Added printThreadId option in ULogger

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -132,6 +132,7 @@ public:
 	int getGeneralLoggerPauseLevel() const;
 	int getGeneralLoggerType() const;
 	bool getGeneralLoggerPrintTime() const;
+	bool getGeneralLoggerPrintThreadId() const;
 	bool isVerticalLayoutUsed() const;
 	bool imageRejectedShown() const;
 	bool imageHighestHypShown() const;

guilib/src/MainWindow.cpp

@@ -2418,6 +2418,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 		ULogger::setType((ULogger::Type)_preferencesDialog->getGeneralLoggerType(),
 						 (_preferencesDialog->getWorkingDirectory()+QDir::separator()+LOG_FILE_NAME).toStdString(), true);
 		ULogger::setPrintTime(_preferencesDialog->getGeneralLoggerPrintTime());
+		ULogger::setPrintThreadId(_preferencesDialog->getGeneralLoggerPrintThreadId());
 	}
 }
 

guilib/src/PreferencesDialog.cpp

@@ -329,6 +329,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->comboBox_loggerEventLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
 	connect(_ui->comboBox_loggerPauseLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
 	connect(_ui->checkBox_logger_printTime, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
+	connect(_ui->checkBox_logger_printThreadId, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
 	connect(_ui->comboBox_loggerType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
 
 	//Source panel
@@ -1121,6 +1122,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->comboBox_loggerEventLevel->setCurrentIndex(3);
 		_ui->comboBox_loggerPauseLevel->setCurrentIndex(3);
 		_ui->checkBox_logger_printTime->setChecked(true);
+		_ui->checkBox_logger_printThreadId->setChecked(false);
 		_ui->comboBox_loggerType->setCurrentIndex(1);
 	}
 	else if(groupBox->objectName() == _ui->groupBox_source0->objectName())
@@ -1381,6 +1383,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 	_ui->comboBox_loggerPauseLevel->setCurrentIndex(settings.value("loggerPauseLevel", _ui->comboBox_loggerPauseLevel->currentIndex()).toInt());
 	_ui->comboBox_loggerType->setCurrentIndex(settings.value("loggerType", _ui->comboBox_loggerType->currentIndex()).toInt());
 	_ui->checkBox_logger_printTime->setChecked(settings.value("loggerPrintTime", _ui->checkBox_logger_printTime->isChecked()).toBool());
+	_ui->checkBox_logger_printThreadId->setChecked(settings.value("loggerPrintThreadId", _ui->checkBox_logger_printThreadId->isChecked()).toBool());
 	_ui->checkBox_verticalLayoutUsed->setChecked(settings.value("verticalLayoutUsed", _ui->checkBox_verticalLayoutUsed->isChecked()).toBool());
 	_ui->checkBox_imageRejectedShown->setChecked(settings.value("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked()).toBool());
 	_ui->checkBox_imageHighestHypShown->setChecked(settings.value("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked()).toBool());
@@ -1730,6 +1733,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 	settings.setValue("loggerPauseLevel",     _ui->comboBox_loggerPauseLevel->currentIndex());
 	settings.setValue("loggerType",           _ui->comboBox_loggerType->currentIndex());
 	settings.setValue("loggerPrintTime",      _ui->checkBox_logger_printTime->isChecked());
+	settings.setValue("loggerPrintThreadId",  _ui->checkBox_logger_printThreadId->isChecked());
 	settings.setValue("verticalLayoutUsed",   _ui->checkBox_verticalLayoutUsed->isChecked());
 	settings.setValue("imageRejectedShown",   _ui->checkBox_imageRejectedShown->isChecked());
 	settings.setValue("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked());
@@ -3443,6 +3447,10 @@ bool PreferencesDialog::getGeneralLoggerPrintTime() const
 {
 	return _ui->checkBox_logger_printTime->isChecked();
 }
+bool PreferencesDialog::getGeneralLoggerPrintThreadId() const
+{
+	return _ui->checkBox_logger_printThreadId->isChecked();
+}
 bool PreferencesDialog::isVerticalLayoutUsed() const
 {
 	return _ui->checkBox_verticalLayoutUsed->isChecked();

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-366</y>
+            <y>0</y>
             <width>633</width>
             <height>2118</height>
            </rect>
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>13</number>
+                <number>2</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1555,7 +1555,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                       </property>
                      </widget>
                     </item>
-                    <item row="4" column="0">
+                    <item row="5" column="0">
                      <widget class="QComboBox" name="comboBox_loggerType">
                       <property name="currentIndex">
                        <number>1</number>
@@ -1580,7 +1580,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                       </item>
                      </widget>
                     </item>
-                    <item row="4" column="1">
+                    <item row="5" column="1">
                      <widget class="QLabel" name="label_68">
                       <property name="text">
                        <string>Logger type: 
@@ -1594,6 +1594,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                       </property>
                      </widget>
                     </item>
+                    <item row="4" column="1">
+                     <widget class="QLabel" name="label_118">
+                      <property name="text">
+                       <string>Logger print thread ID.</string>
+                      </property>
+                      <property name="wordWrap">
+                       <bool>true</bool>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="4" column="0">
+                     <widget class="QCheckBox" name="checkBox_logger_printThreadId">
+                      <property name="text">
+                       <string/>
+                      </property>
+                      <property name="checked">
+                       <bool>false</bool>
+                      </property>
+                     </widget>
+                    </item>
                    </layout>
                   </widget>
                  </item>
@@ -10899,7 +10922,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
   <customwidget>
    <class>UPlot</class>
    <extends>QWidget</extends>
-   <header>rtabmap/utilite/UPlot.h</header>
+   <header>../include/rtabmap/utilite/UPlot.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>

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);