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Initial import of the host source code
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‎.gitignore‎

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# Microsoft Visual Studio Code
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.project
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.vscode/
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# Auto-generated
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shared/version.hpp

‎.gitmodules‎

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[submodule "host/py_module/3rdparty/pybind11"]
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path = host/py_module/3rdparty/pybind11
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url = https://github.com/pybind/pybind11.git
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branch = stable
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[submodule "host/core/3rdparty/loguru"]
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path = host/core/3rdparty/loguru
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url = https://github.com/emilk/loguru.git
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[submodule "shared/3rdparty/dldt"]
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path = shared/3rdparty/dldt
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url = https://github.com/opencv/dldt.git
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[submodule "shared/3rdparty/json"]
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path = shared/3rdparty/json
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url = https://github.com/nlohmann/json.git
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[submodule "shared/3rdparty/json-schema-validator"]
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path = shared/3rdparty/json-schema-validator
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url = https://github.com/pboettch/json-schema-validator.git

‎README.md‎

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# depthai-api
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Host-side DepthAI source code
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## Content description
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- **host** - contains the code which runs on the host computer (Raspberry Pi or a PC that has a DepthAI device connected). This part has:
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- **py_module** - python module (made only with C++ code with `pybind11`). Builds an `.so` libray that can be imported with python.
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- **app** - C++ app for easier debugging and development.
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- **core** - main functionality of the host, which is used in `py_module` and `app`.
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- **shared** - code that is shared between host and DepthAI device. This code gets also into the firmware binary `depthai.cmd`
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## Tested platforms
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- Ubuntu 16.04;
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- Ubuntu 18.04;
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- Raspbian 10;
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## Setup
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- Install development environement dependencies:
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sudo apt-get install -y git python-pip cmake cmake-gui libusb-1.0-0-dev
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- After cloning the repo, update the third-party libraries used:
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./install_dependencies.sh
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## Build and run
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- **host/py_module**
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cd host/py_module
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mkdir -p build
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cd build
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cmake ..
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make -j
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Alternatively, when this repo is used as a submodule in https://github.com/luxonis/depthai-python-extras, the build process can be automated with the script below, that is also copying the generated `.so` back to `depthai-python-extras`:
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- `./build_py_module.sh`
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first it does a full build, then at subsequent runs compiles only the modified source files.
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- `./build_py_module.sh --clean`
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cleans up the build folder and does a full rebuild.
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- **host/app**
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(Note: this is currently outdated and doesn't run properly)
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`DEPTHAI_EXTRAS_PATH` in `main.cpp` may have to be adjusted first.
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cd host/app
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mkdir -p build
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cd build
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cmake ..
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make -j
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./depthai_app
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‎build_py_module.sh‎

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#!/bin/bash
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INITIAL_DIR=`pwd`
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SOURCE_DIR=$(dirname "$0")
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BUILD_DIR=build
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NUM_CORES=`nproc`
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print_exec() {
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REL_PATH="realpath --relative-to=$INITIAL_DIR `pwd`"
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echo "[BUILD `$REL_PATH`] $@"
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"$@"
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}
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cd "$SOURCE_DIR/host/py_module"
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if [[ $1 = "--clean" ]]; then
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print_exec rm -r $BUILD_DIR
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fi
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mkdir -p $BUILD_DIR
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cd $BUILD_DIR
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if [ ! -f Makefile ]; then
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print_exec cmake ..
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fi
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print_exec make -j$NUM_CORES
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DEPTHAI_LIB=(*.so)
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print_exec cp ${DEPTHAI_LIB[0]} ../../../../
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‎host/app/.gitignore‎

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build/

‎host/app/CMakeLists.txt‎

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set(APP_NAME depthai_app)
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set(dldt_dir ../../shared/3rdparty/dldt)
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cmake_minimum_required(VERSION 2.8.12)
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project(${APP_NAME})
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add_definitions(-D__PC__)
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add_definitions(-DUSE_USB_VSC) # for XLink communication
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# add_definitions(-DXLINK_USB_DATA_TIMEOUT=0)
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# add_definitions(-DXLINK_COMMON_TIMEOUT_MSEC=0)
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if(CMAKE_COMPILER_IS_GNUCXX)
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set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}")
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message(STATUS "optional:-std=c++17")
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endif(CMAKE_COMPILER_IS_GNUCXX)
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# find_package(OpenCV REQUIRED )
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# find_package(PythonLibs 3 REQUIRED)
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include(${dldt_dir}/inference-engine/thirdparty/movidius/XLink/XLink.cmake)
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include_directories(
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./
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../core/
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../../shared/
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${XLINK_INCLUDE_DIRECTORIES}
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)
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# if(DEFINED BUILD_FOR_PYTHON)
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# message("building for python")
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# add_subdirectory(pybind11)
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# pybind11_add_module(
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# ${APP_NAME}
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# wrapper.cpp
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# program_raw_options.cpp
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# ../core/pipeline/host_pipeline.cpp
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# ../../shared/xlink/xlink_wrapper.cpp
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# ${XLINK_SOURCES}
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# )
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# else(DEFINED BUILD_FOR_PYTHON)
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message("building for direct")
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add_executable( ${APP_NAME}
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main.cpp
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program_raw_options.cpp
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../../shared/logger/logs_writer.cpp
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../../host/core/3rdparty/loguru/loguru.cpp
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../../shared/general/data_writer.cpp
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../../shared/json_helper.cpp
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host_logs_writer.cpp
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../core/pipeline/host_pipeline.cpp
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../core/pipeline/host_pipeline_config.cpp
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../core/pipeline/cnn_host_pipeline.cpp
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../../shared/stream/stream_info.cpp
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../../shared/xlink/xlink_wrapper.cpp
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../core/types.cpp
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../core/host_json_helper.cpp
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../core/host_data_reader.cpp
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../core/host_data_reader.cpp
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../core/disparity_stream_post_processor.cpp
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../../shared/disparity_luts.cpp
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${XLINK_SOURCES}
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)
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# endif(DEFINED BUILD_FOR_PYTHON)
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# nlohman JSON
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set(nlohmann_json_DIR ../../shared/3rdparty/json)
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include_directories(${nlohmann_json_DIR}/include/)
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set(JSON_BuildTests OFF CACHE INTERNAL "")
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/${nlohmann_json_DIR} ${CMAKE_CURRENT_BINARY_DIR}/json)
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# nlohman JSON validator
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set(BUILD_TESTS OFF CACHE INTERNAL "")
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set(BUILD_EXAMPLES OFF CACHE INTERNAL "")
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../../shared/3rdparty/json-schema-validator/ ${CMAKE_CURRENT_BINARY_DIR}/json-schema-validator)
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# for commit hash
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# TODO: maybe we shoud add it into another .cmake and than include here?
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find_package(Git)
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set(commit_version "unknown")
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if(GIT_FOUND)
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execute_process(
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COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
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WORKING_DIRECTORY "${local_dir}"
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OUTPUT_VARIABLE commit_version
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ERROR_QUIET
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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else()
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message(STATUS "GIT module not found")
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endif()
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/../../shared/version.hpp.in ${CMAKE_CURRENT_SOURCE_DIR}/../../shared/version.hpp @ONLY)
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# link libraries
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target_link_libraries(
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${APP_NAME}
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PRIVATE
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-lusb-1.0
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-lpthread
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-ldl
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nlohmann_json::nlohmann_json
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nlohmann_json_schema_validator
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)

‎host/app/host_logs_writer.cpp‎

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#include <assert.h>
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#include <iostream>
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#include <array>
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#include "../../host/core/3rdparty/loguru/loguru.hpp"
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#include <host_logs_writer.hpp>
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HostLogsWriter* HostLogsWriter::createInstanse()
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{
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if(instance) { std::cout << "HostLogsWriter instannce has already been created" << std::endl; }
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else { instance = new HostLogsWriter; };
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}
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bool HostLogsWriter::init
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(
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LogType log_type,
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bool logs_to_file,
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bool logs_to_screen,
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const std::string& file_path
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)
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{
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loguru::g_preamble_uptime = false;
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loguru::g_preamble_thread = false;
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loguru::g_preamble_file = false;
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std::array<loguru::Verbosity, 4> loguru_log_level =
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{
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loguru::Verbosity_FATAL,
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loguru::Verbosity_ERROR,
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loguru::Verbosity_WARNING,
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loguru::Verbosity_INFO
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};
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assert(log_type < loguru_log_level.size());
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loguru::g_stderr_verbosity = loguru_log_level[log_type];
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if (logs_to_file) { loguru::add_file(file_path.c_str(), loguru::Append, loguru_log_level[log_type]); };
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}
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void HostLogsWriter::log
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(
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LogType log_type,
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const std::string& msg
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)
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{
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if (log_type == 0) { LOG_F(FATAL, msg.c_str()); }
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else if (log_type == 1) { LOG_F(ERROR, msg.c_str()); }
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else if (log_type == 2) { LOG_F(WARNING, msg.c_str()); }
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else if (log_type == 3) { LOG_F(INFO, msg.c_str()); }
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}

‎host/app/host_logs_writer.hpp‎

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#include <iostream>
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#include <../../shared/logger/logs_writer.hpp>
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class HostLogsWriter
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: public LogsWriter
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{
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protected:
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HostLogsWriter () {}
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virtual ~HostLogsWriter() {}
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public:
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bool init (LogType log_type, bool logs_to_file, bool logs_to_screen, const std::string& file_path) override;
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void log (LogType log_type, const std::string& msg) override;
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static HostLogsWriter* createInstanse();
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};

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