console.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

// Author: Josh Faust

#ifndef ROSCONSOLE_ROSCONSOLE_H
#define ROSCONSOLE_ROSCONSOLE_H

#include "console_backend.h"

#include <cstdio>
#include <sstream>
#include <ros/time.h>
#include <cstdarg>
#include <ros/macros.h>
#include <map>
#include <vector>

#ifdef ROSCONSOLE_BACKEND_LOG4CXX
#include "log4cxx/level.h"
#endif

// Import/export for windows dll's and visibility for gcc shared libraries.

#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
  #ifdef rosconsole_EXPORTS // we are building a shared lib/dll
    #define ROSCONSOLE_DECL ROS_HELPER_EXPORT
  #else // we are using shared lib/dll
    #define ROSCONSOLE_DECL ROS_HELPER_IMPORT
  #endif
#else // ros is being built around static libraries
  #define ROSCONSOLE_DECL
#endif

#ifdef __GNUC__
#if __GNUC__ >= 3
#define ROSCONSOLE_PRINTF_ATTRIBUTE(a, b) __attribute__ ((__format__ (__printf__, a, b)));
#endif
#endif

#ifndef ROSCONSOLE_PRINTF_ATTRIBUTE
#define ROSCONSOLE_PRINTF_ATTRIBUTE(a, b)
#endif

namespace boost
{
template<typename T> class shared_array;
}

namespace ros
{
namespace console
{

ROSCONSOLE_DECL void shutdown();

#ifdef ROSCONSOLE_BACKEND_LOG4CXX
extern ROSCONSOLE_DECL log4cxx::LevelPtr g_level_lookup[];
#endif

extern ROSCONSOLE_DECL bool get_loggers(std::map<std::string, levels::Level>& loggers);
extern ROSCONSOLE_DECL bool set_logger_level(const std::string& name, levels::Level level);

extern ROSCONSOLE_DECL bool g_initialized;

extern ROSCONSOLE_DECL std::string g_last_error_message;

class LogAppender
{
public:

  virtual ~LogAppender() {}

  virtual void log(::ros::console::Level level, const char* str, const char* file, const char* function, int line) = 0;

};

ROSCONSOLE_DECL void register_appender(LogAppender* appender);

struct Token
{
  virtual ~Token() {}
  /*
   * @param level
   * @param message
   * @param file
   * @param function
   * @param  line
   */
  virtual std::string getString(void*, ::ros::console::Level, const char*, const char*, const char*, int) = 0;
};
typedef boost::shared_ptr<Token> TokenPtr;
typedef std::vector<TokenPtr> V_Token;

struct Formatter
{
  void init(const char* fmt);
  void print(void* logger_handle, ::ros::console::Level level, const char* str, const char* file, const char* function, int line);
  std::string format_;
  V_Token tokens_;
};

extern ROSCONSOLE_DECL Formatter g_formatter;

ROSCONSOLE_DECL void initialize();

class FilterBase;
ROSCONSOLE_DECL void print(FilterBase* filter, void* logger, Level level,
           const char* file, int line, 
           const char* function, const char* fmt, ...) ROSCONSOLE_PRINTF_ATTRIBUTE(7, 8);

ROSCONSOLE_DECL void print(FilterBase* filter, void* logger, Level level,
           const std::stringstream& str, const char* file, int line, const char* function);

struct ROSCONSOLE_DECL LogLocation;

ROSCONSOLE_DECL void registerLogLocation(LogLocation* loc);

ROSCONSOLE_DECL void notifyLoggerLevelsChanged();

ROSCONSOLE_DECL void setFixedFilterToken(const std::string& key, const std::string& val);

struct FilterParams
{
  // input parameters
  const char* file;                         
  int line;                                 
  const char* function;                     
  const char* message;                      

  // input/output parameters
  void* logger;                             
  Level level;                              

  // output parameters
  std::string out_message;                  
};

class FilterBase
{
public:
  virtual ~FilterBase() {}
  inline virtual bool isEnabled() { return true; }
  inline virtual bool isEnabled(FilterParams&) { return true; }
};

struct ROSCONSOLE_DECL LogLocation;
ROSCONSOLE_DECL void initializeLogLocation(LogLocation* loc, const std::string& name, Level level);
ROSCONSOLE_DECL void setLogLocationLevel(LogLocation* loc, Level level);
ROSCONSOLE_DECL void checkLogLocationEnabled(LogLocation* loc);

struct LogLocation
{
  bool initialized_;
  bool logger_enabled_;
  ::ros::console::Level level_;
  void* logger_;
};

ROSCONSOLE_DECL void vformatToBuffer(boost::shared_array<char>& buffer, size_t& buffer_size, const char* fmt, va_list args);
ROSCONSOLE_DECL void formatToBuffer(boost::shared_array<char>& buffer, size_t& buffer_size, const char* fmt, ...);
ROSCONSOLE_DECL std::string formatToString(const char* fmt, ...);

} // namespace console
} // namespace ros

#ifdef WIN32
#define ROS_LIKELY(x)       (x)
#define ROS_UNLIKELY(x)     (x)
#else
#define ROS_LIKELY(x)       __builtin_expect((x),1)
#define ROS_UNLIKELY(x)     __builtin_expect((x),0)
#endif

#if defined(MSVC)
  #define __ROSCONSOLE_FUNCTION__ __FUNCSIG__
#elif defined(__GNUC__)
  #define __ROSCONSOLE_FUNCTION__ __PRETTY_FUNCTION__
#else
  #define __ROSCONSOLE_FUNCTION__ ""
#endif


#ifdef ROS_PACKAGE_NAME
#define ROSCONSOLE_PACKAGE_NAME ROS_PACKAGE_NAME
#else
#define ROSCONSOLE_PACKAGE_NAME "unknown_package"
#endif

#define ROSCONSOLE_ROOT_LOGGER_NAME "ros"
#define ROSCONSOLE_NAME_PREFIX ROSCONSOLE_ROOT_LOGGER_NAME "." ROSCONSOLE_PACKAGE_NAME
#define ROSCONSOLE_DEFAULT_NAME ROSCONSOLE_NAME_PREFIX

// These allow you to compile-out everything below a certain severity level if necessary
#define ROSCONSOLE_SEVERITY_DEBUG 0
#define ROSCONSOLE_SEVERITY_INFO 1
#define ROSCONSOLE_SEVERITY_WARN 2
#define ROSCONSOLE_SEVERITY_ERROR 3
#define ROSCONSOLE_SEVERITY_FATAL 4
#define ROSCONSOLE_SEVERITY_NONE 5

#ifndef ROSCONSOLE_MIN_SEVERITY
#define ROSCONSOLE_MIN_SEVERITY ROSCONSOLE_SEVERITY_DEBUG
#endif

#define ROSCONSOLE_AUTOINIT \
  do \
  { \
    if (ROS_UNLIKELY(!::ros::console::g_initialized)) \
    { \
      ::ros::console::initialize(); \
    } \
  } while(false)

#define ROSCONSOLE_DEFINE_LOCATION(cond, level, name) \
  ROSCONSOLE_AUTOINIT; \
  static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, NULL}; /* Initialized at compile-time */ \
  if (ROS_UNLIKELY(!__rosconsole_define_location__loc.initialized_)) \
  { \
    initializeLogLocation(&__rosconsole_define_location__loc, name, level); \
  } \
  if (ROS_UNLIKELY(__rosconsole_define_location__loc.level_ != level)) \
  { \
    setLogLocationLevel(&__rosconsole_define_location__loc, level); \
    checkLogLocationEnabled(&__rosconsole_define_location__loc); \
  } \
  bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (cond);

#define ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER(filter, ...) \
    ::ros::console::print(filter, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, __FILE__, __LINE__, __ROSCONSOLE_FUNCTION__, __VA_ARGS__)

#define ROSCONSOLE_PRINT_AT_LOCATION(...) \
    ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER(NULL, __VA_ARGS__)

// inside a macro which uses args use only well namespaced variable names in order to not overlay variables coming in via args
#define ROSCONSOLE_PRINT_STREAM_AT_LOCATION_WITH_FILTER(filter, args) \
  do \
  { \
    std::stringstream __rosconsole_print_stream_at_location_with_filter__ss__; \
    __rosconsole_print_stream_at_location_with_filter__ss__ << args; \
    ::ros::console::print(filter, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, __rosconsole_print_stream_at_location_with_filter__ss__, __FILE__, __LINE__, __ROSCONSOLE_FUNCTION__); \
  } while (0)

#define ROSCONSOLE_PRINT_STREAM_AT_LOCATION(args) \
    ROSCONSOLE_PRINT_STREAM_AT_LOCATION_WITH_FILTER(NULL, args)

#define ROS_LOG_COND(cond, level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(cond, level, name); \
    \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled)) \
    { \
      ROSCONSOLE_PRINT_AT_LOCATION(__VA_ARGS__); \
    } \
  } while(false)

#define ROS_LOG_STREAM_COND(cond, level, name, args) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(cond, level, name); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled)) \
    { \
      ROSCONSOLE_PRINT_STREAM_AT_LOCATION(args); \
    } \
  } while(false)

#define ROS_LOG_ONCE(level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    static bool hit = false; \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(!hit)) \
    { \
      hit = true; \
      ROSCONSOLE_PRINT_AT_LOCATION(__VA_ARGS__); \
    } \
  } while(false)

// inside a macro which uses args use only well namespaced variable names in order to not overlay variables coming in via args
#define ROS_LOG_STREAM_ONCE(level, name, args) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    static bool __ros_log_stream_once__hit__ = false; \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(!__ros_log_stream_once__hit__)) \
    { \
      __ros_log_stream_once__hit__ = true; \
      ROSCONSOLE_PRINT_STREAM_AT_LOCATION(args); \
    } \
  } while(false)

#define ROS_LOG_THROTTLE(rate, level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    static double last_hit = 0.0; \
    ::ros::Time now = ::ros::Time::now(); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(last_hit + rate <= now.toSec())) \
    { \
      last_hit = now.toSec(); \
      ROSCONSOLE_PRINT_AT_LOCATION(__VA_ARGS__); \
    } \
  } while(false)

// inside a macro which uses args use only well namespaced variable names in order to not overlay variables coming in via args
#define ROS_LOG_STREAM_THROTTLE(rate, level, name, args) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    static double __ros_log_stream_throttle__last_hit__ = 0.0; \
    ::ros::Time __ros_log_stream_throttle__now__ = ::ros::Time::now(); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(__ros_log_stream_throttle__last_hit__ + rate <= __ros_log_stream_throttle__now__.toSec())) \
    { \
      __ros_log_stream_throttle__last_hit__ = __ros_log_stream_throttle__now__.toSec(); \
      ROSCONSOLE_PRINT_STREAM_AT_LOCATION(args); \
    } \
  } while(false)

#define ROS_LOG_DELAYED_THROTTLE(rate, level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    ::ros::Time __ros_log_delayed_throttle__now__ = ::ros::Time::now(); \
    static double __ros_log_delayed_throttle__last_hit__ = __ros_log_delayed_throttle__now__.toSec(); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(__ros_log_delayed_throttle__last_hit__ + rate <= __ros_log_delayed_throttle__now__.toSec())) \
    { \
      __ros_log_delayed_throttle__last_hit__ = __ros_log_delayed_throttle__now__.toSec(); \
      ROSCONSOLE_PRINT_AT_LOCATION(__VA_ARGS__); \
    } \
  } while(false)

// inside a macro which uses args use only well namespaced variable names in order to not overlay variables coming in via args
#define ROS_LOG_STREAM_DELAYED_THROTTLE(rate, level, name, args) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    ::ros::Time __ros_log_stream_delayed_throttle__now__ = ::ros::Time::now(); \
    static double __ros_log_stream_delayed_throttle__last_hit__ = __ros_log_stream_delayed_throttle__now__.toSec(); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(__ros_log_stream_delayed_throttle__last_hit__ + rate <= __ros_log_stream_delayed_throttle__now__.toSec())) \
    { \
      __ros_log_stream_delayed_throttle__last_hit__ = __ros_log_stream_delayed_throttle__now__.toSec(); \
      ROSCONSOLE_PRINT_STREAM_AT_LOCATION(args); \
    } \
  } while(false)

#define ROS_LOG_FILTER(filter, level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && (filter)->isEnabled()) \
    { \
      ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER(filter, __VA_ARGS__); \
    } \
  } while(false)

#define ROS_LOG_STREAM_FILTER(filter, level, name, args) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && (filter)->isEnabled()) \
    { \
      ROSCONSOLE_PRINT_STREAM_AT_LOCATION_WITH_FILTER(filter, args); \
    } \
  } while(false)

#define ROS_LOG(level, name, ...) ROS_LOG_COND(true, level, name, __VA_ARGS__)

#define ROS_LOG_STREAM(level, name, args) ROS_LOG_STREAM_COND(true, level, name, args)

#include "rosconsole/macros_generated.h"

#endif // ROSCONSOLE_ROSCONSOLE_H