Traditional sport client update, Go2 enable api 1020, B2 add api 1040.

unitreerobotics · Nov 25, 2024 · 01ead90 · 01ead90
1 parent 8254875
commit 01ead90
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Showing 66 changed files with 955 additions and 315 deletions.
diff --git a/include/unitree/common/json/jsonize.hpp b/include/unitree/common/json/jsonize.hpp
@@ -2,13 +2,13 @@
 #define __UT_JSONIZE_HPP__
 
 #define JN_FROM_WEAK(m, name, value) \
-    if (m.find(name) != m.end()) { value = m[name]; }
+    if (m.find(name) != m.end()){ JN_FROM(m, name, value); }
 
 #define JN_FROM(m, name, value) \
-    value = m[name]
+    unitree::common::FromJson(m[name], value)
 
 #define JN_TO(m, name, value) \
-    m[name] = value
+    unitree::common::ToJson(value, m[name])
 
 #include <unitree/common/json/json.hpp>
 

diff --git a/include/unitree/common/log/log_buffer.hpp b/include/unitree/common/log/log_buffer.hpp
@@ -10,49 +10,30 @@ namespace common
 class LogBuffer
 {
 public:
-    LogBuffer();
+    explicit LogBuffer();
+    virtual ~LogBuffer();
 
     bool Append(const std::string& s);
-
-    const std::string& Get();
-    void Get(std::string& s);
-
-    void Clear();
-
+    bool Get(std::string& s);
     bool Empty();
 
-private:
+protected:
     std::string mData;
 };
 
 typedef std::shared_ptr<LogBuffer> LogBufferPtr;
 
-class LogBlockBuffer
+class LogBlockBuffer : public LogBuffer
 {
 public:
-    typedef std::shared_ptr<LogBuffer> LOG_BUFFER_PTR;
-
-    LogBlockBuffer();
+    explicit LogBlockBuffer();
     ~LogBlockBuffer();
 
     bool Append(const std::string& s);
-
-    /*
-     * Get reference of data. [UNSAFE]
-     */
-    const std::string& Get();
-    void Get(std::string& s);
-
-    /*
-     * Clear data.
-     */
-    void Clear(bool lock = false);
-
-    void Exchange();
+    bool Get(std::string& s);
+    bool Empty();
 
 private:
-    volatile bool mR;
-    std::vector<LOG_BUFFER_PTR> mChain;
     Mutex mLock;
 };
 

diff --git a/include/unitree/common/log/log_decl.hpp b/include/unitree/common/log/log_decl.hpp
@@ -11,20 +11,29 @@
 /*
  * log buffer size
  */
-#define UT_LOG_BUFFER_SIZE          65535           //64K
-#define UT_LOG_MAX_BUFFER_SIZE      8388608         //8M
+#define UT_LOG_BUFFER_SIZE          65535           //64K-1
+#define UT_LOG_CRT_BUFFER_SIZE      64512           //63K
+#define UT_LOG_MAX_BUFFER_SIZE      4194303         //4M-1
 /*
  * log file size
  */
 #define UT_LOG_FILE_SIZE            104857600       //100M
 #define UT_LOG_MAX_FILE_SIZE        10737418240     //10G
 #define UT_LOG_MIN_FILE_SIZE        UT_LOG_MAX_BUFFER_SIZE
 
+/*
+ * log write interval(micro second)
+ */
+#define UT_LOG_WRITE_INTER          100000          //100ms
+#define UT_LOG_MAX_WRITE_INTER      1000000         //1s
+#define UT_LOG_MIN_WRITE_INTER      2000            //2ms
+
 /*
  * log file number
  */
-#define UT_LOG_FILE_NUMBER          10
-#define UT_LOG_MAX_FILE_NUMBER      1000
+#define UT_LOG_FILE_NUMBER          2
+#define UT_LOG_MAX_FILE_NUMBER      100
+#define UT_LOG_MIN_FILE_NUMBER      UT_LOG_FILE_NUMBER
 
 #define UT_LOG_FILE_EXT             ".LOG"
 
@@ -157,6 +166,8 @@
 #define UT_LOG_STORE_STDERR             3
 
 #define UT_LOG_STORE_DESC_FILE_ASYNC    "FILEASYNC"
+#define UT_LOG_STORE_DESC_ASYNC_FILE    "ASYNCFILE"
+#define UT_LOG_STORE_DESC_ASYNC         "ASYNC"
 #define UT_LOG_STORE_DESC_FILE          "FILE"
 #define UT_LOG_STORE_DESC_STDOUT        "STDOUT"
 #define UT_LOG_STORE_DESC_STDERR        "STDERR"
@@ -214,7 +225,9 @@ static inline const char* GetLogLevelDesc(int32_t level)
 
 static inline int32_t GetLogStoreType(const std::string& desc)
 {
-    if (desc == UT_LOG_STORE_DESC_FILE_ASYNC) {
+    if (desc == UT_LOG_STORE_DESC_FILE_ASYNC ||
+        desc == UT_LOG_STORE_DESC_ASYNC_FILE ||
+        desc == UT_LOG_STORE_DESC_ASYNC)      {
         return UT_LOG_STORE_FILE_ASYNC;  }
     else if (desc == UT_LOG_STORE_DESC_FILE)  {
         return UT_LOG_STORE_FILE;        }

diff --git a/include/unitree/common/log/log_initor.hpp b/include/unitree/common/log/log_initor.hpp
@@ -12,32 +12,28 @@ namespace common
 class LogInitor
 {
 public:
-    static LogInitor* Instance()
-    {
-        static LogInitor inst;
-        return &inst;
-    }
+    explicit LogInitor();
+    ~LogInitor();
 
-    void Init(const std::string& configFileName);
+    void Init(const std::string& configFileName, bool stdoutDefault = false);
     Logger* GetLogger(const std::string& tag);
 
     void Final();
 
-private:
-    LogInitor();
     void ParseConf(Any json);
+    void SetStdoutPolicy();
     void InitLogger();
 
 private:
-    bool mInited;
     std::set<std::string> mStoreNames;
     std::vector<LogPolicyPtr> mPolicis;
     std::vector<LogStorePolicyPtr> mStorePolicis;
     std::map<std::string, LoggerPtr> mLoggerMap;
-    Mutex mLock;
 };
 
-void LogInit(const std::string& configFileName = "");
+using LogInitorPtr = std::shared_ptr<LogInitor>;
+
+void LogInit(const std::string& configFileName = "", bool stdoutDefault = false);
 void LogFinal();
 
 Logger* GetLogger(const std::string& tag);

diff --git a/include/unitree/common/log/log_keeper.hpp b/include/unitree/common/log/log_keeper.hpp
@@ -2,7 +2,6 @@
 #define __UT_LOG_FILE_KEEPER_H__
 
 #include <unitree/common/log/log_policy.hpp>
-#include <unitree/common/log/log_writer.hpp>
 
 namespace unitree
 {
@@ -11,41 +10,30 @@ namespace common
 class LogKeeper
 {
 public:
-    enum
-    {
-        ROLLING_WAIT_MICROSEC  = 1000000
-    };
-
     LogKeeper(LogStorePolicyPtr storePolicyPtr);
     ~LogKeeper();
 
-    void SetWriter(LogWriterPtr writerPtr);
-    void AppendDataSize(int64_t len);
+    LogStorePolicyPtr GetStorePolicy() const;
+
+    bool Append(const std::string& s, bool rotate);
 
 private:
-    void Rolling();
+    void Rotate();
 
+    void AppendFile(const std::string& s);
     void OpenFile();
     void CloseFile();
-    bool CheckFile();
-
-    void ThreadRolling();
 
-    bool IsNeedToRolling(int64_t len);
-    void CheckRolling();
+    void CheckFileSize();
 
     std::string MakeRegexExpress();
 
 private:
-    bool mQuit;
-    int64_t mFileSize;
+    volatile int64_t mFileSize;
     std::string mFileName;
     std::string mDirectory;
     FilePtr mFilePtr;
     LogStorePolicyPtr mStorePolicyPtr;
-    LogWriterPtr mWriterPtr;
-    ThreadPtr mThreadPtr;
-    MutexCond mMutexCond;
 };
 
 typedef std::shared_ptr<LogKeeper> LogKeeperPtr;

diff --git a/include/unitree/common/log/log_policy.hpp b/include/unitree/common/log/log_policy.hpp
@@ -27,7 +27,8 @@ class LogStorePolicy
 {
 public:
     LogStorePolicy();
-    LogStorePolicy(const std::string& name, int32_t type, int32_t fileNumber, int64_t fileSize, int32_t cpuId = UT_CPU_ID_NONE,
+    LogStorePolicy(const std::string& name, int32_t type, int32_t fileNumber, int64_t fileSize,
+        int64_t fileWriteInter = UT_LOG_WRITE_INTER, int32_t cpuId = UT_CPU_ID_NONE,
         const std::string& fileName = "", const std::string& directory = "");
 
     void Dump();
@@ -37,6 +38,7 @@ class LogStorePolicy
     int32_t mType;
     int32_t mFileNumber;
     int64_t mFileSize;
+    int64_t mFileWriteInter;
     int32_t mCpuId;
     std::string mFileName;
     std::string mDirectory;

diff --git a/include/unitree/common/log/log_store.hpp b/include/unitree/common/log/log_store.hpp
@@ -11,66 +11,61 @@ namespace common
 class LogStore
 {
 public:
+    explicit LogStore()
+    {}
+    virtual ~LogStore()
+    {
+        mWriterPtr.reset();
+    }
+
     virtual void Append(const std::string& s) = 0;
+
+protected:
+    LogWriterPtr mWriterPtr;
 };
 
 typedef std::shared_ptr<LogStore> LogStorePtr;
 
 class LogStdoutStore : public LogStore
 {
 public:
-    LogStdoutStore();
+    explicit LogStdoutStore();
+    ~LogStdoutStore();
 
     void Append(const std::string& s);
-
-protected:
-    LogWriterPtr mWriterPtr;
 };
 
 typedef std::shared_ptr<LogStdoutStore> LogStdoutStorePtr;
 
 class LogStderrStore : public LogStore
 {
 public:
-    LogStderrStore();
+    explicit LogStderrStore();
+    ~LogStderrStore();
 
     void Append(const std::string& s);
-
-protected:
-    LogWriterPtr mWriterPtr;
 };
 
 typedef std::shared_ptr<LogStderrStore> LogStderrStorePtr;
 
 class LogFileStore : public LogStore
 {
 public:
-    LogFileStore(LogKeeperPtr keeperPtr);
+    explicit LogFileStore(LogKeeperPtr keeperPtr);
+    ~LogFileStore();
 
     void Append(const std::string& s);
-
-private:
-    LogKeeperPtr mKeeperPtr;
-    LogWriterPtr mWriterPtr;
 };
 
 typedef std::shared_ptr<LogFileStore> LogFileStorePtr;
 
 class LogFileAsyncStore : public LogStore
 {
 public:
-    enum
-    {
-        WRITE_INTERVAL = 100000,
-    };
-
-    LogFileAsyncStore(LogKeeperPtr keeperPtr);
+    explicit LogFileAsyncStore(LogKeeperPtr keeperPtr);
+    ~LogFileAsyncStore();
 
     void Append(const std::string& s);
-
-private:
-    LogWriterPtr mWriterPtr;
-    LogKeeperPtr mKeeperPtr;
 };
 
 typedef std::shared_ptr<LogFileAsyncStore> LogFileAsyncStorePtr;