rosout_appender.cpp

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#include "ros/rosout_appender.h"
#include "ros/this_node.h"
#include "ros/node_handle.h"
#include "ros/topic_manager.h"
#include "ros/advertise_options.h"
#include "ros/names.h"

#include <log4cxx/spi/loggingevent.h>
#ifdef _MSC_VER
  #include "log4cxx/helpers/transcoder.h" // Have to be able to encode wchar LogStrings on windows.
#endif

#ifdef WIN32
  #ifdef ERROR
    // ach, windows.h polluting everything again,
        // clashes with autogenerated rosgraph_msgs/Log.h
    #undef ERROR
  #endif
#endif
#include <rosgraph_msgs/Log.h>

namespace ros
{

ROSOutAppender::ROSOutAppender()
: shutting_down_(false)
, publish_thread_(boost::bind(&ROSOutAppender::logThread, this))
{
  AdvertiseOptions ops;
  ops.init<rosgraph_msgs::Log>(names::resolve("/rosout"), 0);
  ops.latch = true;
  SubscriberCallbacksPtr cbs(new SubscriberCallbacks);
  TopicManager::instance()->advertise(ops, cbs);
}

ROSOutAppender::~ROSOutAppender()
{
  shutting_down_ = true;

  {
    boost::mutex::scoped_lock lock(queue_mutex_);
    queue_condition_.notify_all();
  }

  publish_thread_.join();
}

const std::string&  ROSOutAppender::getLastError()
{
  return last_error_;
}

void ROSOutAppender::append(const log4cxx::spi::LoggingEventPtr& event, log4cxx::helpers::Pool& pool)
{
  rosgraph_msgs::LogPtr msg(new rosgraph_msgs::Log);

  msg->header.stamp = ros::Time::now();

  if (event->getLevel() == log4cxx::Level::getFatal())
  {
    msg->level = rosgraph_msgs::Log::FATAL;
    #ifdef _MSC_VER
      LOG4CXX_ENCODE_CHAR(tmpstr, event->getMessage()); // has to handle LogString with wchar types.
      last_error_ = tmpstr; // tmpstr gets instantiated inside the LOG4CXX_ENCODE_CHAR macro
    #else
    last_error_ = event->getMessage();
    #endif

  }
  else if (event->getLevel() == log4cxx::Level::getError())
  {
    msg->level = rosgraph_msgs::Log::ERROR;
    #ifdef _MSC_VER
      LOG4CXX_ENCODE_CHAR(tmpstr, event->getMessage()); // has to handle LogString with wchar types.
      last_error_ = tmpstr; // tmpstr gets instantiated inside the LOG4CXX_ENCODE_CHAR macro
    #else
    last_error_ = event->getMessage();
    #endif
  }
  else if (event->getLevel() == log4cxx::Level::getWarn())
  {
    msg->level = rosgraph_msgs::Log::WARN;
  }
  else if (event->getLevel() == log4cxx::Level::getInfo())
  {
    msg->level = rosgraph_msgs::Log::INFO;
  }
  else if (event->getLevel() == log4cxx::Level::getDebug())
  {
    msg->level = rosgraph_msgs::Log::DEBUG;
  }

  msg->name = this_node::getName();
  #ifdef _MSC_VER
    LOG4CXX_ENCODE_CHAR(tmpstr, event->getMessage()); // has to handle LogString with wchar types.
    msg->msg = tmpstr; // tmpstr gets instantiated inside the LOG4CXX_ENCODE_CHAR macro
  #else
  msg->msg = event->getMessage();
  #endif

  const log4cxx::spi::LocationInfo& info = event->getLocationInformation();
  msg->file = info.getFileName();
  msg->function = info.getMethodName();
  msg->line = info.getLineNumber();

  this_node::getAdvertisedTopics(msg->topics);

  boost::mutex::scoped_lock lock(queue_mutex_);
  log_queue_.push_back(msg);
  queue_condition_.notify_all();
}

void ROSOutAppender::logThread()
{
  while (!shutting_down_)
  {
    V_Log local_queue;

    {
      boost::mutex::scoped_lock lock(queue_mutex_);

      if (shutting_down_)
      {
        return;
      }

      queue_condition_.wait(lock);

      if (shutting_down_)
      {
        return;
      }

      local_queue.swap(log_queue_);
    }

    V_Log::iterator it = local_queue.begin();
    V_Log::iterator end = local_queue.end();
    for (; it != end; ++it)
    {
      TopicManager::instance()->publish(names::resolve("/rosout"), *(*it));
    }
  }
}

} // namespace ros