Logging System

The RaiSim logging system, inspired by the glog library, offers a compact method for representing multi-line log entries. Messages are streamed exclusively to standard output (std::cout) and are not persisted to a file. For instance, rather than:

if(fail) {
    std::cout<<date<<FILENAME<<LINENUMBER<< ... << "failed here \n";
    exit(0);
}

one may utilize:

RSFATAL_IF(fail, "failed here")

The available logging macros are as follows:

  • RSINFO(msg): Prints the message in white.

  • RSWARN(msg): Prints the message in yellow.

  • RSFATAL(msg): Prints the message in red and executes the fatal function.

  • RSINFO_IF(con, msg): Prints the message in white if the condition evaluates to true.

  • RSWARN_IF(con, msg): Prints the message in yellow if the condition evaluates to true.

  • RSFATAL_IF(con, msg): Prints the message in red and invokes the fatal function if the condition evaluates to true.

  • RSASSERT(con, msg): Prints the message in red and invokes the fatal function if the condition evaluates to false.

  • RSRETURN_IF(con, msg): Prints the message in white and executes a return statement if the condition evaluates to true.

  • RSISNAN(val): Prints “${val} is NaN” and invokes the fatal function if the value is NaN (Not a Number).

  • RSISNAN_MSG(val, msg): Prints the specified message and invokes the fatal function if the value is NaN.

The default fatal function is std::exit(1);. This behavior can be overridden as follows:

raisim::RaiSimMsg::setFatalCallback([](){throw;});

These macros impact performance; for example, all _IF macros involve boolean checks and potential branching.

To avoid performance overhead from branching in release builds, the following debug-only versions of the macros are available:

  • DRSINFO(msg)

  • DRSWARN(msg)

  • DRSFATAL(msg)

  • DRSINFO_IF(con, msg)

  • DRSWARN_IF(con, msg)

  • DRSFATAL_IF(con, msg)

  • DRSASSERT(con, msg)

  • DRSRETURN_IF(con, msg)

  • DRSISNAN(val)

  • DRSISNAN_MSG(val, msg)

These macros are compiled out unless the build type is set to Debug.

API

RaiSimMsg

class RaiSimMsg

Public Functions

inline void stream(const char *file, const int line, std::stringstream &msg, int severity)

Format and print a message with filename/line and severity.

Parameters:

  • file – [in] Source file path.

  • line – [in] Source line number.

  • msg – [in] Message stream to print.

  • severity – [in] Severity level (RSEVERITY_*).

Public Static Functions

static inline void setFatalCallback(std::function<void()> fatalCallback)

Set the callback invoked on fatal messages.

Parameters:

fatalCallback – [in] Callback function.