Untangle and clean up the logging code
It was a mess before because of a combination of having code split out
for cRIO vs Linux and cruft.
Change-Id: Id282e1a7f7988be0441c669a573a5d022ed41fb9
diff --git a/aos/common/logging/matrix_logging.h b/aos/common/logging/matrix_logging.h
index 6efaa06..e763ed5 100644
--- a/aos/common/logging/matrix_logging.h
+++ b/aos/common/logging/matrix_logging.h
@@ -2,35 +2,39 @@
#define AOS_COMMON_LOGGING_MATRIX_LOGGING_H_
#include <string>
+#include <functional>
#include "Eigen/Dense"
-#include "aos/common/logging/logging.h"
+#include "aos/common/logging/interface.h"
#include "aos/common/die.h"
+#include "aos/common/queue_primitives.h"
namespace aos {
namespace logging {
// Logs the contents of a matrix and a constant string.
// matrix must be an instance of an Eigen matrix (or something similar).
-#define LOG_MATRIX(level, message, matrix) \
- do { \
- static const ::std::string kAosLoggingMessage( \
- LOG_SOURCENAME ": " STRINGIFY(__LINE__) ": " message); \
- ::aos::logging::DoLogMatrix(level, kAosLoggingMessage, matrix); \
- /* so that GCC knows that it won't return */ \
- if (level == FATAL) { \
- ::aos::Die("DoLogStruct(FATAL) fell through!!!!!\n"); \
- } \
+#define LOG_MATRIX(level, message, matrix) \
+ do { \
+ static const ::std::string kAosLoggingMessage( \
+ LOG_SOURCENAME ": " STRINGIFY(__LINE__) ": " message); \
+ ::aos::logging::DoLogMatrixTemplated(level, kAosLoggingMessage, matrix); \
+ /* so that GCC knows that it won't return */ \
+ if (level == FATAL) { \
+ ::aos::Die("DoLogStruct(FATAL) fell through!!!!!\n"); \
+ } \
} while (false)
template <class T>
-void DoLogMatrix(log_level level, const ::std::string &message,
- const T &matrix);
+void DoLogMatrixTemplated(log_level level, const ::std::string &message,
+ const T &matrix) {
+ static_assert(!T::IsRowMajor, "we only handle column-major storage");
+ internal::DoLogMatrix(level, message, TypeID<typename T::Scalar>::id,
+ matrix.rows(), matrix.cols(), matrix.data(), 1);
+}
} // namespace logging
} // namespace aos
-#include "aos/common/logging/matrix_logging-tmpl.h"
-
#endif // AOS_COMMON_LOGGING_MATRIX_LOGGING_H_