rosout_appender.h

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#ifndef ROSCPP_ROSOUT_APPENDER_H
#define ROSCPP_ROSOUT_APPENDER_H
 
#include <ros/message_forward.h>
#include "common.h"
 
#include <boost/shared_ptr.hpp>
#include <boost/thread/condition_variable.hpp>
#include <boost/weak_ptr.hpp>
 
#include <boost/thread.hpp>
 
namespace rosgraph_msgs
{
ROS_DECLARE_MESSAGE(Log);
}
 
namespace ros
{
 
class Publication;
typedef boost::shared_ptr<Publication> PublicationPtr;
typedef boost::weak_ptr<Publication> PublicationWPtr;
 
class ROSCPP_DECL ROSOutAppender : public ros::console::LogAppender
{
public:
  ROSOutAppender();
  ~ROSOutAppender();
 
  const std::string& getLastError() const;
 
  virtual void log(::ros::console::Level level, const char* str, const char* file, const char* function, int line);
 
protected:
  void logThread();
 
  std::string last_error_;
 
  typedef std::vector<rosgraph_msgs::LogPtr> V_Log;
  V_Log log_queue_;
  boost::mutex queue_mutex_;
  boost::condition_variable queue_condition_;
  bool shutting_down_;
  bool disable_topics_;
 
  boost::thread publish_thread_;
};
 
} // namespace ros
 
#endif