From f0ec07fd2a0354c67d2be380cd1d906f62d53c5c Mon Sep 17 00:00:00 2001
From: Marco Randazzo <marco.randazzo@iit.it>
Date: Mon, 22 Nov 2021 16:54:23 +0100
Subject: [PATCH] LogForwarder: now using yarp::os::PortWriterBuffer

---
 doc/release/master/fix_logFowarder_lost_msgs.md  | 10 ++++++++++
 src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp |  7 ++++---
 src/libYARP_os/src/yarp/os/impl/LogForwarder.h   |  2 ++
 3 files changed, 16 insertions(+), 3 deletions(-)
 create mode 100644 doc/release/master/fix_logFowarder_lost_msgs.md

diff --git a/doc/release/master/fix_logFowarder_lost_msgs.md b/doc/release/master/fix_logFowarder_lost_msgs.md
new file mode 100644
index 00000000000..55a8c10e772
--- /dev/null
+++ b/doc/release/master/fix_logFowarder_lost_msgs.md
@@ -0,0 +1,10 @@
+fix_logForwarder_lost_msgs {#master}
+-----------------------
+
+## Libraries
+
+### `os`
+
+#### `Log`
+
+* LogForwarder: now using yarp::os::PortWriterBuffer to prevent message loss
\ No newline at end of file
diff --git a/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp b/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
index 8d5e0c533d8..b7d214a177e 100644
--- a/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
+++ b/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
@@ -46,8 +46,9 @@ 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");
+    outputPort_buffer.attach(outputPort);
 
     started = true;
 }
@@ -55,12 +56,12 @@ yarp::os::impl::LogForwarder::LogForwarder()
 void yarp::os::impl::LogForwarder::forward(const std::string& message)
 {
     mutex.lock();
-    static Bottle b;
+    Bottle& b = outputPort_buffer.get();
     b.clear();
     std::string port = "[" + outputPort.getName() + "]";
     b.addString(port);
     b.addString(message);
-    outputPort.write(b);
+    outputPort_buffer.write();
     mutex.unlock();
 }
 
diff --git a/src/libYARP_os/src/yarp/os/impl/LogForwarder.h b/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
index dd9f8ef3895..5a700da3029 100644
--- a/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
+++ b/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
@@ -9,6 +9,7 @@
 #include <yarp/os/api.h>
 
 #include <yarp/os/Port.h>
+#include <yarp/os/PortWriterBuffer.h>
 
 #include <mutex>
 #include <string>
@@ -31,6 +32,7 @@ class YARP_os_impl_API LogForwarder
 
     std::mutex mutex;
     yarp::os::Port outputPort;
+    yarp::os::PortWriterBuffer<yarp::os::Bottle> outputPort_buffer;
     static bool started;
 };