blob: 28010ece00885531ba087bd05e86d2d97e18091f [file] [log] [blame]
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: settinger@google.com (Scott Ettinger)
// mierle@gmail.com (Keir Mierle)
//
// Simplified Glog style logging with Android support. Supported macros in
// decreasing severity level per line:
//
// VLOG(2), VLOG(N)
// VLOG(1),
// LOG(INFO), VLOG(0), LG
// LOG(WARNING),
// LOG(ERROR),
// LOG(FATAL),
//
// With VLOG(n), the output is directed to one of the 5 Android log levels:
//
// 2 - Verbose
// 1 - Debug
// 0 - Info
// -1 - Warning
// -2 - Error
// -3 - Fatal
//
// Any logging of level 2 and above is directed to the Verbose level. All
// Android log output is tagged with the string "native".
//
// If the symbol ANDROID is not defined, all output goes to std::cerr.
// This allows code to be built on a different system for debug.
//
// Portions of this code are taken from the GLOG package. This code is only a
// small subset of the GLOG functionality. Notable differences from GLOG
// behavior include lack of support for displaying unprintable characters and
// lack of stack trace information upon failure of the CHECK macros. On
// non-Android systems, log output goes to std::cerr and is not written to a
// file.
//
// CHECK macros are defined to test for conditions within code. Any CHECK that
// fails will log the failure and terminate the application.
// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging
// "Check failed 3 >= 4".
//
// The following CHECK macros are defined:
//
// CHECK(condition) - fails if condition is false and logs condition.
// CHECK_NOTNULL(variable) - fails if the variable is nullptr.
//
// The following binary check macros are also defined :
//
// Macro Operator equivalent
// -------------------- -------------------
// CHECK_EQ(val1, val2) val1 == val2
// CHECK_NE(val1, val2) val1 != val2
// CHECK_GT(val1, val2) val1 > val2
// CHECK_GE(val1, val2) val1 >= val2
// CHECK_LT(val1, val2) val1 < val2
// CHECK_LE(val1, val2) val1 <= val2
//
// Debug only versions of all of the check macros are also defined. These
// macros generate no code in a release build, but avoid unused variable
// warnings / errors.
//
// To use the debug only versions, prepend a D to the normal check macros, e.g.
// DCHECK_EQ(a, b).
#ifndef CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
#define CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
#ifdef ANDROID
#include <android/log.h>
#endif // ANDROID
#include <algorithm>
#include <ctime>
#include <fstream>
#include <iostream>
#include <set>
#include <sstream>
#include <string>
#include <vector>
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
// Log severity level constants.
// clang-format off
const int FATAL = -3;
const int ERROR = -2;
const int WARNING = -1;
const int INFO = 0;
// clang-format on
// ------------------------- Glog compatibility ------------------------------
namespace google {
typedef int LogSeverity;
// clang-format off
const int INFO = ::INFO;
const int WARNING = ::WARNING;
const int ERROR = ::ERROR;
const int FATAL = ::FATAL;
// clang-format on
// Sink class used for integration with mock and test functions. If sinks are
// added, all log output is also sent to each sink through the send function.
// In this implementation, WaitTillSent() is called immediately after the send.
// This implementation is not thread safe.
class CERES_NO_EXPORT LogSink {
public:
virtual ~LogSink() = default;
virtual void send(LogSeverity severity,
const char* full_filename,
const char* base_filename,
int line,
const struct tm* tm_time,
const char* message,
size_t message_len) = 0;
virtual void WaitTillSent() = 0;
};
// Global set of log sinks. The actual object is defined in logging.cc.
extern CERES_NO_EXPORT std::set<LogSink*> log_sinks_global;
inline void InitGoogleLogging(const char* /* argv */) {
// Do nothing; this is ignored.
}
// Note: the Log sink functions are not thread safe.
inline void AddLogSink(LogSink* sink) {
// TODO(settinger): Add locks for thread safety.
log_sinks_global.insert(sink);
}
inline void RemoveLogSink(LogSink* sink) { log_sinks_global.erase(sink); }
} // namespace google
// ---------------------------- Logger Class --------------------------------
// Class created for each use of the logging macros.
// The logger acts as a stream and routes the final stream contents to the
// Android logcat output at the proper filter level. If ANDROID is not
// defined, output is directed to std::cerr. This class should not
// be directly instantiated in code, rather it should be invoked through the
// use of the log macros LG, LOG, or VLOG.
class CERES_NO_EXPORT MessageLogger {
public:
MessageLogger(const char* file, int line, const char* tag, int severity)
: file_(file), line_(line), tag_(tag), severity_(severity) {
// Pre-pend the stream with the file and line number.
StripBasename(std::string(file), &filename_only_);
stream_ << filename_only_ << ":" << line << " ";
}
// Output the contents of the stream to the proper channel on destruction.
~MessageLogger() {
stream_ << "\n";
#ifdef ANDROID
static const int android_log_levels[] = {
ANDROID_LOG_FATAL, // LOG(FATAL)
ANDROID_LOG_ERROR, // LOG(ERROR)
ANDROID_LOG_WARN, // LOG(WARNING)
ANDROID_LOG_INFO, // LOG(INFO), LG, VLOG(0)
ANDROID_LOG_DEBUG, // VLOG(1)
ANDROID_LOG_VERBOSE, // VLOG(2) .. VLOG(N)
};
// Bound the logging level.
const int kMaxVerboseLevel = 2;
int android_level_index =
std::min(std::max(FATAL, severity_), kMaxVerboseLevel) - FATAL;
int android_log_level = android_log_levels[android_level_index];
// Output the log string the Android log at the appropriate level.
__android_log_write(android_log_level, tag_.c_str(), stream_.str().c_str());
// Indicate termination if needed.
if (severity_ == FATAL) {
__android_log_write(ANDROID_LOG_FATAL, tag_.c_str(), "terminating.\n");
}
#else
// If not building on Android, log all output to std::cerr.
std::cerr << stream_.str();
#endif // ANDROID
LogToSinks(severity_);
WaitForSinks();
// Android logging at level FATAL does not terminate execution, so abort()
// is still required to stop the program.
if (severity_ == FATAL) {
abort();
}
}
// Return the stream associated with the logger object.
std::stringstream& stream() { return stream_; }
private:
void LogToSinks(int severity) {
time_t rawtime;
time(&rawtime);
struct tm timeinfo;
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
// On Windows, use secure localtime_s not localtime.
localtime_s(&timeinfo, &rawtime);
#else
// On non-Windows systems, use threadsafe localtime_r not localtime.
localtime_r(&rawtime, &timeinfo);
#endif
std::set<google::LogSink*>::iterator iter;
// Send the log message to all sinks.
for (iter = google::log_sinks_global.begin();
iter != google::log_sinks_global.end();
++iter) {
(*iter)->send(severity,
file_.c_str(),
filename_only_.c_str(),
line_,
&timeinfo,
stream_.str().c_str(),
stream_.str().size());
}
}
void WaitForSinks() {
// TODO(settinger): Add locks for thread safety.
std::set<google::LogSink*>::iterator iter;
// Call WaitTillSent() for all sinks.
for (iter = google::log_sinks_global.begin();
iter != google::log_sinks_global.end();
++iter) {
(*iter)->WaitTillSent();
}
}
void StripBasename(const std::string& full_path, std::string* filename) {
// TODO(settinger): Add support for OSs with different path separators.
const char kSeparator = '/';
size_t pos = full_path.rfind(kSeparator);
if (pos != std::string::npos) {
*filename = full_path.substr(pos + 1, std::string::npos);
} else {
*filename = full_path;
}
}
std::string file_;
std::string filename_only_;
int line_;
std::string tag_;
std::stringstream stream_;
int severity_;
};
// ---------------------- Logging Macro definitions --------------------------
// This class is used to explicitly ignore values in the conditional
// logging macros. This avoids compiler warnings like "value computed
// is not used" and "statement has no effect".
class CERES_NO_EXPORT LoggerVoidify {
public:
// This has to be an operator with a precedence lower than << but
// higher than ?:
void operator&(const std::ostream& s) {}
};
// Log only if condition is met. Otherwise evaluates to void.
// clang-format off
#define LOG_IF(severity, condition) \
!(condition) ? (void) 0 : LoggerVoidify() & \
MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
// clang-format on
// Log only if condition is NOT met. Otherwise evaluates to void.
#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
// LG is a convenient shortcut for LOG(INFO). Its use is in new
// google3 code is discouraged and the following shortcut exists for
// backward compatibility with existing code.
// clang-format off
#ifdef MAX_LOG_LEVEL
# define LOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
# define VLOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
# define LG LOG_IF(INFO, INFO <= MAX_LOG_LEVEL)
# define VLOG_IF(n, condition) LOG_IF(n, (n <= MAX_LOG_LEVEL) && condition)
#else
# define LOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream() // NOLINT
# define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream() // NOLINT
# define LG MessageLogger((char *)__FILE__, __LINE__, "native", INFO).stream() // NOLINT
# define VLOG_IF(n, condition) LOG_IF(n, condition)
#endif
// Currently, VLOG is always on for levels below MAX_LOG_LEVEL.
#ifndef MAX_LOG_LEVEL
# define VLOG_IS_ON(x) (1)
#else
# define VLOG_IS_ON(x) (x <= MAX_LOG_LEVEL)
#endif
#ifndef NDEBUG
# define DLOG LOG
#else
# define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
#endif
// clang-format on
// Log a message and terminate.
template <class T>
void LogMessageFatal(const char* file, int line, const T& message) {
MessageLogger((char*)__FILE__, __LINE__, "native", FATAL).stream() << message;
}
// ---------------------------- CHECK macros ---------------------------------
// Check for a given boolean condition.
#define CHECK(condition) \
LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
#ifndef NDEBUG
// Debug only version of CHECK
#define DCHECK(condition) \
LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
#else
// Optimized version - generates no code.
#define DCHECK(condition) \
if (false) LOG_IF_FALSE(FATAL, condition) << "Check failed: " #condition " "
#endif // NDEBUG
// ------------------------- CHECK_OP macros ---------------------------------
// Generic binary operator check macro. This should not be directly invoked,
// instead use the binary comparison macros defined below.
#define CHECK_OP(val1, val2, op) \
LOG_IF_FALSE(FATAL, ((val1)op(val2))) \
<< "Check failed: " #val1 " " #op " " #val2 " "
// clang-format off
// Check_op macro definitions
#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
#ifndef NDEBUG
// Debug only versions of CHECK_OP macros.
# define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
# define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
# define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
# define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
# define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
# define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
#else
// These versions generate no code in optimized mode.
# define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
# define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
# define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
# define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
# define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
# define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
#endif // NDEBUG
// clang-format on
// ---------------------------CHECK_NOTNULL macros ---------------------------
// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers
// and smart pointers.
template <typename T>
T& CheckNotNullCommon(const char* file, int line, const char* names, T& t) {
if (t == nullptr) {
LogMessageFatal(file, line, std::string(names));
}
return t;
}
template <typename T>
T* CheckNotNull(const char* file, int line, const char* names, T* t) {
return CheckNotNullCommon(file, line, names, t);
}
template <typename T>
T& CheckNotNull(const char* file, int line, const char* names, T& t) {
return CheckNotNullCommon(file, line, names, t);
}
// Check that a pointer is not null.
#define CHECK_NOTNULL(val) \
CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non nullptr", (val))
#ifndef NDEBUG
// Debug only version of CHECK_NOTNULL
#define DCHECK_NOTNULL(val) \
CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non nullptr", (val))
#else
// Optimized version - generates no code.
#define DCHECK_NOTNULL(val) \
if (false) \
CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non nullptr", (val))
#endif // NDEBUG
#include "ceres/internal/reenable_warnings.h"
#endif // CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_