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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 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 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef ROSCPP_ROSOUT_APPENDER_H 00036 #define ROSCPP_ROSOUT_APPENDER_H 00037 00038 #include <ros/message_forward.h> 00039 #include "common.h" 00040 00041 #include "log4cxx/appenderskeleton.h" 00042 00043 #include <boost/shared_ptr.hpp> 00044 #include <boost/weak_ptr.hpp> 00045 00046 #include <boost/thread.hpp> 00047 00048 namespace rosgraph_msgs 00049 { 00050 ROS_DECLARE_MESSAGE(Log); 00051 } 00052 00053 namespace ros 00054 { 00055 00056 class Publication; 00057 typedef boost::shared_ptr<Publication> PublicationPtr; 00058 typedef boost::weak_ptr<Publication> PublicationWPtr; 00059 00060 class ROSCPP_DECL ROSOutAppender : public log4cxx::AppenderSkeleton 00061 { 00062 public: 00063 ROSOutAppender(); 00064 ~ROSOutAppender(); 00065 00066 const std::string& getLastError(); 00067 00068 protected: 00069 virtual void append(const log4cxx::spi::LoggingEventPtr& event, log4cxx::helpers::Pool& pool); 00070 00071 virtual void close() {} 00072 virtual bool requiresLayout() const { return false; } 00073 00074 void logThread(); 00075 00076 std::string last_error_; 00077 00078 typedef std::vector<rosgraph_msgs::LogPtr> V_Log; 00079 V_Log log_queue_; 00080 boost::mutex queue_mutex_; 00081 boost::condition_variable queue_condition_; 00082 bool shutting_down_; 00083 00084 boost::thread publish_thread_; 00085 }; 00086 00087 //LOG4CXX_PTR_DEF(ROSOutAppender); 00088 typedef log4cxx::helpers::ObjectPtrT<ROSOutAppender> ROSOutAppenderPtr; 00089 00090 } // namespace ros 00091 00092 #endif