Program Listing for File logging_rosout.h

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// Copyright 2018-2019 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.


#ifndef RCL__LOGGING_ROSOUT_H_
#define RCL__LOGGING_ROSOUT_H_

#include "rcl/allocator.h"
#include "rcl/error_handling.h"
#include "rcl/node.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"

#ifdef __cplusplus
extern "C"
{
#endif


static const rmw_qos_profile_t rcl_qos_profile_rosout_default =
{
  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
  1000,
  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
  RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
  RMW_QOS_DEADLINE_DEFAULT,
  {10, 0},
  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
  false
};


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_init(
  const rcl_allocator_t * allocator);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_fini();


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_init_publisher_for_node(
  rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_fini_publisher_for_node(
  rcl_node_t * node);


RCL_PUBLIC
void
rcl_logging_rosout_output_handler(
  const rcutils_log_location_t * location,
  int severity,
  const char * name,
  rcutils_time_point_value_t timestamp,
  const char * format,
  va_list * args);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_add_sublogger(
  const char * logger_name, const char * sublogger_name);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_remove_sublogger(
  const char * logger_name, const char * sublogger_name);

#ifdef __cplusplus
}
#endif

#endif  // RCL__LOGGING_ROSOUT_H_