simplesim: log subscribing

paradise-fi · Jan 20, 2024 · 170720c · 170720c
1 parent a03a694
commit 170720c
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Showing 7 changed files with 49 additions and 3 deletions.
diff --git a/softwareComponents/messageLogger/include/message_logger.hpp b/softwareComponents/messageLogger/include/message_logger.hpp
@@ -20,7 +20,7 @@ class MessageLogger {
 
     void logSending( std::string_view topic, const google::protobuf::Message & msg )
     {
-        if ( !createFormattedString() ) {
+        if ( !loggingEnabled() ) {
             return;
         }
 
@@ -29,9 +29,10 @@ class MessageLogger {
                           topic,
                           msg.ShortDebugString() ) );
     }
+
     void logReceived( std::string_view topic, const google::protobuf::Message & msg )
     {
-        if ( !createFormattedString() ) {
+        if ( !loggingEnabled() ) {
             return;
         }
 
@@ -41,8 +42,31 @@ class MessageLogger {
                           msg.ShortDebugString() ) );
     }
 
+    void logSubscribe( std::string_view topic )
+    {
+        if ( !loggingEnabled() ) {
+            return;
+        }
+
+        log( fmt::format( "{:%H:%M:%S} Subscribing to '{}':\n",
+                          std::chrono::system_clock::now(),
+                          topic ) );
+    }
+
+    void logUnsubscribe( std::string_view topic )
+    {
+        if ( !loggingEnabled() ) {
+            return;
+        }
+
+        log( fmt::format( "{:%H:%M:%S} Unsubscribing from '{}':\n",
+                          std::chrono::system_clock::now(),
+                          topic ) );
+    }
+
 private:
-    bool createFormattedString()
+    // Prevents unnecessary creation of the log string
+    bool loggingEnabled()
     {
         return _verbose || _ostr;
     }

diff --git a/softwareComponents/rofiHalSim/message_logger.hpp b/softwareComponents/rofiHalSim/message_logger.hpp
@@ -37,4 +37,19 @@ inline void logMessage( [[maybe_unused]] const std::string & topic,
 #endif
 }
 
+inline void logSubscription( [[maybe_unused]] const std::string & topic,
+                        [[maybe_unused]] bool starting )
+{
+#if LOG_MESSAGES
+    auto now = std::chrono::system_clock::to_time_t( std::chrono::system_clock::now() );
+    if ( starting ) {
+        std::cerr << std::put_time( std::localtime( &now ), "%T" ) << " Subscribing to '" << topic
+                  << std::endl;
+    } else {
+        std::cerr << std::put_time( std::localtime( &now ), "%T" ) << " Unsubscribing from '" << topic
+                  << std::endl;
+    }
+#endif
+}
+
 } // namespace rofi::hal
diff --git a/softwareComponents/rofiHalSim/subscriber_wrapper.hpp b/softwareComponents/rofiHalSim/subscriber_wrapper.hpp
@@ -24,6 +24,8 @@ class SubscriberWrapper {
             throw std::runtime_error( "empty callback" );
         }
 
+        logSubscription( _topic, true );
+
         _sub = _node->Subscribe( _topic, &SubscriberWrapper::onMsg, this );
     }
 
@@ -33,6 +35,7 @@ class SubscriberWrapper {
     ~SubscriberWrapper()
     {
         if ( _sub ) {
+            logSubscription( _sub->GetTopic(), false );
             _sub->Unsubscribe();
         }
     }

diff --git a/softwareComponents/simplesimLib/include/simplesim/distributor.hpp b/softwareComponents/simplesimLib/include/simplesim/distributor.hpp
@@ -39,6 +39,7 @@ class Distributor {
     ~Distributor()
     {
         assert( _sub );
+        _logger.logUnsubscribe( _sub->GetTopic() );
         _sub->Unsubscribe();
     }
 

diff --git a/softwareComponents/simplesimLib/include/simplesim/locked_module_communication.hpp b/softwareComponents/simplesimLib/include/simplesim/locked_module_communication.hpp
@@ -33,6 +33,7 @@ class LockedModuleCommunication {
     ~LockedModuleCommunication()
     {
         assert( _sub );
+        _logger.logUnsubscribe( _sub->GetTopic() );
         _sub->Unsubscribe();
     }
 

diff --git a/softwareComponents/simplesimLib/src/distributor.cpp b/softwareComponents/simplesimLib/src/distributor.cpp
@@ -14,6 +14,7 @@ Distributor::Distributor( gazebo::transport::Node & node,
     if ( !_pub ) {
         throw std::runtime_error( "Publisher could not be created" );
     }
+    _logger.logSubscribe( "~/distributor/request" );
     _sub = node.Subscribe( "~/distributor/request", &Distributor::onRequestCallback, this );
     if ( !_sub ) {
         throw std::runtime_error( "Subcriber could not be created" );

diff --git a/softwareComponents/simplesimLib/src/locked_module_communication.cpp b/softwareComponents/simplesimLib/src/locked_module_communication.cpp
@@ -21,6 +21,7 @@ LockedModuleCommunication::LockedModuleCommunication( CommandHandler & commandHa
     assert( !moduleTopicName.empty() );
     assert( _pub );
     assert( _sub );
+    _logger.logSubscribe( "~/" + moduleTopicName + "/control" );
 }
 
 void LockedModuleCommunication::onRofiCmd( const LockedModuleCommunication::RofiCmdPtr & msg )