentry align        = " << entry->_alignof()
+                << "\n"
+                << "\nother buffer size  = " << other.buffer.size()
+                << "\nother buffer space = " << other.bufferSpace
+                << "\nother max align    = " << other.maxAlign
+                << "\n"
+                << "\nthis               = " << this;
             };
             ARMARX_CHECK_NOT_NULL_W_HINT(place, hint);
             ARMARX_CHECK_LESS_EQUAL_W_HINT(static_cast<void*>(&buffer.front()), static_cast<void*>(place), hint);
@@ -326,9 +327,9 @@ namespace armarx
         std::size_t messageBufferSize, std::size_t messageBufferNumberEntries,
         std::size_t messageBufferMaxSize, std::size_t messageBufferMaxNumberEntries
     ):
-        sensorValuesTimestamp{IceUtil::Time::microSeconds(0)},
-        timeSinceLastIteration{IceUtil::Time::microSeconds(0)},
-        messages{messageBufferSize, messageBufferNumberEntries, messageBufferMaxSize, messageBufferMaxNumberEntries}
+        sensorValuesTimestamp {IceUtil::Time::microSeconds(0)},
+                          timeSinceLastIteration {IceUtil::Time::microSeconds(0)},
+    messages {messageBufferSize, messageBufferNumberEntries, messageBufferMaxSize, messageBufferMaxNumberEntries}
     {
         //calculate size in bytes for one buffer
         const std::size_t bytes = [&]
@@ -398,12 +399,12 @@ namespace armarx
     }
 
     detail::ControlThreadOutputBufferEntry::ControlThreadOutputBufferEntry(const detail::ControlThreadOutputBufferEntry& other, bool minimize):
-        writeTimestamp{other.writeTimestamp},
-        sensorValuesTimestamp{other.sensorValuesTimestamp},
-        timeSinceLastIteration{other.timeSinceLastIteration},
-        iteration{other.iteration},
-        messages{other.messages, minimize},
-        buffer(other.buffer.size(), 0)
+        writeTimestamp {other.writeTimestamp},
+                   sensorValuesTimestamp {other.sensorValuesTimestamp},
+                   timeSinceLastIteration {other.timeSinceLastIteration},
+                   iteration {other.iteration},
+                   messages {other.messages, minimize},
+                   buffer(other.buffer.size(), 0)
     {
         void* place = buffer.data();
         std::size_t space = buffer.size();

source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h

@@ -26,6 +26,8 @@
 
 #include <vector>
 
+#include <boost/format.hpp>
+
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/util/PropagateConst.h>
 #include <ArmarXCore/core/util/TripleBuffer.h>
@@ -40,6 +42,23 @@ namespace armarx
 {
     namespace detail
     {
+        inline std::string armarx_sprintf_helper(boost::format& f)
+        {
+            return boost::str(f);
+        }
+
+        template<class T, class... Args>
+        inline std::string armarx_sprintf_helper(boost::format& f, T&& t, Args&& ... args)
+        {
+            return armarx_sprintf_helper(f % std::forward<T>(t), std::forward<Args>(args)...);
+        }
+        template<class... Args>
+        inline std::string armarx_sprintf(const std::string& formatString, Args&& ... args)
+        {
+            boost::format f(formatString);
+            return ::armarx::detail::armarx_sprintf_helper(f, std::forward<Args>(args)...);
+        }
+
         struct RtMessageLogEntryBase
         {
             RtMessageLogEntryBase():
@@ -80,12 +99,36 @@ namespace armarx
 
             ARMARX_MINIMAL_PLACEMENT_CONSTRUCTION_HELPER
         };
+
+        struct RtMessageLogEntryNull : RtMessageLogEntryBase
+        {
+            static RtMessageLogEntryNull Instance;
+        protected:
+            std::string format() const final override
+            {
+                return "";
+            }
+            std::size_t line() const final override
+            {
+                return 0;
+            }
+            std::string file() const final override
+            {
+                return "";
+            }
+            std::string func() const final override
+            {
+                return "";
+            }
+
+            ARMARX_MINIMAL_PLACEMENT_CONSTRUCTION_HELPER
+        };
     }
 }
 namespace armarx
 {
     class RobotUnit;
-    class ControlThreadOutputBuffer;
+    struct ControlThreadOutputBuffer;
 
     namespace RobotUnitModule
     {
@@ -104,7 +147,7 @@ namespace armarx
 
             RtMessageLogBuffer() = delete;
             RtMessageLogBuffer(RtMessageLogBuffer&&) = delete;
-            RtMessageLogBuffer& operator=(RtMessageLogBuffer&&) = delete;
+            RtMessageLogBuffer& operator=(RtMessageLogBuffer &&) = delete;
             RtMessageLogBuffer& operator=(const RtMessageLogBuffer&) = delete;
 
             void reset(std::size_t& bufferSize, std::size_t& numEntries, std::size_t iterationCount);
@@ -117,7 +160,7 @@ namespace armarx
             void deleteAll();
 
             friend struct ControlThreadOutputBufferEntry;
-            friend class ::armarx::ControlThreadOutputBuffer;
+            friend struct ::armarx::ControlThreadOutputBuffer;
             friend class ::armarx::RobotUnit;
             friend class ::armarx::RobotUnitModule::Logging;
 
@@ -155,7 +198,7 @@ namespace armarx
 
             ControlThreadOutputBufferEntry() = delete;
             ControlThreadOutputBufferEntry(ControlThreadOutputBufferEntry&&) = delete;
-            ControlThreadOutputBufferEntry& operator=(ControlThreadOutputBufferEntry&&) = delete;
+            ControlThreadOutputBufferEntry& operator=(ControlThreadOutputBufferEntry &&) = delete;
             ControlThreadOutputBufferEntry& operator=(const ControlThreadOutputBufferEntry&) = delete;
 
             std::size_t getDataBufferSize() const;
@@ -244,10 +287,20 @@ namespace armarx
 }
 
 
-#define ARMARX_RT_LOGF(...) _detail_ARMARX_RT_LOGF(__FILE__, ARMARX_FUNCTION,__LINE__, __VA_ARGS__, true)
+//    ARMARX_INFO << deactivateSpam(1) << "Redirected RT Logging:\n" << ::armarx::detail::armarx_printf_helper(f, __VA_ARGS__);
+
+#define _detail_ARMARX_RT_REDIRECT( ...) ([&]{  \
+        ::armarx::detail::armarx_sprintf(__VA_ARGS__); \
+        ARMARX_INFO << deactivateSpam(1) << "Redirected RT Logging:\n";\
+        return &::armarx::detail::RtMessageLogEntryNull::Instance;}())
+
+
+
+
+#define ARMARX_RT_LOGF(...) (*((::armarx::ControlThreadOutputBuffer::GetRtLoggingInstance())? _detail_ARMARX_RT_LOGF(__FILE__, ARMARX_FUNCTION,__LINE__, __VA_ARGS__, true) : _detail_ARMARX_RT_REDIRECT(__VA_ARGS__)))
 
 #define _detail_ARMARX_RT_LOGF(file_, func_, line_, FormatString, ...)                          \
-    (*[&]{                                                                                      \
+    ([&]{                                                                                      \
             using namespace ::armarx;                                                           \
             using RtMessageLogEntryBase = ControlThreadOutputBuffer::RtMessageLogEntryBase;     \
             struct RtMessageLogEntry : RtMessageLogEntryBase                                    \
@@ -268,7 +321,7 @@ namespace armarx
     ARMARX_CHECK_NOT_NULL(::armarx::ControlThreadOutputBuffer::GetRtLoggingInstance());         \
     return ::armarx::ControlThreadOutputBuffer::GetRtLoggingInstance()                          \
            ->addMessageToLog<RtMessageLogEntry>(__VA_ARGS__);                                   \
-         }())
+        }())
 
 #define ARMARX_RT_LOGF_DEBUG(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eDEBUG)
 #define ARMARX_RT_LOGF_VERBOSE(...) ARMARX_RT_LOGF(__VA_ARGS__).setLoggingLevel(::armarx::eVERBOSE)
@@ -314,13 +367,13 @@ namespace armarx
             std::size_t bufferMaxSize, std::size_t bufferMaxNumberEntries
         ):
             initialBufferSize {bufferSize},
-            initialBufferEntryNumbers {numEntries},
-            bufferMaxSize {bufferMaxSize},
-            bufferMaxNumberEntries {bufferMaxNumberEntries},
-            buffer(bufferSize, 0),
-            bufferSpace {buffer.size()},
-            bufferPlace {buffer.data()},
-            entries(numEntries, nullptr)
+                          initialBufferEntryNumbers {numEntries},
+                          bufferMaxSize {bufferMaxSize},
+                          bufferMaxNumberEntries {bufferMaxNumberEntries},
+                          buffer(bufferSize, 0),
+                          bufferSpace {buffer.size()},
+                          bufferPlace {buffer.data()},
+                          entries(numEntries, nullptr)
         {}
 
         inline RtMessageLogBuffer::~RtMessageLogBuffer()