YarpLogger.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <iostream>
#include <cstring>
#include <string>
#include <sstream>
#include <cstdio>
#include <fstream>
#include <iterator>
#include <yarp/os/RpcClient.h>
#include <yarp/os/SystemClock.h>
#include <yarp/logger/YarpLogger.h>
 
using namespace yarp::os;
using namespace yarp::yarpLogger;
/*
const std::string RED    ="\033[01;31m";
const std::string GREEN  ="\033[01;32m";
const std::string YELLOW ="\033[01;33m";
const std::string BLUE   ="\033[01;34m";
const std::string CLEAR  ="\033[00m";
 
const std::string RED_ERROR      = RED+"ERROR"+CLEAR;
const std::string YELLOW_WARNING = YELLOW+"WARNING"+CLEAR;
*/
void LogEntry::clear_logEntries()
{
    entry_list.clear();
    logInfo.clear();
    last_read_message=-1;
}
 
void LogEntry::setLogEntryMaxSize(int size)
{
    entry_list_max_size = size;
    entry_list.reserve(entry_list_max_size);
    clear_logEntries();
}
 
void LogEntry::setLogEntryMaxSizeEnabled (bool enable)
{
    entry_list_max_size_enabled=enable;
}
 
bool LogEntry::append_logEntry(MessageEntry entry)
{
    if (logInfo.logsize >= entry_list_max_size && entry_list_max_size_enabled)
    {
        //printf("WARNING: exceeded entry_list_max_size=%d\n",entry_list_max_size);
        return false;
    }
    entry_list.push_back(entry);
    logInfo.logsize++;
    return true;
}
 
void LogEntryInfo::clear()
{
    logsize=0;
    number_of_traces=0;
    number_of_debugs=0;
    number_of_infos=0;
    number_of_warnings=0;
    number_of_errors=0;
    number_of_fatals=0;
    highest_error=LOGLEVEL_UNDEFINED;
    last_update=-1;
}
 
LogLevel LogEntryInfo::getLastError()
{
    return highest_error;
}
 
void LogEntryInfo::clearLastError()
{
    highest_error=LOGLEVEL_UNDEFINED;
}
 
void LogEntryInfo::setNewError(LogLevel level)
{
    if (level == LOGLEVEL_TRACE) {
        number_of_traces++;
    } else if (level == LOGLEVEL_DEBUG) {
        number_of_debugs++;
    } else if (level == LOGLEVEL_INFO) {
        number_of_infos++;
    } else if (level == LOGLEVEL_WARNING) {
        number_of_warnings++;
    } else if (level == LOGLEVEL_ERROR) {
        number_of_errors++;
    } else if (level == LOGLEVEL_FATAL) {
        number_of_fatals++;
    }
    if (level > highest_error) {
        highest_error = level;
    }
}
 
void LoggerEngine::discover  (std::list<std::string>& ports)
{
    RpcClient p;
    std::string logger_portname = log_updater->getPortName();
    p.open(logger_portname+"/discover");
    std::string yarpservername = yarp::os::Network::getNameServerName();
    bool b_connected = yarp::os::Network::connect(logger_portname+"/discover",yarpservername);
    Bottle cmd,response;
    cmd.addString("bot");
    cmd.addString("list");
    p.write(cmd,response);
    printf ("%s\n\n", response.toString().c_str());
    int size = response.size();
    for (int i=1; i<size; i++) //beware: skip i=0 is intentional!
    {
        Bottle* n1 = response.get(i).asList();
        if (n1 && n1->get(0).toString()=="port")
        {
            Bottle* n2 = n1->get(1).asList();
            if (n2 && n2->get(0).toString()=="name")
            {
                char* log_off = nullptr;
                char* yarprun_log_off = nullptr;
                log_off = std::strstr((char*)(n2->get(1).toString().c_str()), "/log/");
                if (log_off)
                {
                    std::string logport = n2->get(1).toString();
                    printf ("%s\n", logport.c_str());
                    ports.push_back(logport);
                }
                yarprun_log_off = std::strstr((char*)(n2->get(1).toString().c_str()), "/yarprunlog/");
                if (yarprun_log_off)
                {
                    std::string logport = n2->get(1).toString();
                    printf ("%s\n", logport.c_str());
                    ports.push_back(logport);
                }
            }
        }
    }
 
    std::list<std::string>::iterator ports_it;
    for (ports_it=ports.begin(); ports_it!=ports.end(); ports_it++)
    {
        LogEntry entry (log_updater->logs_max_lines_enabled, log_updater->logs_max_lines);
        entry.logInfo.port_complete = (*ports_it);
        yarp::os::Contact contact = yarp::os::Network::queryName(entry.logInfo.port_complete);
        if (contact.isValid())
        {
            entry.logInfo.ip_address = contact.getHost();
        }
        else
        {
            printf("ERROR: invalid contact: %s\n", entry.logInfo.port_complete.c_str());
        }
        std::istringstream iss(*ports_it);
        std::string token;
        getline(iss, token, '/');
        getline(iss, token, '/');
        getline(iss, token, '/'); entry.logInfo.port_prefix  = "/"+ token;
        getline(iss, token, '/'); entry.logInfo.process_name = token;
        getline(iss, token, '/'); entry.logInfo.process_pid  = token;
 
        std::list<LogEntry>::iterator it;
        this->log_updater->mutex.lock();
        bool found = false;
        for (it = this->log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
        {
            if (it->logInfo.port_complete==entry.logInfo.port_complete)
            {
                found=true; break;
            }
        }
        if (found==false)
        {
            log_updater->log_list.push_back(entry);
        }
        this->log_updater->mutex.unlock();
    }
}
 
void LoggerEngine::connect (const std::list<std::string>& ports)
{
    yarp::os::ContactStyle style;
    style.timeout=1.0;
    style.quiet=true;
 
    std::list<std::string>::const_iterator it;
    bool b_connected = true;
    for (it = ports.begin(); it != ports.end(); it++)
    {
        if (yarp::os::Network::exists(*it,style) == true)
        {
            b_connected &= yarp::os::Network::connect(*it,this->log_updater->getPortName());
        }
        else
        {
            //fprintf(stderr,"unable to connect to port %s\n",it->c_str());
        }
    }
}
 
std::string LoggerEngine::logger_thread::getPortName()
{
    return logger_portName;
}
 
LoggerEngine::logger_thread::logger_thread (std::string _portname, double _period,  int _log_list_max_size, int _logs_max_lines) :
              PeriodicThread(_period, ShouldUseSystemClock::Yes)
{
        logger_portName              = _portname;
        log_list_max_size            = _log_list_max_size;
        log_list_max_size_enabled    = true;
        logs_max_lines               = _logs_max_lines;
        logs_max_lines_enabled       = true;
        unknown_format_received      = 0;
}
 
void LoggerEngine::logger_thread::run()
{
    //yarp::os::SystemClock::delaySystem(0.001);
 
    //if (logger_port.getInputCount()>0)
    {
        int bufferport_size = logger_port.getPendingReads();
        int processed_events = 0;
 
        while (bufferport_size>0)
        {
            //the following check allows to exit from the run every xxx processed events,
            //in order to free some CPU and avoid the system to be blocked forever inside the while.
            if (processed_events > 1000)
            {
                fprintf(stderr, "DEBUG: processing log events... Remaining events: %d\n", bufferport_size);
                return;
            }
            processed_events++;
 
            std::time_t machine_current_time = std::time(nullptr);
            char machine_current_time_c [50];
            //strftime(machine_current_time_s, 20, "%Y-%m-%d %H:%M:%S", localtime(&machine_current_time));
            static double d_time_i = yarp::os::SystemClock::nowSystem();
            double d_time = yarp::os::SystemClock::nowSystem() - d_time_i;
            sprintf(machine_current_time_c,"%f",d_time);
            std::string machine_current_time_s = std::string(machine_current_time_c);
 
            Bottle *b = logger_port.read(); //this is blocking
            bufferport_size = logger_port.getPendingReads();
 
            if (b==nullptr)
            {
                fprintf (stderr, "ERROR: something strange happened here, bufferport_size = %d!\n",bufferport_size);
                return;
            }
 
            if (b->size()!=2)
            {
                fprintf (stderr, "ERROR: unknown log format [err1]!\n");
                unknown_format_received++;
                continue;
            }
 
            std::string bottlestring = b->toString();
            std::string header;
 
            if (b->get(0).isString())
            {
                header = b->get(0).asString();
            }
            else
            {
                fprintf(stderr, "ERROR: unknown log format! [err2]\n");
                unknown_format_received++;
                continue;
            }
 
            MessageEntry body;
 
            char ttstr [20];
            static int count=0;
            sprintf(ttstr,"%d",count++);
            body.yarprun_timestamp = std::string(ttstr);
            body.local_timestamp   = machine_current_time_s;
 
            std::string s;
 
            if (b->get(1).isString())
            {
                s = b->get(1).asString();
            }
            else
            {
                fprintf(stderr, "ERROR: unknown log format! [err3]\n");
                unknown_format_received++;
                continue;
            }
 
            yarp::os::Property p(s.c_str());
 
            if (p.check("level")) {
                body.text = p.find("message").toString();
 
                auto level = p.find("level").toString();
                if (level == "TRACE") {
                    body.level = LOGLEVEL_TRACE;
                } else if (level == "DEBUG") {
                    body.level = LOGLEVEL_DEBUG;
                } else if (level == "INFO") {
                    body.level = LOGLEVEL_INFO;
                } else if (level == "WARNING") {
                    body.level = LOGLEVEL_WARNING;
                } else if (level == "ERROR") {
                    body.level = LOGLEVEL_ERROR;
                } else if (level == "FATAL") {
                    body.level = LOGLEVEL_FATAL;
                } else {
                    body.level = LOGLEVEL_UNDEFINED;
                }
 
                if (p.check("filename")) {
                    body.filename = p.find("filename").asString();
                } else {
                    body.filename.clear();
                }
 
                if (p.check("line")) {
                    body.line = static_cast<uint32_t>(p.find("line").asInt32());
                } else {
                    body.line = 0;
                }
 
                if (p.check("function")) {
                    body.function = p.find("function").asString();
                } else {
                    body.function.clear();
                }
 
                if (p.check("hostname")) {
                    body.hostname = p.find("hostname").asString();
                } else {
                    body.hostname.clear();
                }
 
                if (p.check("pid")) {
                    body.pid = p.find("pid").asInt32();
                } else {
                    body.pid = 0;
                }
 
                if (p.check("cmd")) {
                    body.cmd = p.find("cmd").asString();
                } else {
                    body.cmd.clear();
                }
 
                if (p.check("args")) {
                    body.args = p.find("args").asString();
                } else {
                    body.args.clear();
                }
 
                if (p.check("thread_id")) {
                    body.thread_id = p.find("thread_id").asInt64();
                } else {
                    body.thread_id = 0;
                }
 
                if (p.check("component")) {
                    body.component = p.find("component").asString();
                } else {
                    body.component.clear();
                }
 
                if (p.check("id")) {
                    body.id = p.find("id").asString();
                } else {
                    body.id.clear();
                }
 
                if (p.check("systemtime")) {
                    body.systemtime = p.find("systemtime").asFloat64();
                } else {
                    body.systemtime = 0.0;
                }
 
                if (p.check("networktime")) {
                    body.networktime = p.find("networktime").asFloat64();
                } else {
                    body.networktime = body.systemtime;
                    body.yarprun_timestamp.clear();
                }
 
                if (p.check("externaltime")) {
                    body.externaltime = p.find("externaltime").asFloat64();
                } else {
                    body.externaltime = 0.0;
                }
 
                if (p.check("backtrace")) {
                    body.backtrace = p.find("backtrace").asString();
                } else {
                    body.backtrace.clear();
                }
            } else {
                // This is plain output forwarded by yarprun
                // Perhaps at some point yarprun could be formatting it properly
                // But for now we just try to extract the level information
                body.text = s;
                body.level = LOGLEVEL_UNDEFINED;
 
                size_t str = s.find('[',0);
                size_t end = s.find(']',0);
                if (str==std::string::npos || end==std::string::npos )
                {
                    body.level = LOGLEVEL_UNDEFINED;
                }
                else if (str==0)
                {
                    std::string level = s.substr(str,end+1);
                    body.level = LOGLEVEL_UNDEFINED;
                    if (level.find("TRACE") != std::string::npos) {
                        body.level = LOGLEVEL_TRACE;
                    } else if (level.find("DEBUG") != std::string::npos) {
                        body.level = LOGLEVEL_DEBUG;
                    } else if (level.find("INFO") != std::string::npos) {
                        body.level = LOGLEVEL_INFO;
                    } else if (level.find("WARNING") != std::string::npos) {
                        body.level = LOGLEVEL_WARNING;
                    } else if (level.find("ERROR") != std::string::npos) {
                        body.level = LOGLEVEL_ERROR;
                    } else if (level.find("FATAL") != std::string::npos) {
                        body.level = LOGLEVEL_FATAL;
                    }
                    body.text = s.substr(end+1);
                }
                else
                {
                    body.level = LOGLEVEL_UNDEFINED;
                }
            }
 
            if (body.level == LOGLEVEL_UNDEFINED && listen_to_LOGLEVEL_UNDEFINED == false) {continue;}
            if (body.level == LOGLEVEL_TRACE     && listen_to_LOGLEVEL_TRACE     == false) {continue;}
            if (body.level == LOGLEVEL_DEBUG     && listen_to_LOGLEVEL_DEBUG     == false) {continue;}
            if (body.level == LOGLEVEL_INFO      && listen_to_LOGLEVEL_INFO      == false) {continue;}
            if (body.level == LOGLEVEL_WARNING   && listen_to_LOGLEVEL_WARNING   == false) {continue;}
            if (body.level == LOGLEVEL_ERROR     && listen_to_LOGLEVEL_ERROR     == false) {continue;}
            if (body.level == LOGLEVEL_FATAL     && listen_to_LOGLEVEL_FATAL     == false) {continue;}
 
            LogEntry entry (this->logs_max_lines_enabled, this->logs_max_lines);
            entry.logInfo.port_complete = header;
            entry.logInfo.port_complete.erase(0,1);
            entry.logInfo.port_complete.erase(entry.logInfo.port_complete.size()-1);
            std::istringstream iss(header);
            std::string token;
            getline(iss, token, '/');
            getline(iss, token, '/'); entry.logInfo.port_system  = token;
            getline(iss, token, '/'); entry.logInfo.port_prefix  = "/"+ token;
            getline(iss, token, '/'); entry.logInfo.process_name = token;
            getline(iss, token, '/'); entry.logInfo.process_pid  = token.erase(token.size()-1);
            if (entry.logInfo.port_system == "log" && listen_to_YARP_MESSAGES == false) {
                continue;
            }
            if (entry.logInfo.port_system == "yarprunlog" && listen_to_YARPRUN_MESSAGES == false) {
                continue;
            }
 
            //-------- enter the critical section.
            // the following variables must be protected: log_list
            this->mutex.lock();
            std::list<LogEntry>::iterator it;
            for (it = log_list.begin(); it != log_list.end(); it++)
            {
                if (it->logInfo.port_complete==entry.logInfo.port_complete)
                {
                    if (it->logging_enabled)
                    {
                        it->logInfo.setNewError(body.level);
                        it->logInfo.last_update=machine_current_time;
                        it->append_logEntry(body);
                    }
                    else
                    {
                        //just skipping this message
                    }
                    break;
                }
            }
            if (it == log_list.end())
            {
                if (log_list.size() < log_list_max_size || log_list_max_size_enabled==false )
                {
                    yarp::os::Contact contact = yarp::os::Network::queryName(entry.logInfo.port_complete);
                    if (contact.isValid())
                    {
                        entry.logInfo.setNewError(body.level);
                        entry.logInfo.ip_address = contact.getHost();
                    }
                    else
                    {
                        printf("ERROR: invalid contact: %s\n", entry.logInfo.port_complete.c_str());
                    };
                    entry.append_logEntry(body);
                    entry.logInfo.last_update=machine_current_time;
                    log_list.push_back(entry);
                }
                //else
                //{
                //    printf("WARNING: exceeded log_list_max_size=%d\n",log_list_max_size);
                //}
            }
            this->mutex.unlock();
            //-------- end of the critical section.
        }
    }
 
}
 
//public methods
bool LoggerEngine::start_logging()
{
    if (logging == true)
    {
        fprintf(stderr,"logger is already running, listening on port %s\n", log_updater->getPortName().c_str());
        return true;
    }
 
    if (yarp::os::Network::exists(log_updater->getPortName()))
    {
        fprintf(stderr, "Unable to start logger: port %s is unavailable because another instance of the logger is already running (or address conflict)\n", log_updater->getPortName().c_str());
        return false;
    }
 
    if (log_updater->logger_port.open(log_updater->getPortName()))
    {
        fprintf(stdout,"Logger successfully started, listening on port %s\n", log_updater->getPortName().c_str());
    }
    else
    {
        fprintf(stderr,"Unable to start logger: port %s is unavailable\n", log_updater->getPortName().c_str());
        return false;
    }
    log_updater->logger_port.resume();
    log_updater->logger_port.setStrict();
    logging=true;
    log_updater->start();
    return true;
}
 
void LoggerEngine::logger_thread::threadRelease()
{
    logger_port.interrupt();
    logger_port.close();
}
 
bool LoggerEngine::stop_logging()
{
    if (log_updater == nullptr) {
        fprintf(stdout, "Logger stop internal error");
        return false;
    }
 
    logging=false;
    if (log_updater->isRunning() == true) {
        log_updater->stop();
    }
 
    fprintf(stdout, "Logger successfully stopped");
    return true;
}
 
void LoggerEngine::start_discover()
{
    if (log_updater == nullptr) {
        fprintf(stdout, "Logger start_discoverry internal error");
        return;
    }
 
    fprintf(stdout, "Logger discovery started");
    log_updater->start();
    discovering=true;
}
 
void LoggerEngine::stop_discover()
{
    fprintf(stdout, "Logger discovery stopped");
    discovering=false;
}
 
LoggerEngine::LoggerEngine(std::string portName)
{
    log_updater=new logger_thread (portName, 0.01);
    logging = false;
    discovering = false;
}
 
LoggerEngine::~LoggerEngine()
{
    this->stop_logging();
    if (log_updater!=nullptr)
    {
        delete log_updater;
        log_updater = nullptr;
    }
}
 
int  LoggerEngine::get_num_of_processes()
{
    if (log_updater == nullptr) {
        return 0;
    }
 
    return log_updater->logger_port.getInputCount();
}
 
void LoggerEngine::get_infos (std::list<LogEntryInfo>& infos)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        infos.push_back(it->logInfo);
    }
    log_updater->mutex.unlock();
}
 
void LoggerEngine::get_messages (std::list<MessageEntry>& messages)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        messages.insert(messages.end(), it->entry_list.begin(), it->entry_list.end());
    }
    log_updater->mutex.unlock();
}
 
void LoggerEngine::get_messages_by_port_prefix    (std::string  port,  std::list<MessageEntry>& messages,  bool from_beginning)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        if (it->logInfo.port_prefix == port)
        {
            //messages = (it->entry_list);
            if (it->last_read_message==-1)
            {
                from_beginning=true;
            }
            if (from_beginning==true)
            {
                it->last_read_message = 0;
            }
            int i=it->last_read_message;
            for (; i<(int)it->entry_list.size(); i++)
            {
                messages.push_back(it->entry_list[i]);
            }
            it->last_read_message=i;
            break;
        }
    }
    log_updater->mutex.unlock();
}
 
void LoggerEngine::clear_messages_by_port_complete    (std::string  port)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        if (it->logInfo.port_complete == port)
           {
               it->clear_logEntries();
               break;
           }
    }
    log_updater->mutex.unlock();
}
 
void LoggerEngine::get_messages_by_port_complete    (std::string  port,  std::list<MessageEntry>& messages,  bool from_beginning)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        if (it->logInfo.port_complete == port)
        {
            //messages = (it->entry_list);
            if (it->last_read_message==-1)
            {
                from_beginning=true;
            }
            if (from_beginning==true)
            {
                it->last_read_message = 0;
            }
            int i=it->last_read_message;
            int size = (int)it->entry_list.size();
            for (; i<size; i++)
            {
                messages.push_back(it->entry_list[i]);
            }
            it->last_read_message=i;
            break;
        }
    }
    log_updater->mutex.unlock();
}
 
void LoggerEngine::get_messages_by_process (std::string  process,  std::list<MessageEntry>& messages,  bool from_beginning)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        if (it->logInfo.process_name == process)
        {
            //messages = (it->entry_list);
            if (it->last_read_message==-1)
            {
                from_beginning=true;
            }
            if (from_beginning==true)
            {
                it->last_read_message = 0;
            }
            int i=it->last_read_message;
            for (; i<(int)it->entry_list.size(); i++)
            {
                messages.push_back(it->entry_list[i]);
            }
            it->last_read_message=i;
            break;
        }
    }
    log_updater->mutex.unlock();
}
 
void LoggerEngine::get_messages_by_pid     (std::string pid, std::list<MessageEntry>& messages,  bool from_beginning)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        if (it->logInfo.process_pid == pid)
        {
            //messages = (it->entry_list);
            if (it->last_read_message==-1)
            {
                from_beginning=true;
            }
            if (from_beginning==true)
            {
                it->last_read_message = 0;
            }
            int i=it->last_read_message;
            for (; i<(int)it->entry_list.size(); i++)
            {
                messages.push_back(it->entry_list[i]);
            }
            it->last_read_message=i;
            break;
        }
    }
    log_updater->mutex.unlock();
}
 
const std::list<MessageEntry> filter_by_level (int level, const std::list<MessageEntry>& messages)
{
    std::list<MessageEntry> ret;
    std::list<MessageEntry>::const_iterator it;
    for (it = messages.begin(); it != messages.end(); it++)
    {
        LogLevel llevel = it->level;
        if (llevel.toInt() == level) {
            ret.push_back(*it);
        }
    }
    return ret;
}
 
void LoggerEngine::set_listen_option               (LogLevel logLevel, bool enable)
{
    if (log_updater == nullptr) {
        return;
    }
    log_updater->mutex.lock();
    if      (logLevel == LOGLEVEL_UNDEFINED)  {log_updater->listen_to_LOGLEVEL_UNDEFINED=enable;}
    else if (logLevel == LOGLEVEL_TRACE)      {log_updater->listen_to_LOGLEVEL_TRACE=enable;}
    else if (logLevel == LOGLEVEL_INFO)       {log_updater->listen_to_LOGLEVEL_INFO=enable;}
    else if (logLevel == LOGLEVEL_DEBUG)      {log_updater->listen_to_LOGLEVEL_DEBUG=enable;}
    else if (logLevel == LOGLEVEL_WARNING)    {log_updater->listen_to_LOGLEVEL_WARNING=enable;}
    else if (logLevel == LOGLEVEL_ERROR)      {log_updater->listen_to_LOGLEVEL_ERROR=enable;}
    else if (logLevel == LOGLEVEL_FATAL)      {log_updater->listen_to_LOGLEVEL_FATAL=enable;}
    log_updater->mutex.unlock();
}
 
bool LoggerEngine::get_listen_option               (LogLevel logLevel)
{
    if (log_updater == nullptr) {
        return false;
    }
    if (logLevel == LOGLEVEL_UNDEFINED) {return log_updater->listen_to_LOGLEVEL_UNDEFINED;}
    if (logLevel == LOGLEVEL_TRACE)     {return log_updater->listen_to_LOGLEVEL_TRACE;}
    if (logLevel == LOGLEVEL_DEBUG)     {return log_updater->listen_to_LOGLEVEL_DEBUG;}
    if (logLevel == LOGLEVEL_INFO)      {return log_updater->listen_to_LOGLEVEL_INFO;}
    if (logLevel == LOGLEVEL_WARNING)   {return log_updater->listen_to_LOGLEVEL_WARNING;}
    if (logLevel == LOGLEVEL_ERROR)     {return log_updater->listen_to_LOGLEVEL_ERROR;}
    if (logLevel == LOGLEVEL_FATAL)     {return log_updater->listen_to_LOGLEVEL_FATAL;}
    return false;
}
 
void LoggerEngine::set_listen_option               (std::string   option, bool enable)
{
    if (log_updater == nullptr) {
        return;
    }
    log_updater->mutex.lock();
    log_updater->mutex.unlock();
}
 
bool LoggerEngine::get_listen_option               (std::string   option)
{
    return false;
}
 
void LoggerEngine::set_listen_option               (LogSystemEnum   logSystem, bool enable)
{
    if (log_updater == nullptr) {
        return;
    }
    log_updater->mutex.lock();
    if      (logSystem == LOGSYSTEM_YARP)         {log_updater->listen_to_YARP_MESSAGES=enable;}
    else if (logSystem == LOGSYSTEM_YARPRUN)      {log_updater->listen_to_YARPRUN_MESSAGES=enable;}
    log_updater->mutex.unlock();
}
 
bool LoggerEngine::get_listen_option               (LogSystemEnum   logSystem)
{
    if (log_updater == nullptr) {
        return false;
    }
    if (logSystem == LOGSYSTEM_YARP)        {return log_updater->listen_to_YARP_MESSAGES;}
    if (logSystem == LOGSYSTEM_YARPRUN)     {return log_updater->listen_to_YARPRUN_MESSAGES;}
    return false;
}
 
void LoggerEngine::set_log_lines_max_size (bool  enabled,  int new_size)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    log_updater->logs_max_lines_enabled = enabled;
    log_updater->logs_max_lines = new_size;
 
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        it->setLogEntryMaxSize(new_size);
        it->setLogEntryMaxSizeEnabled(enabled);
    }
 
    log_updater->mutex.unlock();
}
 
 
void LoggerEngine::set_log_list_max_size           (bool  enabled,  int new_size)
{
    if (log_updater == nullptr) {
        return;
    }
    log_updater->mutex.lock();
    log_updater->log_list_max_size_enabled = enabled;
    log_updater->log_list_max_size = new_size;
    log_updater->mutex.unlock();
}
 
void LoggerEngine::get_log_lines_max_size          (bool& enabled, int& current_size)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    enabled = log_updater->logs_max_lines_enabled;
    current_size = log_updater->logs_max_lines;
    log_updater->mutex.unlock();
}
 
void LoggerEngine::get_log_list_max_size           (bool& enabled, int& current_size)
{
    if (log_updater == nullptr) {
        return;
    }
    log_updater->mutex.lock();
    enabled=log_updater->log_list_max_size_enabled;
    current_size=log_updater->log_list_max_size;
    log_updater->mutex.unlock();
}
 
bool LoggerEngine::clear()
{
    if (log_updater == nullptr) {
        return false;
    }
    log_updater->mutex.lock();
    log_updater->log_list.clear();
    log_updater->mutex.unlock();
    return true;
}
 
void LoggerEngine::set_log_enable_by_port_complete (std::string  port, bool enable)
{
    if (log_updater == nullptr) {
        return;
    }
 
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        if (it->logInfo.port_complete == port)
           {
               it->logging_enabled=enable;
               break;
           }
    }
    log_updater->mutex.unlock();
}
 
bool  LoggerEngine::get_log_enable_by_port_complete (std::string  port)
{
    if (log_updater == nullptr) {
        return false;
    }
 
    bool enabled=false;
    log_updater->mutex.lock();
    std::list<LogEntry>::iterator it;
    for (it = log_updater->log_list.begin(); it != log_updater->log_list.end(); it++)
    {
        if (it->logInfo.port_complete == port)
           {
               enabled=it->logging_enabled;
               break;
           }
    }
    log_updater->mutex.unlock();
    return enabled;
}