From 0204bedcaf23e5809031581388c089272665a067 Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Tue, 8 May 2018 19:14:15 +0200
Subject: [PATCH] pc builds now
---
modules/catkin_ws/src/PC/include/Logger.h | 26 ++++++++++--
modules/catkin_ws/src/PC/src/Logger.cpp | 40 ++++++++++++-------
modules/catkin_ws/src/PC/src/main.cpp | 6 ++-
.../src/car/include/logging/Logging.h | 1 +
.../catkin_ws/src/car/src/logging/Logging.cpp | 5 ++-
5 files changed, 57 insertions(+), 21 deletions(-)
diff --git a/modules/catkin_ws/src/PC/include/Logger.h b/modules/catkin_ws/src/PC/include/Logger.h
index 863493d7..a78e9897 100644
--- a/modules/catkin_ws/src/PC/include/Logger.h
+++ b/modules/catkin_ws/src/PC/include/Logger.h
@@ -12,7 +12,9 @@
namespace pc
{
-class Logger : public std::enable_shared_from_this<Logger>
+class Logger
+ : public std::enable_shared_from_this<Logger>
+ , private networking::Busyable
{
private:
struct PrivateTag
@@ -35,15 +37,31 @@ public:
static Ptr create(networking::Networking & net, const std::string & host)
{ return std::make_shared<Logger>(PrivateTag{}, net, host); }
- Logger(PrivateTag, networking::Networking & net, const std::string & host)
+ Logger(PrivateTag, networking::Networking & net, const std::string & host);
+
+ void start();
+
+ void stop();
private:
+ struct AsyncState
+ {
+ using Ptr = std::shared_ptr<AsyncState>;
+
+ AsyncState(Logger::Ptr self)
+ : lock(*self), self(self)
+ {}
+
+ networking::BusyLock lock;
+ Logger::Ptr self;
+ };
+
networking::Networking & net;
std::string host;
- LoggingClient::Ptr loggingClient;
+ LoggingClient::Ptr client;
networking::time::Timer::Ptr timer;
- void log();
+ void log(AsyncState::Ptr state);
};
}
diff --git a/modules/catkin_ws/src/PC/src/Logger.cpp b/modules/catkin_ws/src/PC/src/Logger.cpp
index 893a4bbb..e8cb7d91 100644
--- a/modules/catkin_ws/src/PC/src/Logger.cpp
+++ b/modules/catkin_ws/src/PC/src/Logger.cpp
@@ -3,32 +3,44 @@
//
#include "../include/Logger.h"
+#include <iostream>
namespace pc
{
-void Logger::log()
+Logger::Logger(Logger::PrivateTag, networking::Networking & net, const std::string & host)
+ : net(net), host(host)
+{
+ client = LoggingClient::create(net, MAX_MESSAGE_SIZE);
+ timer = networking::time::Timer::create(net);
+}
+
+void Logger::start()
+{
+ auto self = shared_from_this();
+ auto state = std::make_shared<AsyncState>(self);
+ log(state);
+}
+
+void Logger::stop()
+{
+ timer->stop();
+ client->stop();
+}
+
+void Logger::log(AsyncState::Ptr state)
{
using namespace std::chrono_literals;
std::string emptyRequest;
- auto self = shared_from_this();
- loggingClient->asyncCall(
+ client->asyncCall(
emptyRequest, host, PORT, 10s,
- [self](const auto & error, auto & responseMessage)
+ [state](const auto & error, auto & responseMessage)
{
std::cout << responseMessage;
- self->timer->startTimeout(1ms, [self]
- { self->log; });
+ state->self->timer->startTimeout(1ms, [state]
+ { state->self->log(state); });
});
}
-Logger::Logger(Logger::PrivateTag, networking::Networking & net, const std::string & host)
- : net(net), host(host)
-{
- loggingClient = LoggingClient::create(net, MAX_MESSAGE_SIZE);
- timer = networking::time::Timer::create(net);
- log();
-}
-
}
diff --git a/modules/catkin_ws/src/PC/src/main.cpp b/modules/catkin_ws/src/PC/src/main.cpp
index a559f51b..4ca09fdc 100644
--- a/modules/catkin_ws/src/PC/src/main.cpp
+++ b/modules/catkin_ws/src/PC/src/main.cpp
@@ -7,8 +7,9 @@ int main()
using namespace std::chrono_literals;
float speed = 0.0f;
networking::Networking net;
+ const std::string host{"10.5.37.195"};
- pc2car::CommandSender commandSender{net, "10.5.37.195"};
+ pc2car::CommandSender commandSender{net, host};
auto commandTimer = networking::time::Timer::create(net);
commandTimer->startPeriodicTimeout(
1s,
@@ -18,7 +19,8 @@ int main()
speed += 1.0f;
});
- auto logger = pc::Logger::create(net, "10.5.37.195");
+ auto logger = pc::Logger::create(net, host);
+ logger->start();
for (;;);
return 0;
diff --git a/modules/catkin_ws/src/car/include/logging/Logging.h b/modules/catkin_ws/src/car/include/logging/Logging.h
index 25ef4c0f..93aa686c 100644
--- a/modules/catkin_ws/src/car/include/logging/Logging.h
+++ b/modules/catkin_ws/src/car/include/logging/Logging.h
@@ -29,6 +29,7 @@ class Logging : public nodelet::Nodelet
public:
static constexpr std::size_t PORT{10207};
static constexpr std::size_t MAX_MESSAGE_SIZE{1024};
+ static constexpr std::size_t MAX_BUFFER_SIZE{0x100000}; // 1MB
void onInit() override;
diff --git a/modules/catkin_ws/src/car/src/logging/Logging.cpp b/modules/catkin_ws/src/car/src/logging/Logging.cpp
index 9684e6f2..128b4ab5 100644
--- a/modules/catkin_ws/src/car/src/logging/Logging.cpp
+++ b/modules/catkin_ws/src/car/src/logging/Logging.cpp
@@ -14,15 +14,18 @@ namespace car
constexpr std::size_t Logging::PORT;
constexpr std::size_t Logging::MAX_MESSAGE_SIZE;
+constexpr std::size_t Logging::MAX_BUFFER_SIZE;
Logging::Logging(ros::NodeHandle & nh, std::string & name)
: nh_(nh)
, name_(name)
+ , loggingBuffer(MAX_BUFFER_SIZE)
, loggingStream(&loggingBuffer)
{}
Logging::Logging()
- : loggingStream(&loggingBuffer)
+ : loggingBuffer(MAX_BUFFER_SIZE)
+ , loggingStream(&loggingBuffer)
{}
Logging::~Logging()
--
GitLab