https://github.com/ADVRHumanoids/MatLogger2
Library for logging of numeric data to HDF5 MAT-files, which is RT-safe and multithreaded.
https://github.com/ADVRHumanoids/MatLogger2
Last synced: 2 months ago
JSON representation
Library for logging of numeric data to HDF5 MAT-files, which is RT-safe and multithreaded.
- Host: GitHub
- URL: https://github.com/ADVRHumanoids/MatLogger2
- Owner: ADVRHumanoids
- Created: 2019-01-07T14:42:16.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2024-04-22T13:40:22.000Z (about 1 year ago)
- Last Synced: 2025-03-22T04:41:45.363Z (3 months ago)
- Language: C
- Size: 10 MB
- Stars: 27
- Watchers: 8
- Forks: 5
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# MatLogger2
Library for logging of numeric data to HDF5 MAT-files, which is RT-safe and multithreaded.
## Building MatLogger2 from source
Standard cmake workflow:
- git clone the repo to *SOURCE_DIR*
- create a build folder *BUILD_DIR*
- cd *BUILD_DIR* && cmake *SOURCE_DIR*
- make
- make install
## Installing the binary release
- go to [GitHub release page](https://github.com/ADVRHumanoids/MatLogger2/releases) and download the latest binary
- sudo dpkg -i matlogger2-X.Y.Z-Linux.deb
The binary release has been tested only with Ubuntu 16.04
## Linking against MatLogger2
```cmake
find_package(matlogger2 REQUIRED)
target_link_libraries(mytarget matlogger2::matlogger2)
```
## Quick start
### Circular-buffer mode
```c++
#include
int main()
{
auto logger = XBot::MatLogger2::MakeLogger("/tmp/my_log"); // date-time automatically appended
logger->set_buffer_mode(XBot::VariableBuffer::Mode::circular_buffer);
for(int i = 0; i < 1e5; i++)
{
Eigen::VectorXd vec(10);
Eigen::MatrixXd mat(6,8);
logger->add("my_vec_var", vec);
logger->add("my_scalar_var", M_PI);
logger->add("my_mat_var", mat);
}
} // destructor flushes to disk
```
### Producer-consumer mode (default)
```c++
#include
#include
int main()
{
auto logger = XBot::MatLogger2::MakeLogger("/tmp/my_log.mat"); // extension provided -> date-time NOT appended
auto appender = XBot::MatAppender::MakeInstance();
appender->add_logger(logger);
appender->start_flush_thread();
for(int i = 0; i < 1e5; i++)
{
Eigen::VectorXd vec(10);
Eigen::MatrixXd mat(6,8);
logger->add("my_vec_var", vec);
logger->add("my_scalar_var", M_PI);
logger->add("my_mat_var", mat);
usleep(1000);
}
}
```
### Custom buffer size and compression
```c++
#include
int main()
{
XBot::MatLogger2::Options opt;
opt.default_buffer_size = 1e4; // set default buffer size
opt.enable_compression = true; // enable ZLIB compression
// this can be computationally expensive
auto logger = XBot::MatLogger2::MakeLogger("/tmp/my_log", opt);
logger->create("my_vec_var", 10); // this pre-allocates the buffer with default buffer size
logger->create("my_mat_var", 6, 8, 1e3); // custom buffer size can be set variable-wise
for(int i = 0; i < 1e5; i++)
{
Eigen::VectorXd vec(10);
Eigen::MatrixXd mat(6,8);
logger->add("my_vec_var", vec);
logger->add("my_scalar_var", M_PI);
logger->add("my_mat_var", mat);
usleep(1000);
}
logger.reset(); // manually destroy the logger in order to flush to disk
}
```
### Python bindings
If [`pybind11`](https://pybind11.readthedocs.io/en/stable/) can be found on your system, python2.7 bindings will be generated and installed. It'll then be possible to log `numpy` arrays and python lists in the same way as the C++ API works with `Eigen3` types and STL classes.
#### Python API vs C++
Main differences are:
- factories are replaced by simple constructors
#### Example
```python
import matlogger2.matlogger as ml
logger = ml.MatLogger2(file='/tmp/my_log',
enable_compression=True,# default value is False
default_buffer_size=int(1e5)) # default value is 1e4
logger.setBufferMode(ml.BufferMode.ProducerConsumer) # this is already the default choice
ap = ml.MatAppender()
ap.add_logger(logger)
ap.start_flush_thread()
logger.create('myvar', 5, 1, buffer_size=1000) # 5x1 variable
logger.add('myvar', [0, 1, 2, 3, 4])
del(logger) # destroy to force flushing
```
## Documentation
Header files are documented with doxygen! An [**online version**](https://advrhumanoids.github.io/MatLogger2/classXBot_1_1MatLogger2.html) is also available.