log_wrapper.h

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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Southwest Research Institute
* All rights reserved.
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#ifndef LOG_WRAPPER_H_
#define LOG_WRAPPER_H_

// remove ROS after Melodic (bw compat for #262)
#if defined(SIMPLE_MESSAGE_USE_ROS) || defined(ROS)
#include "ros/ros.h"
#endif

#ifdef SIMPLE_MESSAGE_MOTOPLUS
#include "motoPlus.h"
#endif

namespace industrial
{

namespace log_wrapper
{
    

// Define ROS if this library will execute under ROS
// remove ROS after Melodic (bw compat for #262)
#if defined(SIMPLE_MESSAGE_USE_ROS) || defined(ROS)

// The LOG_COMM redirects to debug in ROS because ROS has
// debug filtering tools that allow the communications messages
// to be easily removed from the logs
#ifdef _MSC_VER

#define LOG_COMM(...)  \
  ROS_DEBUG(__VA_ARGS__)
  
#define LOG_DEBUG(...)  \
  ROS_DEBUG(__VA_ARGS__)

#define LOG_INFO(...)  \
  ROS_INFO(__VA_ARGS__)

#define LOG_WARN(...)  \
  ROS_WARN(__VA_ARGS__)

#define LOG_ERROR(...)  \
  ROS_ERROR(__VA_ARGS__)

#define LOG_FATAL(...)  \
  ROS_FATAL(__VA_ARGS__)

#else

#define LOG_COMM(format, ...)  \
  ROS_DEBUG(format, ##__VA_ARGS__)
  
#define LOG_DEBUG(format, ...)  \
  ROS_DEBUG(format, ##__VA_ARGS__)

#define LOG_INFO(format, ...)  \
  ROS_INFO(format, ##__VA_ARGS__)

#define LOG_WARN(format, ...)  \
  ROS_WARN(format, ##__VA_ARGS__)

#define LOG_ERROR(format, ...)  \
  ROS_ERROR(format, ##__VA_ARGS__)

#define LOG_FATAL(format, ...)  \
  ROS_FATAL(FATAL, ##__VA_ARGS__)

#endif

#elif defined(STDIOLOG)

#define LOG(level, format, ...) \
do \
{ \
  printf(level); \
  printf(": "); \
  printf(format, ##__VA_ARGS__); \
  printf("\n"); \
  } while (0)

// WARNING: LOG_COMM produces many messages and could slow down program
// execution on the robot.
#define LOG_COMM(format, ...)  LOG("COMM", format, ##__VA_ARGS__) 
#define LOG_DEBUG(format, ...) LOG("DEBUG", format, ##__VA_ARGS__) 
#define LOG_INFO(format, ...)  LOG("INFO", format, ##__VA_ARGS__)
#define LOG_WARN(format, ...)  LOG("WARNING", format, ##__VA_ARGS__)
#define LOG_ERROR(format, ...) LOG("ERROR", format, ##__VA_ARGS__)
#define LOG_FATAL(format, ...) LOG("FATAL", format, ##__VA_ARGS__)

#else
// LOG DISABLED

#define LOG_COMM(format, ...)  
#define LOG_DEBUG(format, ...) 
#define LOG_INFO(format, ...)  
#define LOG_WARN(format, ...) 
#define LOG_ERROR(format, ...) 
#define LOG_FATAL(format, ...) 

#endif 



} // namespace industrial
} // namespace loge_wrapper

#endif /* LOG_WRAPPER_H_ */