LogForwarder.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_OS_IMPL_LOGFORWARDER_H
#define YARP_OS_IMPL_LOGFORWARDER_H
 
#include <yarp/os/api.h>
 
#include <yarp/os/Port.h>
#include <yarp/os/PortWriterBuffer.h>
 
#include <mutex>
#include <string>
#include <yarp/os/PeriodicThread.h>
 
#include <yarp/os/BufferedPort.h>
#include <list>
 
namespace yarp::os::impl {
 
class ThreadedPort : public yarp::os::PeriodicThread
{
    std::mutex mut;
    yarp::os::BufferedPort<yarp::os::Bottle>* m_port = nullptr;
    std::list<yarp::os::Bottle> messages;
 
    void process();
 
public:
    void run() override;
    void attach(yarp::os::BufferedPort<yarp::os::Bottle>* port);
    void insert(const yarp::os::Bottle& bot);
    void terminate();
public:
    ThreadedPort();
};
 
//----------------------------------------------------------------
 
class YARP_os_impl_API LogForwarder
{
public:
    ~LogForwarder();
    static LogForwarder& getInstance();
 
    void forward(const std::string& message);
    std::string getLogPortName();
    static void shutdown();
 
private:
    LogForwarder();
    LogForwarder(LogForwarder const&) = delete;
    LogForwarder& operator=(LogForwarder const&) = delete;
 
    ThreadedPort   tport;
    yarp::os::BufferedPort<yarp::os::Bottle> outputPort;
    static bool started;
};
 
} // namespace yarp::os::impl
 
#endif // YARP_OS_IMPL_LOGFORWARDER_H