MYNT-EYE-S-SDK/include/mynteye/miniglog.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
//   used to endorse or promote products derived from this software without
//   specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: settinger@google.com (Scott Ettinger)
//         mierle@gmail.com (Keir Mierle)
//
// Simplified Glog style logging with Android support. Supported macros in
// decreasing severity level per line:
//
//   VLOG(2), VLOG(N)
//   VLOG(1),
//   LOG(INFO), VLOG(0), LG
//   LOG(WARNING),
//   LOG(ERROR),
//   LOG(FATAL),
//
// With VLOG(n), the output is directed to one of the 5 Android log levels:
//
//   2 - Verbose
//   1 - Debug
//   0 - Info
//  -1 - Warning
//  -2 - Error
//  -3 - Fatal
//
// Any logging of level 2 and above is directed to the Verbose level. All
// Android log output is tagged with the string "native".
//
// If the symbol ANDROID is not defined, all output goes to std::cerr.
// This allows code to be built on a different system for debug.
//
// Portions of this code are taken from the GLOG package.  This code is only a
// small subset of the GLOG functionality. Notable differences from GLOG
// behavior include lack of support for displaying unprintable characters and
// lack of stack trace information upon failure of the CHECK macros.  On
// non-Android systems, log output goes to std::cerr and is not written to a
// file.
//
// CHECK macros are defined to test for conditions within code.  Any CHECK that
// fails will log the failure and terminate the application.
// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging
//      "Check failed 3 >= 4".
//
// The following CHECK macros are defined:
//
//   CHECK(condition)        - fails if condition is false and logs condition.
//   CHECK_NOTNULL(variable) - fails if the variable is NULL.
//
// The following binary check macros are also defined :
//
//   Macro                     Operator equivalent
//   --------------------      -------------------
//   CHECK_EQ(val1, val2)      val1 == val2
//   CHECK_NE(val1, val2)      val1 != val2
//   CHECK_GT(val1, val2)      val1 > val2
//   CHECK_GE(val1, val2)      val1 >= val2
//   CHECK_LT(val1, val2)      val1 < val2
//   CHECK_LE(val1, val2)      val1 <= val2
//
// Debug only versions of all of the check macros are also defined.  These
// macros generate no code in a release build, but avoid unused variable
// warnings / errors.
//
// To use the debug only versions, prepend a D to the normal check macros, e.g.
// DCHECK_EQ(a, b).
#ifndef MYNTEYE_MINIGLOG_H_
#define MYNTEYE_MINIGLOG_H_

#ifdef ANDROID
#  include <android/log.h>
#else
#include <pthread.h>
#include <sys/time.h>
#include <unistd.h>
#endif  // ANDROID

#include <algorithm>
#include <ctime>
#include <fstream>
#include <iostream>
#include <set>
#include <sstream>
#include <string>
#include <vector>

// For appropriate definition of CERES_EXPORT macro.
// Modified from ceres miniglog version [begin] -------------------------------
//#include "ceres/internal/port.h"
//#include "ceres/internal/disable_warnings.h"
#define CERES_EXPORT
// Modified from ceres miniglog version [end] ---------------------------------

// Log severity level constants.
const int FATAL   = -3;
const int ERROR   = -2;
const int WARNING = -1;
const int INFO    =  0;

// ------------------------- Glog compatibility ------------------------------

namespace google {

typedef int LogSeverity;
const int INFO    = ::INFO;
const int WARNING = ::WARNING;
const int ERROR   = ::ERROR;
const int FATAL   = ::FATAL;

// Sink class used for integration with mock and test functions. If sinks are
// added, all log output is also sent to each sink through the send function.
// In this implementation, WaitTillSent() is called immediately after the send.
// This implementation is not thread safe.
class CERES_EXPORT LogSink {
 public:
  virtual ~LogSink() {}
  virtual void send(LogSeverity severity,
                    const char* full_filename,
                    const char* base_filename,
                    int line,
                    const struct tm* tm_time,
                    const char* message,
                    size_t message_len) = 0;
  virtual void WaitTillSent() = 0;
};

// Global set of log sinks. The actual object is defined in logging.cc.
extern CERES_EXPORT std::set<LogSink *> log_sinks_global;

inline void InitGoogleLogging(char *argv) {
  // Do nothing; this is ignored.
}

// Note: the Log sink functions are not thread safe.
inline void AddLogSink(LogSink *sink) {
  // TODO(settinger): Add locks for thread safety.
  log_sinks_global.insert(sink);
}
inline void RemoveLogSink(LogSink *sink) {
  log_sinks_global.erase(sink);
}

}  // namespace google

// ---------------------------- Logger Class --------------------------------

// Class created for each use of the logging macros.
// The logger acts as a stream and routes the final stream contents to the
// Android logcat output at the proper filter level.  If ANDROID is not
// defined, output is directed to std::cerr.  This class should not
// be directly instantiated in code, rather it should be invoked through the
// use of the log macros LG, LOG, or VLOG.
class CERES_EXPORT MessageLogger {
 public:
  MessageLogger(const char *file, int line, const char *tag, int severity)
    : file_(file), line_(line), tag_(tag), severity_(severity) {
    // Pre-pend the stream with the file and line number.
    StripBasename(std::string(file), &filename_only_);
    stream_ << filename_only_ << ":" << line << " ";
  }

  // Output the contents of the stream to the proper channel on destruction.
  ~MessageLogger() {
    stream_ << "\n";

#ifdef ANDROID
    static const int android_log_levels[] = {
        ANDROID_LOG_FATAL,    // LOG(FATAL)
        ANDROID_LOG_ERROR,    // LOG(ERROR)
        ANDROID_LOG_WARN,     // LOG(WARNING)
        ANDROID_LOG_INFO,     // LOG(INFO), LG, VLOG(0)
        ANDROID_LOG_DEBUG,    // VLOG(1)
        ANDROID_LOG_VERBOSE,  // VLOG(2) .. VLOG(N)
    };

    // Bound the logging level.
    const int kMaxVerboseLevel = 2;
    int android_level_index = std::min(std::max(FATAL, severity_),
                                       kMaxVerboseLevel) - FATAL;
    int android_log_level = android_log_levels[android_level_index];

    // Output the log string the Android log at the appropriate level.
    __android_log_write(android_log_level, tag_.c_str(), stream_.str().c_str());

    // Indicate termination if needed.
    if (severity_ == FATAL) {
      __android_log_write(ANDROID_LOG_FATAL,
                          tag_.c_str(),
                          "terminating.\n");
    }
#else
    // For Ubuntu/Mac/Windows
    // If not building on Android, log all output to std::cerr.
    // Get timestamp
    timeval curTime;
    gettimeofday(&curTime, NULL);
    int milli = curTime.tv_usec / 1000;
    char buffer [20];
    strftime(buffer, 80, "%m-%d %H:%M:%S", localtime(&curTime.tv_sec));
    char time_cstr[24] = "";
    sprintf(time_cstr, "%s:%d ", buffer, milli);
    // Get pid & tid
    char tid_cstr[24] = "";
    pid_t  pid = getpid();
    pthread_t tid = pthread_self();
    sprintf(tid_cstr, "%d/%u ", pid, tid);
    if (severity_ == FATAL) {
        // Magenta color if fatal
        std::cerr << "\033[1;35m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
    } else if (severity_ == ERROR) {
        // Red color if error
        std::cerr << "\033[1;31m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
    } else if (severity_ == WARNING) {
        // Yellow color if warning
        std::cerr << "\033[1;33m"<< tid_cstr << time_cstr << SeverityLabelStr() << stream_.str() << "\033[0m";
    } else {
        std::cerr << tid_cstr << time_cstr << SeverityLabelStr() << stream_.str();
    }
#endif

    LogToSinks(severity_);
    WaitForSinks();

    // Android logging at level FATAL does not terminate execution, so abort()
    // is still required to stop the program.
    if (severity_ == FATAL) {
      abort();
    }
  }

  // Return the stream associated with the logger object.
  std::stringstream &stream() { return stream_; }

 private:
  void LogToSinks(int severity) {
    time_t rawtime;
    time (&rawtime);

    struct tm timeinfo;
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
    // On Windows, use secure localtime_s not localtime.
    localtime_s(&timeinfo, &rawtime);
#else
    // On non-Windows systems, use threadsafe localtime_r not localtime.
    localtime_r(&rawtime, &timeinfo);
#endif

    std::set<google::LogSink*>::iterator iter;
    // Send the log message to all sinks.
    for (iter = google::log_sinks_global.begin();
         iter != google::log_sinks_global.end(); ++iter) {
      (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
                    &timeinfo, stream_.str().c_str(), stream_.str().size());
    }
  }

  void WaitForSinks() {
    // TODO(settinger): Add locks for thread safety.
    std::set<google::LogSink *>::iterator iter;

    // Call WaitTillSent() for all sinks.
    for (iter = google::log_sinks_global.begin();
         iter != google::log_sinks_global.end(); ++iter) {
      (*iter)->WaitTillSent();
    }
  }

  void StripBasename(const std::string &full_path, std::string *filename) {
    // TODO(settinger): Add support for OSs with different path separators.
    const char kSeparator = '/';
    size_t pos = full_path.rfind(kSeparator);
    if (pos != std::string::npos) {
      *filename = full_path.substr(pos + 1, std::string::npos);
    } else {
      *filename = full_path;
    }
  }

  char SeverityLabel() {
    switch (severity_) {
      case FATAL:
        return 'F';
      case ERROR:
        return 'E';
      case WARNING:
        return 'W';
      case INFO:
        return 'I';
      default:
        return 'V';
    }
  }

  std::string SeverityLabelStr() {
    switch (severity_) {
      case FATAL:
        return "FATAL   ";
      case ERROR:
        return "ERROR   ";
      case WARNING:
        return "WARNING ";
      case INFO:
        return "INFO    ";
      default:
        return "VERBOSE ";
    }
  }

  std::string file_;
  std::string filename_only_;
  int line_;
  std::string tag_;
  std::stringstream stream_;
  int severity_;
};

// ---------------------- Logging Macro definitions --------------------------

// This class is used to explicitly ignore values in the conditional
// logging macros.  This avoids compiler warnings like "value computed
// is not used" and "statement has no effect".
class CERES_EXPORT LoggerVoidify {
 public:
  LoggerVoidify() { }
  // This has to be an operator with a precedence lower than << but
  // higher than ?:
  void operator&(const std::ostream &s) { }
};

// Log only if condition is met.  Otherwise evaluates to void.
#define LOG_IF(severity, condition) \
    !(condition) ? (void) 0 : LoggerVoidify() & \
      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()

// Log only if condition is NOT met.  Otherwise evaluates to void.
#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))

// LG is a convenient shortcut for LOG(INFO). Its use is in new
// google3 code is discouraged and the following shortcut exists for
// backward compatibility with existing code.
#ifdef MAX_LOG_LEVEL
#  define LOG(n)  LOG_IF(n, n <= MAX_LOG_LEVEL)
#  define VLOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
#  define LG      LOG_IF(INFO, INFO <= MAX_LOG_LEVEL)
#  define VLOG_IF(n, condition) LOG_IF(n, (n <= MAX_LOG_LEVEL) && condition)
#else
#  define LOG(n)  MessageLogger((char *)__FILE__, __LINE__, "native", n).stream()    // NOLINT
#  define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream()    // NOLINT
#  define LG      MessageLogger((char *)__FILE__, __LINE__, "native", INFO).stream() // NOLINT
#  define VLOG_IF(n, condition) LOG_IF(n, condition)
#endif

// Currently, VLOG is always on for levels below MAX_LOG_LEVEL.
#ifndef MAX_LOG_LEVEL
#  define VLOG_IS_ON(x) (1)
#else
#  define VLOG_IS_ON(x) (x <= MAX_LOG_LEVEL)
#endif

#ifndef NDEBUG
#  define DLOG LOG
#else
#  define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
#endif


// Log a message and terminate.
template<class T>
void LogMessageFatal(const char *file, int line, const T &message) {
  MessageLogger((char *)__FILE__, __LINE__, "native", FATAL).stream()
      << message;
}

// ---------------------------- CHECK macros ---------------------------------

// Check for a given boolean condition.
#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \
        << "Check failed: " #condition " "

#ifndef NDEBUG
// Debug only version of CHECK
#  define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \
          << "Check failed: " #condition " "
#else
// Optimized version - generates no code.
#  define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \
          << "Check failed: " #condition " "
#endif  // NDEBUG

// ------------------------- CHECK_OP macros ---------------------------------

// Generic binary operator check macro. This should not be directly invoked,
// instead use the binary comparison macros defined below.
#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, ((val1) op (val2))) \
  << "Check failed: " #val1 " " #op " " #val2 " "

// Check_op macro definitions
#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)

// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
// Add logging macros which are missing in glog or are not accessible for
// whatever reason.
#define CHECK_NEAR(val1, val2, margin)           \
  do {                                           \
    CHECK_LE((val1), (val2)+(margin));           \
    CHECK_GE((val1), (val2)-(margin));           \
  } while (0)

#ifndef NDEBUG
// Debug only versions of CHECK_OP macros.
#  define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
#  define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
#  define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
#  define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
#  define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
#  define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
#  define DCHECK_NEAR(val1, val2, margin) CHECK_NEAR(val1, val2, margin)
#else
// These versions generate no code in optimized mode.
#  define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
#  define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
#  define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
#  define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
#  define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
#  define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
#  define DCHECK_NEAR(val1, val2, margin) if (false) CHECK_NEAR(val1, val2, margin)
#endif  // NDEBUG

// ---------------------------CHECK_NOTNULL macros ---------------------------

// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers
// and smart pointers.
template <typename T>
T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) {
  if (t == NULL) {
    LogMessageFatal(file, line, std::string(names));
  }
  return t;
}

template <typename T>
T* CheckNotNull(const char *file, int line, const char *names, T* t) {
  return CheckNotNullCommon(file, line, names, t);
}

template <typename T>
T& CheckNotNull(const char *file, int line, const char *names, T& t) {
  return CheckNotNullCommon(file, line, names, t);
}

// Check that a pointer is not null.
#define CHECK_NOTNULL(val) \
  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))

#ifndef NDEBUG
// Debug only version of CHECK_NOTNULL
#define DCHECK_NOTNULL(val) \
  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
#else
// Optimized version - generates no code.
#define DCHECK_NOTNULL(val) if (false)\
  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
#endif  // NDEBUG

// Modified from ceres miniglog version [begin] -------------------------------
//#include "ceres/internal/reenable_warnings.h"
// Modified from ceres miniglog version [end] ---------------------------------


// ---------------------------TRACE macros ---------------------------
// qiao.helloworld@gmail.com /tzu.ta.lin@gmail.com add
#define __FILENAME__ \
  (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)

#define DEXEC(fn)                                                      \
  do {                                                                 \
    DLOG(INFO) << "[EXEC " << #fn << " START]";                        \
    std::chrono::steady_clock::time_point begin =                      \
      std::chrono::steady_clock::now();                                \
    fn;                                                                \
    std::chrono::steady_clock::time_point end =                        \
      std::chrono::steady_clock::now();                                \
    DLOG(INFO) << "[EXEC " << #fn << " FINISHED in "                   \
             << std::chrono::duration_cast<std::chrono::microseconds>  \
               (end - begin).count() << " ms]";                        \
  } while (0);
// DEXEC(fn)
//
// Usage:
// DEXEC(foo());
// -- output --
// foo.cpp: 123 [EXEC foo() START]
// foo.cpp: 123 [EXEC foo() FINISHED in 456 ms]

#define DTRACE  DLOG(INFO) << "of [" << __func__ << "]";
// Usage:
// void foo() {
//   DTRACE
// }
// -- output --
// foo.cpp: 123 of [void foo(void)]

#endif  // MYNTEYE_MINIGLOG_H_