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

• cd SOURCE_DIR/release (or wget https://github.com/ADVRHumanoids/MatLogger2/raw/master/release/matlogger2-1.0.0-Linux.deb)
• sudo dpkg -i matlogger2-X.Y.Z-Linux.deb

The binary release has been tested only with Ubuntu 16.04

Linking against MatLogger2

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

} ```

## Documentation Header files are documented with doxygen! An online version is also available.