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--- tools:logger_cs:start [2017/12/21 13:49] – [Headline] graf
+++ tools:logger_cs:start [2018/05/31 10:32] (current) – graf
@@ Line 17: / Line 17: @@
 One must keep in mind that the periodic task which runs the control system and the periodic task which does the logging are actually running in parallel. This might lead to complication as soon as more complex signals are involved. For this reason, it might be preferable to choose the following solution.
 <code cpp>
-  TimeDomain td("time domain CS", 0.001, true);  // time domain for the control system running with 1kHz
+  eeros::control::TimeDomain td("time domain CS", 0.001, true);  // time domain for the control system running with 1kHz
-  Periodic perCS("periodic CS", 0.001, td);      // periodic task running the time domain
+  eeros::task::Periodic perCS("periodic CS", 0.001, td);      // periodic task running the time domain
   executor.add(perCS);                           // add the control system task to the executor.
   perCS.after.push_back(perLog);                 // add the logging task to the task list running after the control system task
@@ Line 24: / Line 24: @@
 Now, the logging will be done after the control system task has finished running.
-====== Headline ======
+===== Log in the Task of the Time Domain =====
-It is also possible to add the logging to the monitors one of the currently running task of the control system.
+It is also possible to add the logging to the monitors of one of the currently running task of the control system. This could be done as follows:
+<code cpp>
+  double period = 0.001;
+  eeros:: control::TimeDomain td("time domain CS", period, true);  // time domain for the control system running with 1kHz
+  eeros::task::Periodic perCS("periodic CS", period, td);      // periodic task running the time domain
+  perCS.monitors.push_back([&](PeriodicCounter &pc, Logger &log){
+    static int ticks = 0;
+    if ((++ticks * period) < 1) return;
+    ticks = 0;
+    log.info() << controlSystem.myBlock.getOut().getSignal();
+  });
+  // and further down the code
+  executor.add(perCS);
+</code>
+Please note that you usually want the logging to happen at a much smaller frequency than the time domain. For this, you have to reduce this frequency as shown in the example above.