openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <pthread.h>
#include <zmq.h>
#include <json.h>
#include "common/timing.h"
#include "common/version.h"
#include "swaglog.h"
typedef struct LogState {
pthread_mutex_t lock;
bool inited;
JsonNode *ctx_j;
void *zctx;
void *sock;
int print_level;
} LogState;
static LogState s = {
.lock = PTHREAD_MUTEX_INITIALIZER,
};
static void cloudlog_bind_locked(const char* k, const char* v) {
json_append_member(s.ctx_j, k, json_mkstring(v));
}
static void cloudlog_init() {
if (s.inited) return;
s.ctx_j = json_mkobject();
s.zctx = zmq_ctx_new();
s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
zmq_connect(s.sock, "ipc:///tmp/logmessage");
s.print_level = CLOUDLOG_WARNING;
const char* print_level = getenv("LOGPRINT");
if (print_level) {
if (strcmp(print_level, "debug") == 0) {
s.print_level = CLOUDLOG_DEBUG;
} else if (strcmp(print_level, "info") == 0) {
s.print_level = CLOUDLOG_INFO;
} else if (strcmp(print_level, "warning") == 0) {
s.print_level = CLOUDLOG_WARNING;
}
}
// openpilot bindings
char* dongle_id = getenv("DONGLE_ID");
if (dongle_id) {
cloudlog_bind_locked("dongle_id", dongle_id);
}
cloudlog_bind_locked("version", COMMA_VERSION);
bool dirty = !getenv("CLEAN");
json_append_member(s.ctx_j, "dirty", json_mkbool(dirty));
s.inited = true;
}
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
const char* fmt, ...) {
pthread_mutex_lock(&s.lock);
cloudlog_init();
char* msg_buf = NULL;
va_list args;
va_start(args, fmt);
vasprintf(&msg_buf, fmt, args);
va_end(args);
if (!msg_buf) {
pthread_mutex_unlock(&s.lock);
return;
}
if (levelnum >= s.print_level) {
printf("%s: %s\n", filename, msg_buf);
}
JsonNode *log_j = json_mkobject();
assert(log_j);
json_append_member(log_j, "msg", json_mkstring(msg_buf));
json_append_member(log_j, "ctx", s.ctx_j);
json_append_member(log_j, "levelnum", json_mknumber(levelnum));
json_append_member(log_j, "filename", json_mkstring(filename));
json_append_member(log_j, "lineno", json_mknumber(lineno));
json_append_member(log_j, "funcname", json_mkstring(func));
json_append_member(log_j, "created", json_mknumber(seconds_since_epoch()));
char* log_s = json_encode(log_j);
assert(log_s);
json_remove_from_parent(s.ctx_j);
json_delete(log_j);
free(msg_buf);
char levelnum_c = levelnum;
zmq_send(s.sock, &levelnum_c, 1, ZMQ_NOBLOCK | ZMQ_SNDMORE);
zmq_send(s.sock, log_s, strlen(log_s), ZMQ_NOBLOCK);
free(log_s);
pthread_mutex_unlock(&s.lock);
}
void cloudlog_bind(const char* k, const char* v) {
pthread_mutex_lock(&s.lock);
cloudlog_init();
cloudlog_bind_locked(k, v);
pthread_mutex_unlock(&s.lock);
}