event_tracer.hpp

00001 /*
00002  * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #pragma once
00006 
00007 #include <iostream>
00008 #include <string>
00009 #include <list>
00010 #include <uavcan/protocol/dynamic_node_id_server/event.hpp>
00011 #include <uavcan/time.hpp>
00012 #include "../../clock.hpp"
00013 
00014 
00015 class EventTracer : public uavcan::dynamic_node_id_server::IEventTracer
00016 {
00017     struct EventLogEntry
00018     {
00019         const uavcan::dynamic_node_id_server::TraceCode code;
00020         const uavcan::int64_t argument;
00021 
00022         EventLogEntry(uavcan::dynamic_node_id_server::TraceCode arg_code, uavcan::int64_t arg_argument)
00023             : code(arg_code)
00024             , argument(arg_argument)
00025         { }
00026     };
00027 
00028     const std::string id_;
00029     const uavcan::MonotonicTime startup_ts_;
00030     std::list<EventLogEntry> event_log_;
00031 
00032 public:
00033     EventTracer() :
00034         startup_ts_(SystemClockDriver().getMonotonic())
00035     { }
00036 
00037     EventTracer(const std::string& id) :
00038         id_(id),
00039         startup_ts_(SystemClockDriver().getMonotonic())
00040     { }
00041 
00042     virtual void onEvent(uavcan::dynamic_node_id_server::TraceCode code, uavcan::int64_t argument)
00043     {
00044         const uavcan::MonotonicDuration ts = SystemClockDriver().getMonotonic() - startup_ts_;
00045         std::cout << "EVENT [" << id_ << "]\t" << ts.toString() << "\t"
00046                   << int(code) << "\t" << getEventName(code) << "\t" << argument << std::endl;
00047         event_log_.push_back(EventLogEntry(code, argument));
00048     }
00049 
00050     unsigned countEvents(const uavcan::dynamic_node_id_server::TraceCode code) const
00051     {
00052         unsigned count = 0;
00053         for (std::list<EventLogEntry>::const_iterator it = event_log_.begin(); it != event_log_.end(); ++it)
00054         {
00055             count += (it->code == code) ? 1U : 0U;
00056         }
00057         return count;
00058     }
00059 
00060     uavcan::int64_t getLastEventArgumentOrFail(const uavcan::dynamic_node_id_server::TraceCode code) const
00061     {
00062         for (std::list<EventLogEntry>::const_reverse_iterator it = event_log_.rbegin(); it != event_log_.rend(); ++it)
00063         {
00064             if (it->code == code)
00065             {
00066                 return it->argument;
00067             }
00068         }
00069 
00070         std::cout << "No such event in the event log, code " << int(code) << ", log length " << event_log_.size()
00071             << std::endl;
00072 
00073         throw std::runtime_error("EventTracer::getLastEventArgumentOrFail()");
00074     }
00075 
00076     unsigned getNumEvents() const { return static_cast<unsigned>(event_log_.size()); }
00077 };