00001 #include <rtt/Service.hpp>
00002 #include <rtt/Logger.hpp>
00003 #include <iostream>
00004
00005 #include <rtt/types/GlobalsRepository.hpp>
00006 #include <rtt/types/Types.hpp>
00007 #include <rtt/types/TypeInfoName.hpp>
00008 #include <rtt/plugin/ServicePlugin.hpp>
00009 #include "OCL.hpp"
00010
00011 namespace OCL
00012 {
00013
00018 class PrintService: public RTT::Service
00019 {
00020 public:
00021 PrintService(TaskContext* parent) :
00022 RTT::Service("print", parent)
00023 {
00024 doc("A service that provides basic printing to std::cout, std::cerr and the RTT::Logger.");
00025
00026 addOperation("ln", &PrintService::println, this).doc(
00027 "Prints a line to standard output.").arg("line",
00028 "A string. Use a '+' to mix strings with numbers/variables.");
00029 addOperation("err", &PrintService::printerr, this).doc(
00030 "Prints a line to standard error.").arg("line",
00031 "A string. Use a '+' to mix strings with numbers/variables.");
00032 addOperation("log", &PrintService::printlog, this).doc(
00033 "Prints a line to Orocos logger class.").arg("level","The LogLevel to use.").arg("line",
00034 "A string. Use a '+' to mix strings with numbers/variables.");
00035
00036
00037 if (types::Types()->type("LogLevel") == 0) {
00038 types::Types()->addType( new types::TypeInfoName<Logger::LogLevel>("LogLevel") );
00039 types::GlobalsRepository::shared_ptr globals = types::GlobalsRepository::Instance();
00040
00041
00042
00043 globals->setValue( new Constant<Logger::LogLevel>("Never",Logger::Never) );
00044 globals->setValue( new Constant<Logger::LogLevel>("Error",Logger::Error) );
00045 globals->setValue( new Constant<Logger::LogLevel>("Fatal",Logger::Fatal) );
00046 globals->setValue( new Constant<Logger::LogLevel>("Critical",Logger::Critical) );
00047 globals->setValue( new Constant<Logger::LogLevel>("Warning",Logger::Warning) );
00048 globals->setValue( new Constant<Logger::LogLevel>("Info",Logger::Info) );
00049 globals->setValue( new Constant<Logger::LogLevel>("Debug",Logger::Debug) );
00050 globals->setValue( new Constant<Logger::LogLevel>("RealTime",Logger::RealTime) );
00051 }
00052 }
00053
00054 void println(const std::string& arg)
00055 {
00056 std::cout << arg << std::endl;
00057 }
00058 void printerr(const std::string& arg)
00059 {
00060 std::cerr << arg << std::endl;
00061 }
00062 void printlog(Logger::LogLevel level, const std::string& arg)
00063 {
00064 log(LoggerLevel(level)) << arg <<endlog();
00065 }
00066 };
00067 }
00068
00069 ORO_SERVICE_NAMED_PLUGIN( OCL::PrintService, "print")
00070
