ros_logger.h

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/*
 * Software License Agreement (BSD-3 License)
 *
 * Copyright (c) 2020 Jacob Willis.
 * 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.
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 *   contributors may be used to endorse or promote products derived from
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 */

#ifndef ROSFLIGHT_ROS_LOGGER_H
#define ROSFLIGHT_ROS_LOGGER_H

#include <rosflight/mavrosflight/logger_interface.h>

#include <ros/ros.h>

namespace rosflight
{
class ROSLogger : public mavrosflight::LoggerInterface<ROSLogger>
{
public:
  template <typename... Args>
  inline void debug(const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_DEBUG(format, args...);
#pragma GCC diagnostic pop
  }
  template <typename... Args>
  inline void debug_throttle(float period, const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_DEBUG_THROTTLE(period, format, args...);
#pragma GCC diagnostic pop
  }

  template <typename... Args>
  inline void info(const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_INFO(format, args...);
#pragma GCC diagnostic pop
  }
  template <typename... Args>
  inline void info_throttle(float period, const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_INFO_THROTTLE(period, format, args...);
#pragma GCC diagnostic pop
  }

  template <typename... Args>
  inline void warn(const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_WARN(format, args...);
#pragma GCC diagnostic pop
  }
  template <typename... Args>
  inline void warn_throttle(float period, const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_WARN_THROTTLE(period, format, args...);
#pragma GCC diagnostic pop
  }

  template <typename... Args>
  inline void error(const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_ERROR(format, args...);
#pragma GCC diagnostic pop
  }
  template <typename... Args>
  inline void error_throttle(float period, const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_ERROR_THROTTLE(period, format, args...);
#pragma GCC diagnostic pop
  }

  template <typename... Args>
  inline void fatal(const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_FATAL(format, args...);
#pragma GCC diagnostic pop
  }
  template <typename... Args>
  inline void fatal_throttle(float period, const char* format, const Args&... args)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat-security"
    ROS_FATAL_THROTTLE(period, format, args...);
#pragma GCC diagnostic pop
  }
};

} // namespace rosflight

#endif // ROSFLIGHT_ROS_LOGGER_H