log_wrapper.h
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef LOG_WRAPPER_H_ 00033 #define LOG_WRAPPER_H_ 00034 00035 #ifdef ROS 00036 #include "ros/ros.h" 00037 #endif 00038 00039 #ifdef MOTOPLUS 00040 #include "motoPlus.h" 00041 #endif 00042 00043 namespace industrial 00044 { 00045 00053 namespace log_wrapper 00054 { 00055 00056 00057 // Define ROS if this library will execute under ROS 00058 #ifdef ROS 00059 00060 // The LOG_COMM redirects to debug in ROS because ROS has 00061 // debug filtering tools that allow the communications messages 00062 // to be easily removed from the logs 00063 #define LOG_COMM(format, ...) \ 00064 ROS_DEBUG(format, ##__VA_ARGS__) 00065 00066 #define LOG_DEBUG(format, ...) \ 00067 ROS_DEBUG(format, ##__VA_ARGS__) 00068 00069 #define LOG_INFO(format, ...) \ 00070 ROS_INFO(format, ##__VA_ARGS__) 00071 00072 #define LOG_WARN(format, ...) \ 00073 ROS_WARN(format, ##__VA_ARGS__) 00074 00075 #define LOG_ERROR(format, ...) \ 00076 ROS_ERROR(format, ##__VA_ARGS__) 00077 00078 #define LOG_FATAL(format, ...) \ 00079 ROS_FATAL(FATAL, ##__VA_ARGS__) 00080 00081 #endif //ROS 00082 00083 00084 00085 // Define MOTOPLUS if this library will execute under MOTOPLUS 00086 #ifdef MOTOPLUS 00087 00088 #define LOG(level, format, ...) \ 00089 do \ 00090 { \ 00091 printf(level); \ 00092 printf(": "); \ 00093 printf(format, ##__VA_ARGS__); \ 00094 printf("\n"); \ 00095 } while (0) 00096 00097 // WARNING: LOG_COMM produces many messages and could slow down program 00098 // execution on the robot. 00099 #define LOG_COMM(format, ...) //LOG("COMM", format, ##__VA_ARGS__) 00100 #define LOG_DEBUG(format, ...) LOG("DEBUG", format, ##__VA_ARGS__) 00101 #define LOG_INFO(format, ...) LOG("INFO", format, ##__VA_ARGS__) 00102 #define LOG_WARN(format, ...) LOG("WARNING", format, ##__VA_ARGS__) 00103 #define LOG_ERROR(format, ...) LOG("ERROR", format, ##__VA_ARGS__) 00104 #define LOG_FATAL(format, ...) LOG("FATAL", format, ##__VA_ARGS__) 00105 00106 #endif //MOTPLUS 00107 00108 00109 00110 } // namespace industrial 00111 } // namespace loge_wrapper 00112 00113 #endif /* LOG_WRAPPER_H_ */