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/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_;

  boost::thread publish_thread_;
};

} // namespace ros

#endif