Added printThreadId option in ULogger

utilite/include/rtabmap/utilite/ULogger.h

@@ -298,6 +298,13 @@ public:
     static void setPrintWhere(bool printWhere) {printWhere_ = printWhere;}
     static bool isPrintWhere() {return printWhere_;}
 
+    /**
+	 * Print thread ID: default false.
+	 * @param printThreadId true to print where, otherwise set to false.
+	 */
+	static void setPrintThreadId(bool printThreadId) {printThreadID_ = printThreadId;}
+	static bool isPrintThreadId() {return printThreadID_;}
+
     /**
      * Print the full path: default true. ULogger::setPrintWhere() must be true to have path printed.
 	 * @param printWhereFullPath true to print the full path, otherwise set to false.
@@ -507,6 +514,12 @@ private:
 	 */
     static bool printWhereFullPath_;
 
+    /*
+	 * If the logger prints the thread ID.
+	 * Default is false.
+	 */
+    static bool printThreadID_;
+
     /*
 	 * If the logger limit the size of the "where" path to
 	 * characters. If the path is over 8 characters, a "~"

utilite/include/rtabmap/utilite/UThread.h

@@ -91,6 +91,10 @@ public:
      */
     enum Priority{kPLow, kPBelowNormal, kPNormal, kPAboveNormal, kPRealTime};
 
+public:
+    //return caller thread id
+    static unsigned long currentThreadId() {return (unsigned long)UThreadC<void>::Self();}
+
 public:
     /**
      * The constructor.
@@ -165,7 +169,7 @@ public:
     bool isKilled() const;
 
     Handle getThreadHandle() const {return handle_;}
-
+    unsigned long getThreadId() const {return threadId_;}
 
 protected:
 
@@ -248,18 +252,14 @@ private:
 
 private:
 	void operator=(UThread & t) {}
-	UThread( const UThread & t ) {}
+	UThread( const UThread & t ) : state_(kSIdle) {}
 
 private:
     enum State{kSIdle, kSCreating, kSRunning, kSKilled}; /* Enum of states. */
     State state_; 			/* The thread state. */
     Priority priority_; 	/* The thread priority. */
     Handle handle_; 	/* The thread handle. */
-#ifdef _WIN32
-    int threadId_; 			/* The thread id. */
-#else
     unsigned long threadId_; /* The thread id. */
-#endif
     int cpuAffinity_; /* The cpu affinity. */
     UMutex killSafelyMutex_;	/* Mutex used to protect the kill() method. */
     UMutex runningMutex_;	    /* Mutex used to notify the join method when the thread has finished. */

utilite/include/rtabmap/utilite/Win32/UThreadC.h

@@ -321,7 +321,7 @@ class UTILITE_EXP UThreadC<void>
     }
 
     int Create(
-      int                 & ThreadId,
+      unsigned long       & ThreadId,
       Handle  * const     & H               = 0,
       const bool          & CreateDetached  = false,
       const unsigned int  & StackSize       = 0,
@@ -330,7 +330,9 @@ class UTILITE_EXP UThreadC<void>
     ) const
     {
     	*H = InvalidHandle;
-    	*H = CREATE_THREAD2(StackSize,ThreadMainHandler,this, (LPDWORD)&ThreadId);
+    	int id;
+    	*H = CREATE_THREAD2(StackSize,ThreadMainHandler,this, (LPDWORD)&id);
+    	ThreadId = (unsigned long)id;
 
       if ( *H == CREATE_THREAD_FAILED )
       {

utilite/src/ULogger.cpp

@@ -50,6 +50,7 @@ bool ULogger::printEndline_ = true;
 bool ULogger::printColored_ = true;
 bool ULogger::printWhere_ = true;
 bool ULogger::printWhereFullPath_ = false;
+bool ULogger::printThreadID_ = false;
 bool ULogger::limitWhereLength_ = false;
 bool ULogger::buffered_ = false;
 bool ULogger::exitingState_ = false;
@@ -210,6 +211,7 @@ void ULogger::reset()
 	printColored_ = true;
 	printWhere_ = true;
 	printWhereFullPath_ = false;
+	printThreadID_ = false;
 	limitWhereLength_ = false;
 	level_ = kInfo; // By default, we show all info msgs + upper level (Warning, Error)
 	logFileName_ = ULogger::kDefaultLogFileName;
@@ -383,6 +385,12 @@ void ULogger::write(ULogger::Level level,
 			levelStr.append(" ");
 		}
 
+		std::string pidStr;
+		if(printThreadID_)
+		{
+			pidStr = uFormat("{%lu} ", UThread::currentThreadId());
+		}
+
 		std::string whereStr = "";
 		if(printWhere_ || level == kFatal)
 		{
@@ -449,6 +457,7 @@ void ULogger::write(ULogger::Level level,
 			if(buffered_)
 			{
 				bufferedMsgs_.append(levelStr.c_str());
+				bufferedMsgs_.append(pidStr.c_str());
 				bufferedMsgs_.append(time.c_str());
 				bufferedMsgs_.append(whereStr.c_str());
 				bufferedMsgs_.append(uFormatv(msg, args));
@@ -456,6 +465,7 @@ void ULogger::write(ULogger::Level level,
 			else
 			{
 				ULogger::getInstance()->_writeStr(levelStr.c_str());
+				ULogger::getInstance()->_writeStr(pidStr.c_str());
 				ULogger::getInstance()->_writeStr(time.c_str());
 				ULogger::getInstance()->_writeStr(whereStr.c_str());
 				ULogger::getInstance()->_write(msg, args);
@@ -488,7 +498,7 @@ void ULogger::write(ULogger::Level level,
 
 		if(level >= eventLevel_)
 		{
-			std::string fullMsg = uFormat("%s%s%s", levelStr.c_str(), time.c_str(), whereStr.c_str());
+			std::string fullMsg = uFormat("%s%s%s%s", levelStr.c_str(), pidStr.c_str(), time.c_str(), whereStr.c_str());
 			va_start(args, msg);
 			fullMsg.append(uFormatv(msg, args));
 			va_end(args);
@@ -510,7 +520,7 @@ void ULogger::write(ULogger::Level level,
 			printf("\n*******\n%s message occurred! Application will now exit.\n", levelName_[level]);
 			if(type_ != kTypeConsole)
 			{
-				printf("  %s%s%s", levelStr.c_str(), time.c_str(), whereStr.c_str());
+				printf("  %s%s%s%s", levelStr.c_str(), pidStr.c_str(), time.c_str(), whereStr.c_str());
 				va_start(args, msg);
 				vprintf(msg, args);
 				va_end(args);