From 6f6c64e8fe113337b836e4e0a546ef47a5a71db4 Mon Sep 17 00:00:00 2001
From: "Daniele E. Domenichelli" <daniele.domenichelli@iit.it>
Date: Tue, 27 Jul 2021 12:48:49 +0200
Subject: [PATCH] os/impl/LogForwarder: Do not use a static Bottle

When the `forward` method is called twice, the `Bottle::clear()` method
could be called before the message is sent, hence deleting the bottle
being sent.

This fixes the `LogForwarder` skipping messages when messages are sent
too quickly (Fixes #2643).
---
 doc/release/yarp_3_5/LogForwarder_static_Bottle.md | 9 +++++++++
 src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp   | 9 +++------
 src/libYARP_os/src/yarp/os/impl/LogForwarder.h     | 5 +++--
 3 files changed, 15 insertions(+), 8 deletions(-)
 create mode 100644 doc/release/yarp_3_5/LogForwarder_static_Bottle.md

diff --git a/doc/release/yarp_3_5/LogForwarder_static_Bottle.md b/doc/release/yarp_3_5/LogForwarder_static_Bottle.md
new file mode 100644
index 00000000000..f4ab56727eb
--- /dev/null
+++ b/doc/release/yarp_3_5/LogForwarder_static_Bottle.md
@@ -0,0 +1,9 @@
+LogForwarder_static_Bottle {#yarp-3.5}
+--------------------------
+
+### Libraries
+
+#### `os`
+
+* The `LogForwarder` no longer skips messages when messages are sent too
+  quickly (#2643).
diff --git a/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp b/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
index b1b11f9d9f8..beaf80e7582 100644
--- a/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
+++ b/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
@@ -37,7 +37,6 @@ yarp::os::impl::LogForwarder::LogForwarder()
     if (!outputPort.open(logPortName)) {
         printf("LogForwarder error while opening port %s\n", logPortName.c_str());
     }
-    outputPort.enableBackgroundWrite(true);
     outputPort.addOutput("/yarplogger", "fast_tcp");
 
     started = true;
@@ -46,12 +45,12 @@ yarp::os::impl::LogForwarder::LogForwarder()
 void yarp::os::impl::LogForwarder::forward(const std::string& message)
 {
     mutex.lock();
-    static Bottle b;
+    Bottle& b = outputPort.prepare();
     b.clear();
     std::string port = "[" + outputPort.getName() + "]";
     b.addString(port);
     b.addString(message);
-    outputPort.write(b);
+    outputPort.writeStrict();
     mutex.unlock();
 }
 
@@ -68,9 +67,7 @@ void yarp::os::impl::LogForwarder::shutdown()
 
         yarp::os::impl::LogForwarder& fw = getInstance();
         fw.forward(ost.str());
-        while (fw.outputPort.isWriting()) {
-            yarp::os::SystemClock::delaySystem(0.2);
-        }
+        fw.outputPort.waitForWrite();
         fw.outputPort.interrupt();
         fw.outputPort.close();
     }
diff --git a/src/libYARP_os/src/yarp/os/impl/LogForwarder.h b/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
index 28188bd7e8c..52c7758b9e7 100644
--- a/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
+++ b/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
@@ -8,7 +8,8 @@
 
 #include <yarp/os/api.h>
 
-#include <yarp/os/Port.h>
+#include <yarp/os/Bottle.h>
+#include <yarp/os/BufferedPort.h>
 
 #include <mutex>
 #include <string>
@@ -32,7 +33,7 @@ class YARP_os_impl_API LogForwarder
     LogForwarder& operator=(LogForwarder const&) = delete;
 
     std::mutex mutex;
-    yarp::os::Port outputPort;
+    yarp::os::BufferedPort<yarp::os::Bottle> outputPort;
     static bool started;
 };