[Jderobot-admin] jderobot-r1226 - trunk/src/stable/components/replayer

frivas en jderobot.org frivas en jderobot.org
Mar Abr 29 17:18:11 CEST 2014


Author: frivas
Date: 2014-04-29 17:18:11 +0200 (Tue, 29 Apr 2014)
New Revision: 1226

Modified:
   trunk/src/stable/components/replayer/control.cpp
   trunk/src/stable/components/replayer/control.h
   trunk/src/stable/components/replayer/replayer.cpp
Log:
[#204] logger integrated into replayer


Modified: trunk/src/stable/components/replayer/control.cpp
===================================================================
--- trunk/src/stable/components/replayer/control.cpp	2014-04-29 15:03:42 UTC (rev 1225)
+++ trunk/src/stable/components/replayer/control.cpp	2014-04-29 15:18:11 UTC (rev 1226)
@@ -75,7 +75,7 @@
 	}
 	else{
 		if (this->repeat){
-			std::cout << "--------------REINICIO" << std::endl;
+			jderobot::Logger::getInstance()->info("--------------REINICIO");
 			IceUtil::Time now = IceUtil::Time::now();
 			long long int nowInt=(now.toMicroSeconds())/1000;
 			this->newTime=nowInt;
@@ -91,7 +91,7 @@
 		this->play=false;
 		IceUtil::Time now = IceUtil::Time::now();
 		long long int nowInt=(now.toMicroSeconds())/1000;
-		std::cout << "now_ " << nowInt << std::endl;
+		//std::cout << "now_ " << nowInt << std::endl;
 
 		this->timeToResume=nowInt-this->newTime;
 	this->controlMutex.unlock();
@@ -102,8 +102,8 @@
 		this->play=true;
 		IceUtil::Time now = IceUtil::Time::now();
 		long long int nowInt=(now.toMicroSeconds())/1000;
-		std::cout << "now_ " << nowInt << std::endl;
-		std::cout << "TIEMPO RELATIVO: " << this->timeToResume << std::endl;
+		//std::cout << "now_ " << nowInt << std::endl;
+		//std::cout << "TIEMPO RELATIVO: " << this->timeToResume << std::endl;
 		this->newTime=nowInt-this->timeToResume;
 	this->controlMutex.unlock();
 }

Modified: trunk/src/stable/components/replayer/control.h
===================================================================
--- trunk/src/stable/components/replayer/control.h	2014-04-29 15:03:42 UTC (rev 1225)
+++ trunk/src/stable/components/replayer/control.h	2014-04-29 15:18:11 UTC (rev 1226)
@@ -25,6 +25,7 @@
 #include <iostream>
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
+#include <log/Logger.h>
 
 namespace replayer {
 

Modified: trunk/src/stable/components/replayer/replayer.cpp
===================================================================
--- trunk/src/stable/components/replayer/replayer.cpp	2014-04-29 15:03:42 UTC (rev 1225)
+++ trunk/src/stable/components/replayer/replayer.cpp	2014-04-29 15:18:11 UTC (rev 1226)
@@ -58,7 +58,8 @@
 	class CameraI: virtual public jderobot::Camera {
 	public:
 		CameraI(std::string& propertyPrefix, Ice::CommunicatorPtr ic, long long int initStateIN): prefix(propertyPrefix) {
-			std::cout << "Creating: " << propertyPrefix << std::endl;
+			jderobot::Logger::getInstance()->info("Creating " + propertyPrefix );
+
 		   imageDescription = (new jderobot::ImageDescription());
 		   prop = ic->getProperties();
 		   //cameraDescription = (new jderobot::CameraDescription());
@@ -67,10 +68,11 @@
 		   this->height=prop->getPropertyAsIntWithDefault(propertyPrefix + "ImageHeight",240);
 		   this->dataPath=prop->getProperty(propertyPrefix+"Dir");
 		   this->fileFormat=prop->getProperty(propertyPrefix+"FileFormat");
-                   this->format = prop->getProperty(propertyPrefix+"Format");
-		   std::cout << "PATH " << this->dataPath << std::endl;
-		   std::cout << "FORMAT: " << this->fileFormat << std::endl;
+		   this->format = prop->getProperty(propertyPrefix+"Format");
+		   jderobot::Logger::getInstance()->info("PATH " + this->dataPath );
+		   jderobot::Logger::getInstance()->info("FORMAT: " + this->fileFormat );
 
+
 		   this->initState=initStateIN;
 		   //sync task
 		   syncTask = new SyncTask(this,this->dataPath, this->fileFormat);
@@ -91,7 +93,7 @@
 		}
 
 		virtual ~CameraI() {
-			std::cout << "Stopping and joining thread for camera: " <<  cameraDescription->name << std::endl;
+			jderobot::Logger::getInstance()->info("Stopping and joining thread for camera: " +  cameraDescription->name);
 		}
 
 		virtual jderobot::ImageDescriptionPtr getImageDescription(const Ice::Current& c){
@@ -111,12 +113,12 @@
 		}
 
 		virtual std::string startCameraStreaming(const Ice::Current&){
-			std::cout << "Should be made anything to start camera streaming: " << cameraDescription->name << std::endl;
+			jderobot::Logger::getInstance()->info("Should be made anything to start camera streaming: " + cameraDescription->name);
 			return std::string("");
 		}
 
 		virtual void stopCameraStreaming(const Ice::Current&) {
-			std::cout << "Should be made anything to stop camera streaming: " << cameraDescription->name << std::endl;
+			jderobot::Logger::getInstance()->info("Should be made anything to stop camera streaming: " + cameraDescription->name);
 		}
 
 		virtual void reset(const Ice::Current&)
@@ -151,7 +153,7 @@
 				std::string fileName(this->path + "cameraData.jde");
 				std::ifstream myfile(fileName.c_str());
 				if (!myfile.is_open())
-					std::cout << "Error while trying to open: " << fileName << std::endl;
+					jderobot::Logger::getInstance()->error("Error while trying to open: " + fileName);
 				while(this->isAlive()){
 					while ( myfile.good() ){
 						bool playing=controller->getPlay();
@@ -213,10 +215,8 @@
 						if ((actualState - this->mycamera->initState ) < relative ){
 							usleep(((relative) - (actualState - this->mycamera->initState ))*1000);
 						}
-						else{
-							std::cout << "TIMEOUT" << std::endl;
-						}
 
+
 						this->mycamera->dataMutex.lock();
 
 						tempImage.copyTo(this->mycamera->image);
@@ -249,7 +249,6 @@
 		class ReplyTask: public IceUtil::Thread{
 			public:
 				ReplyTask(CameraI* camera){
-				   std::cout << "safeThread" <<std::endl;
 				   this->mycamera=camera;
 				}
 
@@ -375,7 +374,7 @@
 					std::string fileName(this->path + "pointCloudData.jde");
 					std::ifstream myfile(fileName.c_str());
 					if (!myfile.is_open())
-						std::cout << "-----Error while trying to open: " << fileName << std::endl;
+						jderobot::Logger::getInstance()->error("-----Error while trying to open: " + fileName);
 					while(this->isAlive()){
 						while ( myfile.good() ){
 							bool playing=controller->getPlay();
@@ -439,9 +438,6 @@
 							if ((actualState - this->myPointCloud->initState ) < relative ){
 								usleep(((relative) - (actualState - this->myPointCloud->initState ))*1000);
 							}
-							else{
-								std::cout << "TIMEOUT" << std::endl;
-							}
 
 							this->myPointCloud->m.lock();
 							this->myPointCloud->KData->p.resize(sizeVector);
@@ -514,7 +510,7 @@
 					std::string fileName(this->path + "laserData.jde");
 					std::ifstream myfile(fileName.c_str());
 					if (!myfile.is_open())
-						std::cout << "-----Error while trying to open: " << fileName << std::endl;
+						jderobot::Logger::getInstance()->error("-----Error while trying to open: " + fileName);
 					while(this->isAlive()){
 						while ( myfile.good() ){
 							bool playing=controller->getPlay();
@@ -578,10 +574,6 @@
 							if ((actualState - this->myLaser->initState ) < relative ){
 								usleep(((relative) - (actualState - this->myLaser->initState ))*1000);
 							}
-							else{
-								std::cout << "TIMEOUT" << std::endl;
-							}
-
 							this->myLaser->m.lock();
 							this->myLaser->KData->distanceData.resize(sizeVector);
 							infile.read((char *)&this->myLaser->KData->distanceData.front(), this->myLaser->KData->distanceData.size()*sizeof(int));
@@ -653,7 +645,7 @@
 						std::string fileName(this->path + "pose3dencoderData.jde");
 						std::ifstream myfile(fileName.c_str());
 						if (!myfile.is_open())
-							std::cout << "-----Error while trying to open: " << fileName << std::endl;
+							jderobot::Logger::getInstance()->error("-----Error while trying to open: " + fileName);
 						while(this->isAlive()){
 							while ( myfile.good() ){
 								bool playing=controller->getPlay();
@@ -717,9 +709,6 @@
 								if ((actualState - this->myPose3d->initState ) < relative ){
 									usleep(((relative) - (actualState - this->myPose3d->initState ))*1000);
 								}
-								else{
-									std::cout << "TIMEOUT" << std::endl;
-								}
 
 								this->myPose3d->m.lock();
 								infile.read((char *)&this->myPose3d->tempData, sizeof(pose3dencoders));
@@ -817,7 +806,7 @@
 						std::string fileName(this->path + "encoderData.jde");
 						std::ifstream myfile(fileName.c_str());
 						if (!myfile.is_open())
-							std::cout << "-----Error while trying to open: " << fileName << std::endl;
+							jderobot::Logger::getInstance()->error("-----Error while trying to open: " + fileName);
 						while(this->isAlive()){
 							while ( myfile.good() ){
 								bool playing=controller->getPlay();
@@ -881,9 +870,6 @@
 								if ((actualState - this->myEncoder->initState ) < relative ){
 									usleep(((relative) - (actualState - this->myEncoder->initState ))*1000);
 								}
-								else{
-									std::cout << "TIMEOUT" << std::endl;
-								}
 
 								this->myEncoder->m.lock();
 								infile.read((char *)&this->myEncoder->tempData, sizeof(encoders));
@@ -1071,7 +1057,7 @@
 
 
 		int nCameras = prop->getPropertyAsIntWithDefault(componentPrefix+".nCameras",0);
-		std::cout << "Cameras to load: " << nCameras << std::endl;
+		jderobot::Logger::getInstance()->info( "Cameras to load: " + boost::lexical_cast<std::string>(nCameras));
 		std::string Endpoints = prop->getProperty(componentPrefix+".Endpoints");
 		cameras.resize(nCameras);
 		Ice::ObjectAdapterPtr adapter =ic->createObjectAdapterWithEndpoints(componentPrefix+"", Endpoints);
@@ -1081,14 +1067,13 @@
 			std::string objId = objIdS.str();
 			std::string objPrefix(componentPrefix+".Camera." + objId + ".");
 			std::string cameraName = prop->getProperty(objPrefix + "Name");
-			std::cout << "Camera name: " << cameraName << std::endl;
+			jderobot::Logger::getInstance()->info( "Creating camera: " + cameraName);
 
 			if (cameraName.size() == 0) { //no name specified, we create one using the index
 				cameraName = "camera" + objId;
 				prop->setProperty(objPrefix + "Name",cameraName);//set the value
 			}
 
-			std::cout << "Creating camera " << cameraName << std::endl;
 
 
 
@@ -1108,14 +1093,14 @@
 			std::string objId = objIdS.str();
 			std::string objPrefix(componentPrefix+".PointCloud." + objId + ".");
 			std::string Name = prop->getProperty(objPrefix + "Name");
-			std::cout << "pointCloud name: " << Name << std::endl;
+			jderobot::Logger::getInstance()->info("Creating pointCloud " + Name );
 
+
 			if (Name.size() == 0) { //no name specified, we create one using the index
 				Name = "pointcloud" + objId;
 				prop->setProperty(objPrefix + "Name",Name);//set the value
 			}
 
-			std::cout << "Creating pointCloud " << Name << std::endl;
 
 
 
@@ -1136,17 +1121,15 @@
 			std::string objId = objIdS.str();
 			std::string objPrefix(componentPrefix+".laser." + objId + ".");
 			std::string Name = prop->getProperty(objPrefix + "Name");
-			std::cout << "laser name: " << Name << std::endl;
+			jderobot::Logger::getInstance()->info("Creating laser " + Name );
 
 			if (Name.size() == 0) { //no name specified, we create one using the index
 				Name = "laser" + objId;
 				prop->setProperty(objPrefix + "Name",Name);//set the value
 			}
 
-			std::cout << "Creating laser " << Name << std::endl;
 
 
-
 			Ice::ObjectPtr  object= new replayer::LaserI(objPrefix,ic,initState);
 
 
@@ -1166,17 +1149,13 @@
 			std::string objId = objIdS.str();
 			std::string objPrefix(componentPrefix+".pose3dencoder." + objId + ".");
 			std::string Name = prop->getProperty(objPrefix + "Name");
-			std::cout << "pose3dencoders name: " << Name << std::endl;
+			jderobot::Logger::getInstance()->info("Creating pose3dencoders " + Name );
 
 			if (Name.size() == 0) { //no name specified, we create one using the index
 				Name = "pose3dencoders" + objId;
 				prop->setProperty(objPrefix + "Name",Name);//set the value
 			}
 
-			std::cout << "Creating pose3dencoders " << Name << std::endl;
-
-
-
 			Ice::ObjectPtr  object= new replayer::Pose3DEncodersI(objPrefix,ic,initState);
 
 
@@ -1194,17 +1173,14 @@
 			std::string objId = objIdS.str();
 			std::string objPrefix(componentPrefix+".encoder." + objId + ".");
 			std::string Name = prop->getProperty(objPrefix + "Name");
-			std::cout << "encoders name: " << Name << std::endl;
+			jderobot::Logger::getInstance()->info("Creating encoders " + Name );
 
+
 			if (Name.size() == 0) { //no name specified, we create one using the index
 				Name = "encoders" + objId;
 				prop->setProperty(objPrefix + "Name",Name);//set the value
 			}
 
-			std::cout << "Creating encoders " << Name << std::endl;
-
-
-
 			Ice::ObjectPtr  object= new replayer::EncodersI(objPrefix,ic,initState);
 
 



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