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Avoid double timestamps in debug log output #129

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merged 3 commits into from
Aug 17, 2023
Merged

Avoid double timestamps in debug log output #129

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02437c7
Don't include name of the day in debug log stamp
gavanderhoorn Aug 16, 2023
79fb22e
Avoid printing both sent and receive stamp in the logger
gavanderhoorn Aug 16, 2023
277aa1c
They're 'sinks', not 'syncs'
gavanderhoorn Aug 17, 2023
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8 changes: 4 additions & 4 deletions src/Debug.c
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Original file line number Diff line number Diff line change
Expand Up @@ -60,15 +60,15 @@ void Ros_Debug_BroadcastMsg(char* fmt, ...)
//get synchronized time from the agent
int64_t nanosecs = rmw_uros_epoch_nanos();
Ros_Nanos_To_Time_Msg(nanosecs, &debug_msg_timestamp);
strftime(timestamp, FORMATTED_TIME_SIZE, "%a %Y-%m-%d %H:%M:%S", localtime_r((const time_t*)&debug_msg_timestamp.sec, &synced_time));
snprintf(timestamp + strlen(timestamp), FORMATTED_TIME_SIZE - strlen(timestamp), ".%03d ", (int)debug_msg_timestamp.nanosec / 1000000);
strftime(timestamp, FORMATTED_TIME_SIZE, "%Y-%m-%d %H:%M:%S", localtime_r((const time_t*)&debug_msg_timestamp.sec, &synced_time));
snprintf(timestamp + strlen(timestamp), FORMATTED_TIME_SIZE - strlen(timestamp), ".%06d ", (int)debug_msg_timestamp.nanosec / 1000);
}
else
{
//rmw_uros_epoch_nanos cannot sync with agent because it's not connected
clock_gettime(CLOCK_REALTIME, &tp);
strftime(timestamp, FORMATTED_TIME_SIZE, "%a %Y-%m-%d %H:%M:%S", localtime_r(&tp.tv_sec, &synced_time));
snprintf(timestamp + strlen(timestamp), FORMATTED_TIME_SIZE - strlen(timestamp), ".%03d ", tp.tv_nsec / 1000000);
strftime(timestamp, FORMATTED_TIME_SIZE, "%Y-%m-%d %H:%M:%S", localtime_r(&tp.tv_sec, &synced_time));
snprintf(timestamp + strlen(timestamp), FORMATTED_TIME_SIZE - strlen(timestamp), ".%06d ", tp.tv_nsec / 1000);
}
// Pre - pending the timestamp to the debug message
size_t timestamp_length = Ros_strnlen(timestamp, FORMATTED_TIME_SIZE);
Expand Down
23 changes: 10 additions & 13 deletions tools/debug_listener.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,9 @@

Address = Tuple[str, int]

# length of the stamp in a log msg: 'YYYY-MM-DD HH:MM:SS.nnnnnn'
# (where 'nnnnnn' is the microsecond part)
STAMP_STR_LEN=26

def main():
default_bcast_port=21789
Expand Down Expand Up @@ -73,19 +76,13 @@ def main():
os.remove(path=fname)


def to_human_readable_stamp(stamp) -> str:
return datetime.datetime.fromtimestamp(stamp).strftime('%Y-%m-%d %H:%M:%S.%f')


def file_sink(f, msg, recv_time, source_addr):
stamp = to_human_readable_stamp(recv_time)
def file_sink(f, msg, stamp, source_addr):
ip, port = source_addr
print(f'[{stamp}] [{ip}:{port}]: {msg}', file=f)
f.flush()


def console_sink_cb(msg, recv_time, source_addr):
stamp = to_human_readable_stamp(recv_time)
def console_sink_cb(msg, stamp, source_addr):
ip, port = source_addr
print(f'[{stamp}] [{ip}:{port}]: {msg}')

Expand All @@ -104,14 +101,14 @@ def connection_made(self, transport: asyncio.transports.DatagramTransport):
def datagram_received(self, data: Union[bytes, Text], addr: Address):
# note: we assume all sinks appreciate strings instead of raw data
msg = data.decode('ascii')
stamp_recvd = time.time()
sent_stamp = msg[:STAMP_STR_LEN]
msg = msg[STAMP_STR_LEN+1:]
source_addr = (addr[0], addr[1])
self._write_to_syncs(
msg=msg, recv_time=stamp_recvd, source_addr=source_addr)
self._write_to_sinks(msg=msg, stamp=sent_stamp, source_addr=source_addr)

def _write_to_syncs(self, msg, recv_time, source_addr):
def _write_to_sinks(self, msg, stamp, source_addr):
for cb in self._sink_cbs:
cb(msg=msg, recv_time=recv_time, source_addr=source_addr)
cb(msg=msg, stamp=stamp, source_addr=source_addr)


if __name__ == '__main__':
Expand Down