Class: Roby::DRoby::EventLogger

Inherits:
Object
  • Object
show all
Defined in:
lib/roby/droby/event_logger.rb

Overview

Object that acts as an observer for ExecutablePlan, handling the droby marshalling/demarshalling. Dumping to IO is delegated to #logfile, a separate object that must provide a #dump method the way Logfile::Writer does

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(logfile, queue_size: 50) ⇒ EventLogger

Returns a new instance of EventLogger.

Parameters:

  • marshal (#dump) —

    the object that transforms the arguments into droby-compatible objects

  • queue_size (Integer) (defaults to: 50) —

    if non-zero, the access to I/O will be done in a separate thread, and this parameter is the maximum amount of cycles that can be queued in a backlog until the main thread waits on the logger



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# File 'lib/roby/droby/event_logger.rb', line 54

def initialize(logfile, queue_size: 50)
    @stats_mode = false
    @logfile = logfile
    @object_manager = ObjectManager.new(nil)
    @marshal = Marshal.new(object_manager, nil)
    @current_cycle = Array.new
    @sync = true
    @dump_time = 0
    @mutex = Mutex.new
    if queue_size > 0
        @dump_queue  = SizedQueue.new(queue_size)
        @dump_thread = Thread.new(&method(:dump_loop))
    end
end

Instance Attribute Details

#current_cycle ⇒ Object (readonly)

The set of events for the current cycle. This is dumped only when the cycle_end event is received



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# File 'lib/roby/droby/event_logger.rb', line 15

def current_cycle
  @current_cycle
end

#dump_time ⇒ Object (readonly)

The time spent logging so far



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# File 'lib/roby/droby/event_logger.rb', line 28

def dump_time
  @dump_time
end

#logfile ⇒ #dump (readonly)

The object that will be given the cycles to be written

Returns:



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# File 'lib/roby/droby/event_logger.rb', line 11

def logfile
  @logfile
end

#marshal ⇒ DRoby::Marshal (readonly)

The marshalling object

Returns:



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# File 'lib/roby/droby/event_logger.rb', line 25

def marshal
  @marshal
end

#object_manager ⇒ DRoby::ObjectManager (readonly)

The object manager

Returns:



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# File 'lib/roby/droby/event_logger.rb', line 20

def object_manager
  @object_manager
end

Instance Method Details

#append_message(m, time, args) ⇒ Object 



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# File 'lib/roby/droby/event_logger.rb', line 106

def append_message(m, time, args)
    if m == :merged_plan
        plan_id, merged_plan = *args

        merged_plan.tasks.each do |t|
            object_manager.register_object(t)
        end
        merged_plan.free_events.each do |e|
            object_manager.register_object(e)
        end
        merged_plan.task_events.each do |e|
            object_manager.register_object(e)
        end
        args = [plan_id, merged_plan.droby_dump(marshal)]
    elsif m == :finalized_task
        task = args[1]
        args = marshal.dump(args)
        object_manager.deregister_object(task)
    elsif m == :finalized_event
        event = args[1]
        args = marshal.dump(args)
        object_manager.deregister_object(event)
    else
        args = marshal.dump(args)
    end

    @current_cycle << m << time.tv_sec << time.tv_usec << args
end

#close ⇒ Object

Close this logger, flushing the remaining data to I/O



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# File 'lib/roby/droby/event_logger.rb', line 95

def close
    dump(:cycle_end, Time.now, [Hash.new])
    if threaded?
        @dump_queue.push nil
        @dump_thread.join
    end

ensure
    logfile.close
end

#dump(m, time, args) ⇒ Object

Dump one log message



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# File 'lib/roby/droby/event_logger.rb', line 144

def dump(m, time, args)
    return if stats_mode?

    start = Time.now
    synchronize do
        append_message(m, time, args)
    end
ensure @dump_time += (Time.now - start)
end

#dump_loop ⇒ Object

Main dump loop if the logger is threaded



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# File 'lib/roby/droby/event_logger.rb', line 178

def dump_loop
    while cycle = @dump_queue.pop
        logfile.dump(cycle)
        if sync?
            logfile.flush
        end
    end
end

#dump_timepoint(event, time, args) ⇒ Object 



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# File 'lib/roby/droby/event_logger.rb', line 135

def dump_timepoint(event, time, args)
    return if stats_mode?

    synchronize do
        @current_cycle << event << time.tv_sec << time.tv_usec << args
    end
end

#flush ⇒ Object 



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# File 'lib/roby/droby/event_logger.rb', line 83

def flush
    if threaded?
        @dump_queue.push nil
        @dump_thread.join
        logfile.flush
        @dump_thread = Thread.new(&method(:dump_loop))
    else
        logfile.flush
    end
end

#flush_cycle(*last_message) ⇒ Object 



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# File 'lib/roby/droby/event_logger.rb', line 154

def flush_cycle(*last_message)
    start = Time.now
    if threaded?
        if !@dump_thread.alive?
            @dump_thread.value
        end

        synchronize do
            append_message(*last_message)
            @dump_queue << @current_cycle
            @current_cycle = Array.new
        end
    else
        append_message(*last_message)
        logfile.dump(@current_cycle)
        if sync?
            logfile.flush
        end
        @current_cycle.clear
    end
ensure @dump_time += (Time.now - start)
end

#log_queue_size ⇒ Object 



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# File 'lib/roby/droby/event_logger.rb', line 73

def log_queue_size
    if threaded? then @dump_queue.size
    else 0
    end
end

#stats_mode=(flag) ⇒ Object

Controls whether the logger should only dump statistics, or the full set of plan events



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# File 'lib/roby/droby/event_logger.rb', line 35

attr_predicate :stats_mode, true

#stats_mode? ⇒ Object

Controls whether the logger should only dump statistics, or the full set of plan events



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# File 'lib/roby/droby/event_logger.rb', line 35

attr_predicate :stats_mode, true

#sync=(flag) ⇒ Object

Controls whether log data should be flushed on disk after each cycle. It is set by default. Disable for improved performance if the data will not be displayed live

Application disables it by default if the log server is disabled



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# File 'lib/roby/droby/event_logger.rb', line 46

attr_predicate :sync?, true

#sync? ⇒ Object

Controls whether log data should be flushed on disk after each cycle. It is set by default. Disable for improved performance if the data will not be displayed live

Application disables it by default if the log server is disabled



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# File 'lib/roby/droby/event_logger.rb', line 46

attr_predicate :sync?, true

#synchronize(&block) ⇒ Object 



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# File 'lib/roby/droby/event_logger.rb', line 69

def synchronize(&block)
    @mutex.synchronize(&block)
end

#threaded? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/roby/droby/event_logger.rb', line 79

def threaded?
    !!@dump_queue
end