Dreamview: improve logging (#3922)

* Dreamview: improve logging

* fix lint

modules/dreamview/backend/dreamview.cc

@@ -106,9 +106,9 @@ Status Dreamview::Init() {
   server_.reset(new CivetServer(options));
 
   image_.reset(new ImageHandler());
-  websocket_.reset(new WebSocketHandler());
-  map_ws_.reset(new WebSocketHandler());
-  point_cloud_ws_.reset(new WebSocketHandler());
+  websocket_.reset(new WebSocketHandler("SimWorld"));
+  map_ws_.reset(new WebSocketHandler("Map"));
+  point_cloud_ws_.reset(new WebSocketHandler("PointCloud"));
   map_service_.reset(new MapService());
   sim_control_.reset(new SimControl(map_service_.get()));
 

modules/dreamview/backend/handlers/websocket_handler.cc

@@ -34,7 +34,8 @@ void WebSocketHandler::handleReadyState(CivetServer *server, Connection *conn) {
   {
     std::unique_lock<std::mutex> lock(mutex_);
     connections_.emplace(conn, std::make_shared<std::mutex>());
-    AINFO << "Accepted connection. Total connections: " << connections_.size();
+    AINFO << name_ << ": Accepted connection. Total connections: "
+          << connections_.size();
   }
 
   // Trigger registered new connection handlers.
@@ -56,7 +57,8 @@ void WebSocketHandler::handleClose(CivetServer *server,
       std::unique_lock<std::mutex> lock(*connection_lock);
       connections_.erase(connection);
     }
-    AINFO << "Connection closed. Total connections: " << connections_.size();
+    AINFO << name_
+          << ": Connection closed. Total connections: " << connections_.size();
   }
 }
 
@@ -94,7 +96,8 @@ bool WebSocketHandler::SendData(Connection *conn, const std::string &data,
   {
     std::unique_lock<std::mutex> lock(mutex_);
     if (!ContainsKey(connections_, conn)) {
-      AERROR << "Trying to send to an uncached connection, skipping.";
+      AERROR << name_
+             << ": Trying to send to an uncached connection, skipping.";
       return false;
     }
     // Copy the lock so that it still exists if the connection is closed after
@@ -122,8 +125,9 @@ bool WebSocketHandler::SendData(Connection *conn, const std::string &data,
   // Note that while we are holding the connection lock, the connection won't be
   // closed and removed.
   int ret;
-  PERF_BLOCK(StrCat("Writing ", data.size(), " bytes via websocket took"),
-             0.1) {
+  PERF_BLOCK(
+      StrCat(name_, ": Writing ", data.size(), " bytes via websocket took"),
+      0.1) {
     ret = mg_websocket_write(conn, op_code, data.c_str(), data.size());
   }
   connection_lock->unlock();
@@ -144,7 +148,8 @@ bool WebSocketHandler::SendData(Connection *conn, const std::string &data,
       msg = StrCat("Expect to send ", data.size(), " bytes. But sent ", ret,
                    " bytes");
     }
-    AWARN << "Failed to send data via websocket connection. Reason: " << msg;
+    AWARN << name_
+          << ": Failed to send data via websocket connection. Reason: " << msg;
     return false;
   }
 
@@ -181,7 +186,7 @@ bool WebSocketHandler::handleData(CivetServer *server, Connection *conn,
         result = handleBinaryData(conn, data_.str());
         break;
       default:
-        AERROR << "Unknown WebSocket bits flag: " << bits;
+        AERROR << name_ << ": Unknown WebSocket bits flag: " << bits;
         break;
     }
 

modules/dreamview/backend/handlers/websocket_handler.h

@@ -56,6 +56,8 @@ class WebSocketHandler : public CivetWebSocketHandler {
   using MessageHandler = std::function<void(const Json &, Connection *)>;
   using ConnectionReadyHandler = std::function<void(Connection *)>;
 
+  explicit WebSocketHandler(const std::string &name) : name_(name) {}
+
   /**
    * @brief Callback method for when the client intends to establish a websocket
    * connection, before websocket handshake.
@@ -149,6 +151,8 @@ class WebSocketHandler : public CivetWebSocketHandler {
   }
 
  private:
+  const std::string name_;
+
   // Message handlers keyed by message type.
   std::unordered_map<std::string, MessageHandler> message_handlers_;
   // New connection ready handlers.

modules/dreamview/backend/handlers/websocket_handler_test.cc

@@ -53,7 +53,7 @@ class MockClient {
 };
 std::vector<std::string> MockClient::received_messages_;
 
-static WebSocketHandler handler;
+static WebSocketHandler handler("Test");
 
 TEST(WebSocketTest, IntegrationTest) {
   // NOTE: Here a magic number is picked up as the port, which is not ideal but

modules/dreamview/backend/simulation_world/simulation_world_service.cc

@@ -272,7 +272,7 @@ void SimulationWorldService::Update() {
   UpdateWithLatestObserved("PerceptionObstacles",
                            AdapterManager::GetPerceptionObstacles());
   UpdateWithLatestObserved("PerceptionTrafficLight",
-                           AdapterManager::GetTrafficLightDetection());
+                           AdapterManager::GetTrafficLightDetection(), false);
   UpdateWithLatestObserved("PredictionObstacles",
                            AdapterManager::GetPrediction());
   UpdateWithLatestObserved("Planning", AdapterManager::GetPlanning());

modules/dreamview/backend/simulation_world/simulation_world_service.h

@@ -185,10 +185,12 @@ class SimulationWorldService {
    */
   template <typename AdapterType>
   void UpdateWithLatestObserved(const std::string &adapter_name,
-                                AdapterType *adapter) {
+                                AdapterType *adapter, bool logging = true) {
     if (adapter->Empty()) {
-      AINFO_EVERY(100) << adapter_name
-                       << " adapter has not received any data yet.";
+      if (logging) {
+        AINFO_EVERY(100) << adapter_name
+                         << " adapter has not received any data yet.";
+      }
       return;
     }
 

modules/dreamview/backend/simulation_world/simulation_world_updater.cc

@@ -92,6 +92,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
   websocket_->RegisterMessageHandler(
       "Binary",
       [this](const std::string &data, WebSocketHandler::Connection *conn) {
+        // Navigation info in binary format
         apollo::relative_map::NavigationInfo navigation_info;
         if (navigation_info.ParseFromString(data)) {
           AdapterManager::FillNavigationHeader(FLAGS_dreamview_module_name,