actually write matrix logs to the log file
diff --git a/aos/common/logging/logging_impl.cc b/aos/common/logging/logging_impl.cc
index f8312a7..b74b69d 100644
--- a/aos/common/logging/logging_impl.cc
+++ b/aos/common/logging/logging_impl.cc
@@ -99,6 +99,35 @@
message->type = LogMessage::Type::kStruct;
}
+void FillInMessageMatrix(log_level level,
+ const ::std::string &message_string, uint32_t type_id,
+ int rows, int cols, const void *data,
+ LogMessage *message) {
+ CHECK(MessageType::IsPrimitive(type_id));
+ message->matrix.type = type_id;
+
+ const auto element_size = MessageType::Sizeof(type_id);
+
+ FillInMessageBase(level, message);
+
+ message->message_length = rows * cols * element_size;
+ if (message_string.size() + message->message_length >
+ sizeof(message->matrix.data)) {
+ LOG(FATAL, "%dx%d matrix of type %" PRIu32
+ " (size %u) and message %s is too big\n",
+ rows, cols, type_id, element_size, message_string.c_str());
+ }
+ message->matrix.string_length = message_string.size();
+ memcpy(message->matrix.data, message_string.data(),
+ message->matrix.string_length);
+
+ message->matrix.rows = rows;
+ message->matrix.cols = cols;
+ SerializeMatrix(type_id, &message->matrix.data[message->matrix.string_length],
+ data, rows, cols);
+ message->type = LogMessage::Type::kMatrix;
+}
+
void FillInMessage(log_level level, const char *format, va_list ap,
LogMessage *message) {
FillInMessageBase(level, message);
@@ -165,7 +194,7 @@
}
fprintf(output, BASE_FORMAT "%.*s: %.*s\n", BASE_ARGS,
static_cast<int>(message.matrix.string_length),
- message.structure.serialized,
+ message.matrix.data,
static_cast<int>(sizeof(buffer) - output_length), buffer);
} break;
}
diff --git a/aos/common/logging/logging_impl.h b/aos/common/logging/logging_impl.h
index 312a977..440e3fe 100644
--- a/aos/common/logging/logging_impl.h
+++ b/aos/common/logging/logging_impl.h
@@ -287,6 +287,13 @@
const ::std::function<size_t(char *)> &serialize,
LogMessage *message);
+// Fills in all the parts of the message according to the given inputs (with
+// type kMatrix).
+void FillInMessageMatrix(log_level level,
+ const ::std::string &message_string, uint32_t type_id,
+ int rows, int cols, const void *data,
+ LogMessage *message);
+
// Fills in *message according to the given inputs (with type kString).
// Used for implementing LogImplementation::DoLog.
void FillInMessage(log_level level, const char *format, va_list ap,
diff --git a/aos/linux_code/logging/binary_log_file.h b/aos/linux_code/logging/binary_log_file.h
index 72aac09..f25482c 100644
--- a/aos/linux_code/logging/binary_log_file.h
+++ b/aos/linux_code/logging/binary_log_file.h
@@ -39,6 +39,7 @@
kString,
kStructType,
kStruct,
+ kMatrix,
};
// Gets futex_set once this one has been written
diff --git a/aos/linux_code/logging/binary_log_writer.cc b/aos/linux_code/logging/binary_log_writer.cc
index 76b53ef..d689109 100644
--- a/aos/linux_code/logging/binary_log_writer.cc
+++ b/aos/linux_code/logging/binary_log_writer.cc
@@ -154,12 +154,17 @@
const LogMessage *const msg = ReadNext();
if (msg == NULL) continue;
- size_t output_length =
+ const size_t raw_output_length =
sizeof(LogFileMessageHeader) + msg->name_length + msg->message_length;
+ size_t output_length = raw_output_length;
if (msg->type == LogMessage::Type::kStruct) {
output_length += sizeof(msg->structure.type_id) + sizeof(uint32_t) +
msg->structure.string_length;
CheckTypeWritten(msg->structure.type_id, writer);
+ } else if (msg->type == LogMessage::Type::kMatrix) {
+ output_length +=
+ sizeof(msg->matrix.type) + sizeof(uint32_t) + sizeof(uint16_t) +
+ sizeof(uint16_t) + msg->matrix.string_length;
}
LogFileMessageHeader *const output = writer.GetWritePosition(output_length);;
char *output_strings = reinterpret_cast<char *>(output) + sizeof(*output);
@@ -209,9 +214,7 @@
uint32_t length = msg->matrix.string_length;
memcpy(position, &length, sizeof(length));
position += sizeof(length);
- memcpy(position, msg->matrix.data, length);
- position += length;
- output->message_size += sizeof(length) + length;
+ output->message_size += sizeof(length);
uint16_t rows = msg->matrix.rows, cols = msg->matrix.cols;
memcpy(position, &rows, sizeof(rows));
@@ -222,12 +225,19 @@
CHECK_EQ(msg->message_length,
MessageType::Sizeof(msg->matrix.type) * rows * cols);
- memcpy(position,
- msg->matrix.data + msg->matrix.string_length,
- msg->message_length);
+ memcpy(position, msg->matrix.data, msg->message_length + length);
+ output->message_size += length;
+
+ output->type = LogFileMessageHeader::MessageType::kMatrix;
} break;
}
+ if (output->message_size - msg->message_length !=
+ output_length - raw_output_length) {
+ LOG(FATAL, "%zu != %zu\n", output->message_size - msg->message_length,
+ output_length - raw_output_length);
+ }
+
futex_set(&output->marker);
logging::linux_code::Free(msg);
diff --git a/aos/linux_code/logging/linux_logging.cc b/aos/linux_code/logging/linux_logging.cc
index dc322ed..aed8697 100644
--- a/aos/linux_code/logging/linux_logging.cc
+++ b/aos/linux_code/logging/linux_logging.cc
@@ -52,6 +52,15 @@
serialize, message);
Write(message);
}
+
+ virtual void LogMatrix(log_level level, const ::std::string &message_string,
+ uint32_t type_id, int rows, int cols, const void *data)
+ override {
+ LogMessage *message = GetMessageOrDie();
+ internal::FillInMessageMatrix(level, message_string, type_id, rows, cols,
+ data, message);
+ Write(message);
+ }
};
} // namespace
diff --git a/aos/linux_code/logging/log_displayer.cc b/aos/linux_code/logging/log_displayer.cc
index 98021b5..1cc5f43 100644
--- a/aos/linux_code/logging/log_displayer.cc
+++ b/aos/linux_code/logging/log_displayer.cc
@@ -227,7 +227,39 @@
log_message.type = ::aos::logging::LogMessage::Type::kStruct;
break;
}
- case LogFileMessageHeader::MessageType::kString:
+ case LogFileMessageHeader::MessageType::kMatrix: {
+ const char *position =
+ reinterpret_cast<const char *>(msg + 1) + msg->name_size;
+ memcpy(&log_message.matrix.type, position,
+ sizeof(log_message.matrix.type));
+ position += sizeof(log_message.matrix.type);
+
+ uint32_t length;
+ memcpy(&length, position, sizeof(length));
+ log_message.matrix.string_length = length;
+ position += sizeof(length);
+
+ uint16_t rows;
+ memcpy(&rows, position, sizeof(rows));
+ log_message.matrix.rows = rows;
+ position += sizeof(rows);
+ uint16_t cols;
+ memcpy(&cols, position, sizeof(cols));
+ log_message.matrix.cols = cols;
+ position += sizeof(cols);
+
+ log_message.message_length -=
+ sizeof(log_message.matrix.type) + sizeof(uint32_t) +
+ sizeof(uint16_t) + sizeof(uint16_t) + length;
+ CHECK_EQ(
+ log_message.message_length,
+ ::aos::MessageType::Sizeof(log_message.matrix.type) * rows * cols);
+ memcpy(log_message.matrix.data, position,
+ log_message.message_length + length);
+
+ log_message.type = ::aos::logging::LogMessage::Type::kMatrix;
+ break;
+ } case LogFileMessageHeader::MessageType::kString:
memcpy(
log_message.message,
reinterpret_cast<const char *>(msg) + sizeof(*msg) + msg->name_size,