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

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+#ifndef __LOG_WRITER_HPP__
+#define __LOG_WRITER_HPP__
+
+#include <unitree/common/log/log_buffer.hpp>
+#include <unitree/common/log/log_keeper.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class LogWriter
+{
+public:
+    virtual void Write(const std::string& s) = 0;
+};
+
+typedef std::shared_ptr<LogWriter> LogWriterPtr;
+
+class LogDirectWriter : public LogWriter
+{
+public:
+    explicit LogDirectWriter(int32_t fd);
+    virtual ~LogDirectWriter();
+
+    void Write(const std::string& s);
+
+private:
+    Mutex mLock;
+    int32_t mFd;
+};
+
+class LogStdoutWriter : public LogDirectWriter
+{
+public:
+    explicit LogStdoutWriter() :
+        LogDirectWriter(UT_FD_STDOUT)
+    {}
+    ~LogStdoutWriter()
+    {}
+};
+
+class LogStderrWriter : public LogDirectWriter
+{
+public:
+    explicit LogStderrWriter() :
+        LogDirectWriter(UT_FD_STDERR)
+    {}
+    ~LogStderrWriter()
+    {}
+};
+
+class LogBufferWriter : public LogWriter
+{
+public:
+    explicit LogBufferWriter(LogKeeperPtr keeperPtr);
+    ~LogBufferWriter();
+
+    void Write(const std::string& s);
+
+private:
+    LogBufferPtr mBufferPtr;
+    LogKeeperPtr mKeeperPtr;
+    Mutex mLock;
+};
+
+class LogAsyncBufferWriter : public LogWriter
+{
+public:
+    explicit LogAsyncBufferWriter(LogKeeperPtr keeperPtr);
+    ~LogAsyncBufferWriter();
+
+    void Write(const std::string& s);
+
+private:
+    void DoWrite();
+
+private:
+    volatile bool mRotate;
+    std::string mTempBuf;
+    LogBufferPtr mBufferPtr;
+    LogKeeperPtr mKeeperPtr;
+    ThreadPtr mThreadPtr;
+    Mutex mLock;
+};
+}
+}
+
+#endif//__LOG_WRITER_HPP__