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Convet log messages to UE_LOG for debugging
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Aaron Snoswell committed Jan 23, 2018
1 parent 024eb55 commit d4e3cb0
Showing 1 changed file with 26 additions and 30 deletions.
56 changes: 26 additions & 30 deletions Source/ROSIntegration/Private/rosbridge2cpp/TCPConnection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ bool TCPConnection::Init(std::string ip_addr, int port) {
// TODO Wait for successful connection? How? ConnectionState always returns CLOSED. Even after waiting a bit.

// // Setting up the receiver thread
std::cout << "Setting up receiver thread..." << std::endl;
UE_LOG(LogTemp, Log, TEXT("Setting up receiver thread..."));
receiverThread = std::move(std::thread([=]() {ReceiverThreadFunction(); return 1; }));
receiverThreadSetUp = true;

Expand All @@ -48,7 +48,7 @@ bool TCPConnection::SendMessage(std::string data){

// TODO check errors on send
_sock->Send(byte_msg, data.length(), bytes_sent);
std::cout << "Send data: " << data << std::endl;
//UE_LOG(LogTemp, Log, TEXT("Send data: %s"), data);

return true;
}
Expand All @@ -72,17 +72,17 @@ bool TCPConnection::SendMessage(const uint8_t *data, unsigned int length){
bool SendResult = _sock->Send(data, total_bytes_to_send, bytes_sent);

if(bytes_sent == -1){
std::cout << "#";
UE_LOG(LogTemp, Log, TEXT("#"));
if(!GraceTimeActive){
std::cerr << "Send returned -1 bytes. Grace Time started" << std::endl;
UE_LOG(LogTemp, Error, TEXT("Send returned -1 bytes. Grace Time started"));
GraceTimeStart = FDateTime::UtcNow();
GraceTimeActive = true;
}else{
// Check elapsed time in Grace Period
uint8 ElapsedSeconds = FDateTime::UtcNow().ToUnixTimestamp() - GraceTimeStart.ToUnixTimestamp();
if(ElapsedSeconds >= 4){
// Cancel this send process
std::cerr << "Grace Time passed for sending packet. Discarding it." << std::endl;
UE_LOG(LogTemp, Error, TEXT("Grace Time passed for sending packet. Discarding it."));
return false;
}
}
Expand All @@ -93,12 +93,12 @@ bool TCPConnection::SendMessage(const uint8_t *data, unsigned int length){
}else{
GraceTimeActive = false;
}
std::cout << "Send " << bytes_sent << " bytes from (" << total_bytes_to_send << "/" << length <<") Bytes ";

UE_LOG(LogTemp, Log, TEXT("Send %d bytes from (%d / %d) Bytes "), bytes_sent, total_bytes_to_send, length);
if(SendResult){
std::cout << " T ";
UE_LOG(LogTemp, Log, TEXT("T"));
}else{
std::cout << " F ";
UE_LOG(LogTemp, Log, TEXT("F"));
}

total_bytes_to_send -= bytes_sent;
Expand All @@ -108,7 +108,7 @@ bool TCPConnection::SendMessage(const uint8_t *data, unsigned int length){
// for (int i = 0; i < bytes_sent; i++) {
// std::cout << "0x" << std::setw(2) << std::setfill('0') << std::hex << (int)( data[i] );
// }
std::cout << std::dec << "<SendDataEnd:" << checksum << ">" << std::endl;
UE_LOG(LogTemp, Log, TEXT("<SendDataEnd:%d>"), checksum);
return true;
}

Expand All @@ -127,8 +127,7 @@ uint16_t TCPConnection::Fletcher16( const uint8_t *data, int count ){
}

int TCPConnection::ReceiverThreadFunction(){

std::cout<<"Receiving\n";
UE_LOG(LogTemp, Log, TEXT("Receiving"));
// uint32_t buf_size=1000000; // 1 MB
// char recv_buffer[buf_size];
// char* recv_buffer = new char[buf_size];
Expand Down Expand Up @@ -162,7 +161,7 @@ int TCPConnection::ReceiverThreadFunction(){
//

if(_sock->GetConnectionState()!=ESocketConnectionState::SCS_Connected){
std::cout << "Error on connection" << std::endl;
UE_LOG(LogTemp, Error, TEXT("Error on connection"));
ReportError(rosbridge2cpp::TransportError::R2C_SOCKET_ERROR);
return 2; // error while receiving from socket
}else{
Expand Down Expand Up @@ -199,12 +198,10 @@ int TCPConnection::ReceiverThreadFunction(){
// binary_data.Empty();
if(_sock->HasPendingData(count) && count > 0){
TArray<uint8> binary_temp;
std::cout << "d" << std::dec;
std::cout << count;
std::cout.flush();
UE_LOG(LogTemp, Log, TEXT("d%d"), count);

if(bson_state_read_length){
std::cout << "Reading length..." << std::endl;
UE_LOG(LogTemp, Log, TEXT("Reading length..."));
binary_buffer.Empty();
binary_temp.SetNumUninitialized(4);
if( _sock->Recv(binary_temp.GetData(), 4, bytes_read) ){
Expand All @@ -217,19 +214,19 @@ int TCPConnection::ReceiverThreadFunction(){
binary_temp.GetData()[1] << 8 |
binary_temp.GetData()[0]
);
std::cout << std::dec << "Total message length is: " << bson_msg_length << std::endl;
UE_LOG(LogTemp, Log, TEXT("Total message length is: %d"), bson_msg_length);
binary_buffer += binary_temp;
// Indicate the message retrieval mode
bson_state_read_length = false;
}else{
std::cerr << "bytes_read is not 4 in bson_state_read_length==true. It's: " << bytes_read << std::endl;
UE_LOG(LogTemp, Error, TEXT("bytes_read is not 4 in bson_state_read_length==true. It's: %d"), bytes_read);
}

}else{
std::cerr << "Failed to recv() even though data is pending. Count vs. bytes_read:" << count << "," << bytes_read << std::endl;
UE_LOG(LogTemp, Error, TEXT("Failed to recv() even though data is pending. Count vs. bytes_read: %d, %d"), count, bytes_read);
}
}else{
std::cout << "Message read mode" << std::endl;
UE_LOG(LogTemp, Log, TEXT("Message read mode"));
// Message retreival mode
// Recv message_length bytes
// append_data_to_buf
Expand All @@ -240,7 +237,7 @@ int TCPConnection::ReceiverThreadFunction(){
binary_temp.SetNumUninitialized(bson_msg_length - 4);
if( _sock->Recv(binary_temp.GetData(), bson_msg_length - 4, bytes_read) ){
if(bytes_read > bson_msg_length -4){
std::cerr << "Read more than bson length -4 !" << std::endl;
UE_LOG(LogTemp, Error, TEXT("Read more than bson length -4 !"));
}

binary_buffer += binary_temp;
Expand All @@ -250,12 +247,12 @@ int TCPConnection::ReceiverThreadFunction(){
bson_state_read_length = true;
// Full received message!
for (int i = 0; i < binary_buffer.Num(); i++) {
std::cout << "0x" << std::setw(2) << std::setfill('0') << std::hex << (int)( binary_buffer.GetData()[i] );
//std::cout << "0x" << std::setw(2) << std::setfill('0') << std::hex << (int)( binary_buffer.GetData()[i] );
}
std::cout << std::dec;
bson_t b;
if(!bson_init_static (&b, binary_buffer.GetData(), msg_size_in_buffer)){
std::cout << "Error on BSON parse - Ignoring message" << std::endl;
UE_LOG(LogTemp, Error, TEXT("Error on BSON parse - Ignoring message"));
continue;
}
if(incoming_message_callback_bson_){
Expand All @@ -264,10 +261,10 @@ int TCPConnection::ReceiverThreadFunction(){

binary_buffer.Empty();
}else{
std::cout << "Binary buffer num is:" << binary_buffer.Num() << std::endl;
UE_LOG(LogTemp, Log, TEXT("Binary buffer num is: %d"), binary_buffer.Num());
}
}else{
std::cerr << "Failed to recv() in message retreival mode even though data is pending. Count vs. bytes_read:" << count << "," << bytes_read << std::endl;
UE_LOG(LogTemp, Error, TEXT("Failed to recv() in message retreival mode even though data is pending. Count vs. bytes_read: %d, %d"), count, bytes_read);
}
}
}
Expand All @@ -276,8 +273,7 @@ int TCPConnection::ReceiverThreadFunction(){
}
// std::this_thread::sleep_for(std::chrono::milliseconds(100));
}else{
std::cout << ";";
std::cout.flush();
UE_LOG(LogTemp, Log, TEXT(";"));
while(_sock->HasPendingData(count) && count > 0){
FArrayReader data;
data.SetNumUninitialized(count);
Expand Down Expand Up @@ -305,7 +301,7 @@ int TCPConnection::ReceiverThreadFunction(){
}


std::cout << "[TCPConnection] Received message(" << received_data.length() << "): " << received_data << std::endl;
UE_LOG(LogTemp, Log, TEXT("[TCPConnection] Received message(%d)"), received_data.length());
// TODO catch parse error properly
// auto j = json::parse(received_data);
json j;
Expand Down Expand Up @@ -351,7 +347,7 @@ void TCPConnection::SetTransportMode(rosbridge2cpp::ITransportLayer::TransportMo
bson_only_mode_ = true;
break;
default:
std::cerr << "Given TransportMode Not implemented " << std::endl;
UE_LOG(LogTemp, Error, TEXT("Given TransportMode Not implemented"));
}

}

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