aimrt.log

Configuration Overview

The aimrt.log configuration is used to set up logging. The detailed configuration items are described below:

Node	Type	Optional	Default Value	Purpose
core_lvl	string	Optional	“Info”	Framework log level
default_module_lvl	string	Optional	“Info”	Default module log level
backends	array	Optional	“”	List of log backends
backends[i].type	string	Required	“”	Log backend type
backends[i].options	map	Optional	-	Configuration for specific log backend

The available log levels (case-insensitive) include:

Trace
Debug
Info
Warn
Error
Fatal
Off

Configuration notes for aimrt.log:

core_lvl represents the log level for the AimRT runtime kernel. Kernel logs are generally set to Info level.
default_module_lvl is the default log level for modules.
backends is an array used to register various log backends.
- backends[i].type specifies the type of log backend. AimRT officially provides several log backend types, and some plugins may offer additional ones. Some backends allow duplicate registration - refer to the corresponding backend documentation for details.
- backends[i].options contains initialization parameters passed by AimRT to each log backend. The format of these configurations is defined by each log backend type - refer to the corresponding backend documentation.

Here’s a simple example:

aimrt:
  log:
    core_lvl: INFO
    default_module_lvl: INFO
    backends:
      - type: console
      - type: rotate_file
        options:
          path: ./log
          filename: examples_cpp_executor_real_time.log

Console Log Backend

The console log backend is an official AimRT log backend that prints logs to the console. All its configuration items are:

Node	Type	Optional	Default Value	Purpose
color	bool	Optional	true	Whether to use color output
module_filter	string	Optional	“(.*)”	Module filter
log_executor_name	string	Optional	“”	Log executor (defaults to main thread)
pattern	string	Optional	“[%c.%f][%l][%t][%n][%g:%R @%F]%v”	Log output format

Usage notes:

The console log backend does not allow duplicate registration - only one instance is permitted per AimRT instance.
color configures colored output, which may not be supported on some operating systems.
module_filter uses regular expressions to specify which module logs can be processed by this backend. Unlike module log levels (which are global and affect all backends), this configuration only affects this specific backend.
log_executor_name specifies the log executor, which must be thread-safe. If not configured, it defaults to using the guard thread for log printing.
pattern formats output using "%" + character sequences. Available formats:

Format	Explanation	Example
%c	Full date and time	2024-03-15 14:30:45
%Y	Year	2024
%m	Month	03
%d	Day	15
%H	Hour	14
%M	Minute	30
%S	Second	45
%D	Date only	2024-03-15
%T	Time only	14:30:45
%f	Microseconds	123456
%A	Weekday name	Sunday
%a	Abbreviated weekday	Sun
%l	Log level	Info
%t	Thread ID	1234
%n	Module name	test_module
%G	Filename (last component)	test_file.cpp
%g	Filename (full path)	/XX/YY/ZZ/test_file.cpp
%R	Line number	20
%F	Function name	TestFunc
%v	Log message content	“This is a log message”
%other	Displays the character	`%q` shows `q`, `%%` shows `%`

Here’s a simple example:

aimrt:
  executor:
    executors:
      - name: test_log_executor
        type: tbb_thread
        options:
          thread_num: 1
  log:
    core_lvl: INFO
    default_module_lvl: INFO
    backends:
      - type: console
        options:
          color: true
          module_filter: "(.*)"
          log_executor_name: test_log_executor.log

Rotate File Log Backend

The rotate_file log backend is an official AimRT log backend that prints logs to files. All its configuration items are:

Node	Type	Optional	Default Value	Purpose
path	string	Required	“./log”	Log file directory
filename	string	Required	“aimrt.log”	Base filename for log files
max_file_size_m	unsigned int	Optional	16	Maximum log file size (MB)
max_file_num	unsigned int	Optional	100	Maximum number of log files (0 means unlimited)
module_filter	string	Optional	“(.*)”	Module filter
log_executor_name	string	Optional	“”	Log executor (defaults to main thread)
pattern	string	Optional	“[%c.%f][%l][%t][%n][%g:%R @%F]%v”	Log output format
enable_sync	bool	Optional	false	Whether to enable periodic disk sync
sync_interval_ms	unsigned int	Optional	30000	Sync interval (ms)
sync_executor_name	string	Conditionally Required	“”	Sync executor (required when `enable_sync` is true)

Usage notes:

The rotate_file log backend allows duplicate registration, enabling different modules to log to different files.
path specifies the directory for log files. If the path doesn’t exist, it will be created. Creation failure throws an exception.
filename specifies the base name for log files.
When a log file exceeds max_file_size_m, a new file is created and the old one is renamed with an _x suffix.
When the number of log files exceeds max_file_num, the oldest file is deleted. Setting this to 0 means files are never deleted.
module_filter uses regular expressions to specify which module logs can be processed by this backend.
log_executor_name specifies the log executor, which must be thread-safe. If not configured, it defaults to using the guard thread.
pattern formats output using "%" + character sequences (see Console Log Backend for format details).
enable_sync enables periodic disk syncing to ensure data integrity (with performance impact).
sync_interval_ms sets the sync interval (ms). Balance between data integrity and performance.
sync_executor_name specifies the executor for periodic syncing, which must support timer scheduling.

Here’s a simple example:

aimrt:
  executor:
    executors:
      - name: test_log_executor
        type: tbb_thread
        options:
          thread_num: 1
  log:
    core_lvl: INFO
    default_module_lvl: INFO
    backends:
      - type: rotate_file
        options:
          path: ./log
          filename: example.log
          max_file_size_m: 4
          max_file_num: 10
          module_filter: "(.*)"
          log_executor_name: test_log_executor.log