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unitree_SDK/include/unitree/common/log/log_logger.hpp

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+#ifndef __UT_LOGGER_HPP__
+#define __UT_LOGGER_HPP__
+
+#include <unitree/common/log/log_store.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class LogBuilder
+{
+public:
+    LogBuilder()
+    {}
+
+    template<typename T>
+    LogBuilder& operator()(const std::string& key, const T& value)
+    {
+        mOs << "\t" << key << ":" << value;
+        return *this;
+    }
+
+    std::ostringstream mOs;
+};
+
+class Logger
+{
+public:
+    explicit Logger(int32_t level, LogStorePtr storePtr) :
+        mLevel(level), mStorePtr(storePtr)
+    {}
+
+    template<typename ...Args>
+    void Log(int32_t level, Args&&... args)
+    {
+        if (level > mLevel || mStorePtr == NULL)
+        {
+            return;
+        }
+
+        std::ostringstream os;
+        LogBegin(os, level);
+        LogPend(os, std::forward<Args>(args)...);
+        LogEnd(os);
+
+        mStorePtr->Append(os.str());
+    }
+
+    void LogFormat(int32_t level, LogBuilder& builder)
+    {
+        if (level > mLevel || mStorePtr == NULL)
+        {
+            return;
+        }
+
+        std::ostringstream os;
+        LogBegin(os, level);
+        LogPendBuilder(os, builder);
+        LogEnd(os);
+
+        mStorePtr->Append(os.str());
+    }
+
+    template<typename ...Args>
+    void CritLog(int32_t level, const std::string& key, int32_t code, Args&&... args)
+    {
+        if (level > mLevel || mStorePtr == NULL)
+        {
+            return;
+        }
+
+        std::ostringstream os;
+        LogBegin(os, level);
+        LogPendCrit(os, key, code);
+        LogPend(os, std::forward<Args>(args)...);
+        LogEnd(os);
+
+        mStorePtr->Append(os.str());
+    }
+
+    void CritLogFormat(int32_t level, const std::string& key, int32_t code, LogBuilder& builder)
+    {
+        if (level > mLevel || mStorePtr == NULL)
+        {
+            return;
+        }
+
+        std::ostringstream os;
+        LogBegin(os, level);
+        LogPendCrit(os, key, code);
+        LogPendBuilder(os, builder);
+        LogEnd(os);
+
+        mStorePtr->Append(os.str());
+    }
+
+private:
+    void LogPendCrit(std::ostringstream& os, const std::string& key, int32_t code)
+    {
+        os << " [__KEY__:" << key << "]";
+        os << " [__CODE__:" << code << "]";
+    }
+
+    template<typename ...Args>
+    void LogPend(std::ostringstream& os, Args&&... args)
+    {
+        os << " ";
+        std::initializer_list<int32_t>{ (os << args, 0)... };
+    }
+
+    void LogPendBuilder(std::ostringstream& os, LogBuilder& builder)
+    {
+        os << builder.mOs.str();
+    }
+
+    void LogBegin(std::ostringstream& os, int32_t level)
+    {
+        os << "[" << GetTimeMillisecondString() << "] ";
+        os << "[" << GetLogLevelDesc(level) << "] ";
+        os << "[" << OsHelper::Instance()->GetProcessId() << "] ";
+        os << "[" << OsHelper::Instance()->GetTid() << "]";
+        os << std::setprecision(6) << std::fixed;
+    }
+
+    void LogEnd(std::ostringstream& os)
+    {
+        os << std::endl;
+    }
+
+private:
+    int32_t mLevel;
+    LogStorePtr mStorePtr;
+};
+
+typedef std::shared_ptr<Logger> LoggerPtr;
+}
+}
+
+#endif//__UT_LOGGER_HPP__