static void
lcm_logprov_destroy (lcm_logprov_t *lr)
{
dbg (DBG_LCM, "closing lcm log provider context\n");
if (lr->thread_created) {
/* Destroy the timer thread */
int64_t abort_cmd = -1;
int status = lcm_internal_pipe_write(lr->timer_pipe[1], &abort_cmd, sizeof(abort_cmd));
if(status < 0) {
perror(__FILE__ " - write (abort_cmd)");
}
g_thread_join (lr->timer_thread);
}
if(lr->notify_pipe[0] >= 0) lcm_internal_pipe_close(lr->notify_pipe[0]);
if(lr->notify_pipe[1] >= 0) lcm_internal_pipe_close(lr->notify_pipe[1]);
if(lr->timer_pipe[0] >= 0) lcm_internal_pipe_close(lr->timer_pipe[0]);
if(lr->timer_pipe[1] >= 0) lcm_internal_pipe_close(lr->timer_pipe[1]);
if (lr->event)
lcm_eventlog_free_event (lr->event);
if (lr->log)
lcm_eventlog_destroy (lr->log);
free (lr->filename);
free (lr);
}
static int
pylog_initobj(PyObject *s, PyObject *args, PyObject *kwds)
{
PyLogObject *self = (PyLogObject *)s;
static char *keywords[] = { "filename", "mode", 0 };
char *filename = NULL;
char *mode = "r";
if (!PyArg_ParseTupleAndKeywords(args, kwds, "s|s", keywords, &filename,
&mode))
return -1;
if (!strcmp (mode, "r")) {
self->mode = 'r';
} else if (!strcmp (mode, "w")) {
self->mode = 'w';
} else {
PyErr_SetString (PyExc_ValueError, "invalid mode");
return -1;
}
if (self->eventlog) { lcm_eventlog_destroy (self->eventlog); }
self->eventlog = lcm_eventlog_create (filename, mode);
if (!self->eventlog) {
PyErr_SetFromErrno (PyExc_IOError);
return -1;
}
return 0;
}
static void
pylog_dealloc(PyLogObject *self)
{
if (self->eventlog) {
lcm_eventlog_destroy (self->eventlog);
}
Py_TYPE(self)->tp_free((PyObject*)self);
}
LogFile::~LogFile()
{
if(eventlog)
lcm_eventlog_destroy(eventlog);
eventlog = NULL;
if(last_event)
lcm_eventlog_free_event(last_event);
last_event = NULL;
}
static PyObject *
pylog_close (PyLogObject *self)
{
if (self->eventlog) {
lcm_eventlog_destroy (self->eventlog);
self->eventlog = NULL;
}
Py_INCREF (Py_None);
return Py_None;
}
int main(int argc, char **argv)
{
if(argc < 2) {
fprintf(stderr, "usage: example1-poses <logfile>\n");
return 1;
}
lcm_eventlog_t *log = lcm_eventlog_create(argv[1], "r");
if(!log) {
fprintf(stderr, "error opening log file\n");
return 1;
}
printf("# utime x y z x' y' z'\n");
lcm_eventlog_event_t *event = lcm_eventlog_read_next_event(log);
while(event) {
if(!strcmp(event->channel, "POSE")) {
lcmtypes_pose_t pose;
lcmtypes_pose_t_decode(event->data, 0, event->datalen, &pose);
printf("%lld %f %f %f %f %f %f\n",
(long long)pose.utime,
pose.pos[0],
pose.pos[1],
pose.pos[2],
pose.vel[0],
pose.vel[1],
pose.vel[2]);
lcmtypes_pose_t_decode_cleanup(&pose);
}
lcm_eventlog_free_event(event);
event = lcm_eventlog_read_next_event(log);
}
lcm_eventlog_destroy(log);
return 0;
}
int main(int argc, char **argv)
{
if(argc < 2) {
fprintf(stderr, "usage: example3-gps <logfile>\n");
return 1;
}
lcm_eventlog_t *log = lcm_eventlog_create(argv[1], "r");
if(!log) {
fprintf(stderr, "error opening log file\n");
return 1;
}
lcm_eventlog_event_t *event = lcm_eventlog_read_next_event(log);
while(event) {
if(!strcmp(event->channel, "GPS_TO_LOCAL")) {
lcmtypes_gps_to_local_t gps;
lcmtypes_gps_to_local_t_decode(event->data, 0, event->datalen,
&gps);
printf("%lld %.10f %.10f %f %f\n",
(long long)gps.utime,
gps.lat_lon_el_theta[0],
gps.lat_lon_el_theta[1],
gps.lat_lon_el_theta[2],
gps.lat_lon_el_theta[3]);
lcmtypes_gps_to_local_t_decode_cleanup(&gps);
}
lcm_eventlog_free_event(event);
event = lcm_eventlog_read_next_event(log);
}
lcm_eventlog_destroy(log);
return 0;
}
int
main(int argc, char **argv)
{
int verbose = 0;
int filterChannels =0;
char *pattern = strdup(".*");
char *dest_fname = NULL;
int64_t start_utime = 0;
int64_t end_utime = -1;
int have_end_utime = 0;
int invert_regex = 0;
char *optstring = "hc:vs:e:i";
int c;
while ((c = getopt_long(argc, argv, optstring, NULL, 0)) >= 0) {
switch (c)
{
case 'h':
usage();
break;
case 's':
{
char *eptr = NULL;
double start_time = strtod(optarg, &eptr);
if (*eptr != 0)
usage();
start_utime = (int64_t) (start_time * 1000000);
}
break;
case 'e':
{
char *eptr = NULL;
double end_time = strtod(optarg, &eptr);
if (*eptr != 0)
usage();
end_utime = (int64_t) (end_time * 1000000);
have_end_utime = 1;
}
break;
case 'i':
invert_regex = 1;
filterChannels = 1;
break;
case 'c':
free(pattern);
pattern = strdup(optarg);
filterChannels = 1;
break;
case 'v':
verbose = 1;
break;
default:
usage();
break;
};
}
if (start_utime < 0 || (have_end_utime && end_utime < start_utime))
usage();
if (optind > argc - 3)
usage();
regex_t preg;
if (0 != regcomp(&preg, pattern, REG_NOSUB | REG_EXTENDED)) {
fprintf(stderr, "bad regex\n");
exit(1);
}
int num_src_logs = argc - optind - 1;
fprintf(stderr, "Splicing together %d logs\n", num_src_logs);
lcm_eventlog_t *src_logs[num_src_logs];
for (int i = 0; i < argc - optind - 1; i++) {
char * src_fname = argv[optind + i];
src_logs[i] = lcm_eventlog_create(src_fname, "r");
if (!src_logs[i]) {
perror("Unable to open source logfile");
for (int j = 0; j < i; j++)
lcm_eventlog_destroy(src_logs[j]);
regfree(&preg);
return 1;
}
}
dest_fname = argv[argc - 1];
lcm_eventlog_t *dst_log = lcm_eventlog_create(dest_fname, "w");
if (!dst_log) {
perror("Unable to open destination logfile");
for (int i = 0; i < num_src_logs; i++)
lcm_eventlog_destroy(src_logs[i]);
regfree(&preg);
return 1;
}
GHashTable *counts = g_hash_table_new_full(g_str_hash, g_str_equal, free,
free);
int nwritten = 0;
int have_first_event_timestamp = 0;
int64_t first_event_timestamp = -1;
lcm_eventlog_event_t *events[num_src_logs];
for (int i = 0; i < num_src_logs; i++)
events[i] = lcm_eventlog_read_next_event(src_logs[i]);
while (1) {
lcm_eventlog_event_t *event;
int mind = -1;
int64_t mtime = INT64_MAX;
for (int i = 0; i < num_src_logs; i++) {
if (events[i] == NULL)
continue;
else if (events[i]->timestamp < mtime) {
mtime = events[i]->timestamp;
mind = i;
}
}
if (mind < 0) //all are null
break;
event = events[mind];
events[mind] = lcm_eventlog_read_next_event(src_logs[mind]);
if (!have_first_event_timestamp) {
first_event_timestamp = event->timestamp;
have_first_event_timestamp = 1;
}
int64_t elapsed = event->timestamp - first_event_timestamp;
if (elapsed < start_utime) {
lcm_eventlog_free_event(event);
continue;
}
if (have_end_utime && elapsed > end_utime) {
lcm_eventlog_free_event(event);
break;
}
int copy_to_dest = 1;
if (filterChannels) {
int regmatch = regexec(&preg, event->channel, 0, NULL, 0);
copy_to_dest = (regmatch == 0 && !invert_regex) || (regmatch != 0
&& invert_regex);
}
if (copy_to_dest) {
lcm_eventlog_write_event(dst_log, event);
nwritten++;
if (verbose) {
int *count = g_hash_table_lookup(counts, event->channel);
if (!count) {
count = (int*) malloc(sizeof(int));
*count = 1;
g_hash_table_insert(counts, strdup(event->channel), count);
printf("matched channel %s\n", event->channel);
} else {
*count += 1;
}
}
}
lcm_eventlog_free_event(event);
}
if (verbose) {
g_hash_table_foreach(counts, _verbose_entry_summary, NULL);
printf("=====\n");
printf("Events written: %d\n", nwritten);
}
regfree(&preg);
for (int i = 0; i < num_src_logs; i++)
lcm_eventlog_destroy(src_logs[i]);
lcm_eventlog_destroy(dst_log);
g_hash_table_destroy(counts);
return 0;
}
int main(int argc, char **argv)
{
int verbose = 0;
char *pattern = g_strdup(".*");
char *source_fname = NULL;
char *dest_fname = NULL;
int64_t start_utime = 0;
int64_t end_utime = -1;
int have_end_utime = 0;
int invert_regex = 0;
char *optstring = "hc:vs:e:i";
int c;
while ((c = getopt_long(argc, argv, optstring, NULL, 0)) >= 0) {
switch (c) {
case 'h':
usage();
break;
case 's': {
char *eptr = NULL;
double start_time = strtod(optarg, &eptr);
if (*eptr != 0)
usage();
start_utime = (int64_t)(start_time * 1000000);
} break;
case 'e': {
char *eptr = NULL;
double end_time = strtod(optarg, &eptr);
if (*eptr != 0)
usage();
end_utime = (int64_t)(end_time * 1000000);
have_end_utime = 1;
} break;
case 'i':
invert_regex = 1;
break;
case 'c':
g_free(pattern);
pattern = g_strdup(optarg);
break;
case 'v':
verbose = 1;
break;
default:
usage();
break;
};
}
if (start_utime < 0 || (have_end_utime && end_utime < start_utime))
usage();
if (optind != argc - 2)
usage();
GRegex *regex;
GError *rerr = NULL;
regex = g_regex_new(pattern, (GRegexCompileFlags) 0, (GRegexMatchFlags) 0, &rerr);
if (rerr) {
fprintf(stderr, "bad regex\n");
exit(1);
}
source_fname = argv[argc - 2];
dest_fname = argv[argc - 1];
lcm_eventlog_t *src_log = lcm_eventlog_create(source_fname, "r");
if (!src_log) {
perror("Unable to open source logfile");
g_regex_unref(regex);
return 1;
}
lcm_eventlog_t *dst_log = lcm_eventlog_create(dest_fname, "w");
if (!dst_log) {
perror("Unable to open destination logfile");
lcm_eventlog_destroy(src_log);
g_regex_unref(regex);
return 1;
}
GHashTable *counts = g_hash_table_new_full(g_str_hash, g_str_equal, g_free, free);
int nwritten = 0;
int have_first_event_timestamp = 0;
int64_t first_event_timestamp = 0;
for (lcm_eventlog_event_t *event = lcm_eventlog_read_next_event(src_log); event != NULL;
event = lcm_eventlog_read_next_event(src_log)) {
if (!have_first_event_timestamp) {
first_event_timestamp = event->timestamp;
have_first_event_timestamp = 1;
}
int64_t elapsed = event->timestamp - first_event_timestamp;
if (elapsed < start_utime) {
lcm_eventlog_free_event(event);
continue;
}
if (have_end_utime && elapsed > end_utime) {
lcm_eventlog_free_event(event);
break;
}
int regmatch = g_regex_match(regex, event->channel, (GRegexMatchFlags) 0, NULL);
if ((!regmatch && invert_regex) || (regmatch && !invert_regex)) {
lcm_eventlog_write_event(dst_log, event);
nwritten++;
if (verbose) {
int *count = (int *) g_hash_table_lookup(counts, event->channel);
if (!count) {
count = (int *) malloc(sizeof(int));
*count = 1;
g_hash_table_insert(counts, g_strdup(event->channel), count);
printf("matched channel %s\n", event->channel);
} else {
*count += 1;
}
}
}
lcm_eventlog_free_event(event);
}
if (verbose) {
g_hash_table_foreach(counts, _verbose_entry_summary, NULL);
printf("=====\n");
printf("Events written: %d\n", nwritten);
}
g_regex_unref(regex);
lcm_eventlog_destroy(src_log);
lcm_eventlog_destroy(dst_log);
g_hash_table_destroy(counts);
return 0;
}
int main(int argc, char *argv[])
{
#ifndef WIN32
setlinebuf (stdout);
#endif
char logpath[PATH_MAX];
memset (logpath, 0, sizeof (logpath));
logger_t logger;
memset (&logger, 0, sizeof (logger));
// set some defaults
logger.force_overwrite = 0;
logger.auto_increment = 0;
logger.use_strftime = 0;
char *chan_regex = strdup(".*");
double max_write_queue_size_mb = DEFAULT_MAX_WRITE_QUEUE_SIZE_MB;
logger.invert_channels = 0;
logger.fflush_interval_ms = 100;
char *lcmurl = NULL;
char *optstring = "a:fic:shm:vu:";
int c;
struct option long_opts[] = {
{ "auto-split-hours", required_argument, 0, 'a' },
{ "auto-split-mb", required_argument, 0, 'b' },
{ "channel", required_argument, 0, 'c' },
{ "force", no_argument, 0, 'f' },
{ "increment", required_argument, 0, 'i' },
{ "lcm-url", required_argument, 0, 'l' },
{ "max-unwritten-mb", required_argument, 0, 'm' },
{ "strftime", required_argument, 0, 's' },
{ "invert-channels", no_argument, 0, 'v' },
{ "flush-interval", required_argument, 0,'u'},
{ 0, 0, 0, 0 }
};
while ((c = getopt_long (argc, argv, optstring, long_opts, 0)) >= 0)
{
switch (c) {
case 'a':
logger.auto_split_hours = strtod(optarg, NULL);
logger.auto_increment = 1;
if(logger.auto_split_hours <= 0) {
usage();
return 1;
}
break;
case 'b':
logger.auto_split_mb = strtod(optarg, NULL);
logger.auto_increment = 1;
if(logger.auto_split_mb <= 0) {
usage();
return 1;
}
break;
case 'f':
logger.force_overwrite = 1;
break;
case 'c':
free(chan_regex);
chan_regex = strdup(optarg);
break;
case 'i':
logger.auto_increment = 1;
break;
case 's':
logger.use_strftime = 1;
break;
case 'l':
free(lcmurl);
lcmurl = strdup(optarg);
break;
case 'v':
logger.invert_channels = 1;
break;
case 'm':
max_write_queue_size_mb = strtod(optarg, NULL);
if(max_write_queue_size_mb <= 0) {
usage();
return 1;
}
break;
case 'u':
logger.fflush_interval_ms = atol(optarg);
if(logger.fflush_interval_ms <= 0) {
usage();
return 1;
}
break;
case 'h':
default:
usage();
return 1;
};
}
if (optind == argc) {
strcpy (logger.input_fname, "lcmlog-%Y-%m-%d");
logger.auto_increment = 1;
logger.use_strftime = 1;
} else if (optind == argc - 1) {
strncpy (logger.input_fname, argv[optind], sizeof (logger.input_fname));
} else if (optind < argc-1) {
usage ();
return 1;
}
// initialize GLib threading
g_thread_init(NULL);
logger.time0 = timestamp_now();
logger.max_write_queue_size = (int64_t)(max_write_queue_size_mb * (1 << 20));
if(0 != open_logfile(&logger))
return 1;
// create write thread
logger.write_thread_exit_flag = 0;
logger.mutex = g_mutex_new();
logger.write_queue_size = 0;
logger.write_queue = g_async_queue_new();
logger.write_thread = g_thread_create(write_thread, &logger, TRUE, NULL);
// begin logging
logger.lcm = lcm_create (lcmurl);
free(lcmurl);
if (!logger.lcm) {
fprintf (stderr, "Couldn't initialize LCM!");
return 1;
}
if(logger.invert_channels) {
// if inverting the channels, subscribe to everything and invert on the
// callback
lcm_subscribe(logger.lcm, ".*", message_handler, &logger);
char *regexbuf = g_strdup_printf("^%s$", chan_regex);
#ifdef USE_GREGEX
GError *rerr = NULL;
logger.regex = g_regex_new(regexbuf, (GRegexCompileFlags) 0, (GRegexMatchFlags) 0, &rerr);
if(rerr) {
fprintf(stderr, "%s\n", rerr->message);
g_free(regexbuf);
return 1;
}
#else
if (0 != regcomp (&logger.preg, regexbuf, REG_NOSUB | REG_EXTENDED)) {
fprintf(stderr, "bad regex!\n");
g_free(regexbuf);
return 1;
}
#endif
g_free(regexbuf);
} else {
// otherwise, let LCM handle the regex
lcm_subscribe(logger.lcm, chan_regex, message_handler, &logger);
}
free(chan_regex);
_mainloop = g_main_loop_new (NULL, FALSE);
signal_pipe_glib_quit_on_kill ();
glib_mainloop_attach_lcm (logger.lcm);
#ifdef USE_SIGHUP
signal(SIGHUP, sighup_handler);
#endif
// main loop
g_main_loop_run (_mainloop);
fprintf(stderr, "Logger exiting\n");
// stop the write thread
g_mutex_lock(logger.mutex);
logger.write_thread_exit_flag = 1;
g_mutex_unlock(logger.mutex);
g_async_queue_push(logger.write_queue, &logger.write_thread_exit_flag);
g_thread_join(logger.write_thread);
g_mutex_free(logger.mutex);
// cleanup. This isn't strictly necessary, do it to be pedantic and so that
// leak checkers don't complain
glib_mainloop_detach_lcm (logger.lcm);
lcm_destroy (logger.lcm);
lcm_eventlog_destroy (logger.log);
for(void *msg = g_async_queue_try_pop(logger.write_queue); msg;
msg=g_async_queue_try_pop(logger.write_queue)) {
if(msg == &logger.write_thread_exit_flag)
continue;
free(msg);
}
g_async_queue_unref(logger.write_queue);
if(logger.invert_channels) {
#ifdef USE_GREGEX
g_regex_unref(logger.regex);
#else
regfree(&logger.preg);
#endif
}
return 0;
}
static void*
write_thread(void *user_data)
{
logger_t *logger = (logger_t*) user_data;
GTimeVal start_time;
g_get_current_time(&start_time);
int num_splits = 0;
int64_t next_split_sec = start_time.tv_sec + logger->auto_split_hours * SECONDS_PER_HOUR;
while(1) {
void *msg = g_async_queue_pop(logger->write_queue);
// Is it time to start a new logfile?
int split_log = 0;
if(logger->auto_split_hours) {
GTimeVal now;
g_get_current_time(&now);
split_log = (now.tv_sec > next_split_sec);
} else if(logger->auto_split_mb) {
double logsize_mb = (double)logger->logsize / (1 << 20);
split_log = (logsize_mb > logger->auto_split_mb);
}
if(_reset_logfile) {
split_log = 1;
_reset_logfile = 0;
}
if(split_log) {
// Yes. open up a new log file
lcm_eventlog_destroy(logger->log);
if(0 != open_logfile(logger))
exit(1);
num_splits++;
int64_t log_duration_sec = logger->auto_split_hours * SECONDS_PER_HOUR;
next_split_sec = start_time.tv_sec + (num_splits + 1) * log_duration_sec;
logger->logsize = 0;
logger->last_report_logsize = 0;
}
// Should the write thread exit?
g_mutex_lock(logger->mutex);
if(logger->write_thread_exit_flag) {
g_mutex_unlock(logger->mutex);
return NULL;
}
// nope. write the event to disk
lcm_eventlog_event_t *le = (lcm_eventlog_event_t*) msg;
int64_t sz = sizeof(lcm_eventlog_event_t) + le->channellen + 1 + le->datalen;
logger->write_queue_size -= sz;
g_mutex_unlock(logger->mutex);
if(0 != lcm_eventlog_write_event(logger->log, le)) {
static int64_t last_spew_utime = 0;
char *reason = strdup(strerror(errno));
int64_t now = timestamp_now();
if(now - last_spew_utime > 500000) {
fprintf(stderr, "lcm_eventlog_write_event: %s\n", reason);
last_spew_utime = now;
}
free(reason);
free(le);
if(errno == ENOSPC) {
exit(1);
} else {
continue;
}
}
if (logger->fflush_interval_ms >= 0 &&
(le->timestamp - logger->last_fflush_time) > logger->fflush_interval_ms*1000) {
fflush(logger->log->f);
logger->last_fflush_time = le->timestamp;
}
// bookkeeping, cleanup
int64_t offset_utime = le->timestamp - logger->time0;
logger->nevents++;
logger->events_since_last_report ++;
logger->logsize += 4 + 8 + 8 + 4 + le->channellen + 4 + le->datalen;
free(le);
if (offset_utime - logger->last_report_time > 1000000) {
double dt = (offset_utime - logger->last_report_time)/1000000.0;
double tps = logger->events_since_last_report / dt;
double kbps = (logger->logsize - logger->last_report_logsize) / dt / 1024.0;
printf("Summary: %s ti:%4"PRIi64"sec Events: %-9"PRIi64" ( %4"PRIi64" MB ) TPS: %8.2f KB/s: %8.2f\n",
logger->fname,
timestamp_seconds(offset_utime),
logger->nevents, logger->logsize/1048576,
tps, kbps);
logger->last_report_time = offset_utime;
logger->events_since_last_report = 0;
logger->last_report_logsize = logger->logsize;
}
}
}
