logging_macros.hpp

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#ifndef LOGGING_MACROS_HPP_
#define LOGGING_MACROS_HPP_

#define STD_LOGGING_MACROS 0
#define ROS_LOGGING_MACROS 1
#define NODELET_LOGGING_MACROS 2
#define LOGGING_MACROS_TYPE NODELET_LOGGING_MACROS


#if LOGGING_MACROS_TYPE == ROS_LOGGING_MACROS

  #include <ros/console.h>

  #define DEBUG(...) ROS_DEBUG(__VA_ARGS__)
  #define INFO(...) ROS_INFO(__VA_ARGS__)
  #define WARN(...) ROS_WARN(__VA_ARGS__)
  #define ERROR(...) ROS_ERROR(__VA_ARGS__)
  #define FATAL(...) ROS_FATAL(__VA_ARGS__)
  #define DEBUG_STREAM(...) ROS_DEBUG_STREAM(__VA_ARGS__)
  #define INFO_STREAM(...) ROS_INFO_STREAM(__VA_ARGS__)
  #define WARN_STREAM(...) ROS_WARN_STREAM(__VA_ARGS__)
  #define ERROR_STREAM(...) ROS_ERROR_STREAM(__VA_ARGS__)
  #define FATAL_STREAM(...) ROS_FATAL_STREAM(__VA_ARGS__)

#elif LOGGING_MACROS_TYPE == NODELET_LOGGING_MACROS

  #include <ros/ros.h>
  #include <nodelet/nodelet.h>

  using namespace ros::this_node;

  #define DEBUG(...) NODELET_DEBUG(__VA_ARGS__)
  #define INFO(...) NODELET_INFO(__VA_ARGS__)
  #define WARN(...) NODELET_WARN(__VA_ARGS__)
  #define ERROR(...) NODELET_ERROR(__VA_ARGS__)
  #define FATAL(...) NODELET_FATAL(__VA_ARGS__)
  #define DEBUG_STREAM(...) NODELET_DEBUG_STREAM(__VA_ARGS__)
  #define INFO_STREAM(...) NODELET_INFO_STREAM(__VA_ARGS__)
  #define WARN_STREAM(...) NODELET_WARN_STREAM(__VA_ARGS__)
  #define ERROR_STREAM(...) NODELET_ERROR_STREAM(__VA_ARGS__)
  #define FATAL_STREAM(...) NODELET_FATAL_STREAM(__VA_ARGS__)

#else
  #include <cstdio>
  #include <iostream>

  #define DEBUG(...) fprintf(stdout, "DEBUG> "); fprintf(stdout, __VA_ARGS__); fprintf(stdout, "\n")
  #define INFO(...) fprintf(stdout, "INFO > "); fprintf(stdout, __VA_ARGS__); fprintf(stdout, "\n")
  #define WARN(...) fprintf(stderr, "WARN > "); fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
  #define ERROR(...) fprintf(stderr, "ERROR> "); fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
  #define FATAL(...) fprintf(stderr, "FATAL> "); fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
  #define DEBUG_STREAM(...) std::cout << "DEBUG> " << __VA_ARGS__ << std::endl
  #define INFO_STREAM(...) std::cout << "INFO > " << __VA_ARGS__ << std::endl
  #define WARN_STREAM(...) std::cerr << "WARN > " << __VA_ARGS__ << std::endl
  #define ERROR_STREAM(...) std::cerr << "ERROR> " << __VA_ARGS__ << std::endl
  #define FATAL_STREAM(...) std::cerr << "FATAL> " << __VA_ARGS__ << std::endl

#endif

#endif /* LOGGING_MACROS_HPP_ */