console.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  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 the Willow Garage 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: Ryan Luna, Ioan Sucan */
 
#include "console_bridge/console.h"
 
#include <cstdio>
#include <cstdarg>
 
#include <iostream>
#include <mutex>
 
 
struct DefaultOutputHandler
{
    DefaultOutputHandler(void)
    {
        output_handler_ = static_cast<console_bridge::OutputHandler*>(&std_output_handler_);
        previous_output_handler_ = output_handler_;
        logLevel_ = console_bridge::CONSOLE_BRIDGE_LOG_WARN;
    }
 
    console_bridge::OutputHandlerSTD std_output_handler_;
    console_bridge::OutputHandler   *output_handler_;
    console_bridge::OutputHandler   *previous_output_handler_;
    console_bridge::LogLevel         logLevel_;
    std::mutex                       lock_; // it is likely the outputhandler does some I/O, so we serialize it
};
 
// we use this function because we want to handle static initialization correctly
// however, the first run of this function is not thread safe, due to the use of a static
// variable inside the function. For this reason, we ensure the first call happens during
// static initialization using a proxy class
static DefaultOutputHandler* getDOH(void)
{
    static DefaultOutputHandler DOH;
    return &DOH;
}
 
#define USE_DOH                                                                \
    DefaultOutputHandler *doh = getDOH();                                      \
    std::lock_guard<std::mutex> lock_guard(doh->lock_)
 
#define MAX_BUFFER_SIZE 1024
 
 
void console_bridge::noOutputHandler(void)
{
    USE_DOH;
    doh->previous_output_handler_ = doh->output_handler_;
    doh->output_handler_ = NULL;
}
 
void console_bridge::restorePreviousOutputHandler(void)
{
    USE_DOH;
    std::swap(doh->previous_output_handler_, doh->output_handler_);
}
 
void console_bridge::useOutputHandler(OutputHandler *oh)
{
    USE_DOH;
    doh->previous_output_handler_ = doh->output_handler_;
    doh->output_handler_ = oh;
}
 
console_bridge::OutputHandler* console_bridge::getOutputHandler(void)
{
    return getDOH()->output_handler_;
}
 
void console_bridge::log_deprecated(const char *file, int line,
                                    LogLevel level, const char* m, ...)
{
    /*
     * Workaround: see bug ros/console 30
     * Exact copy of console_bridge::log, please remove it once the
     * deprecation time expires.
     */
    USE_DOH;
    if (doh->output_handler_ && level >= doh->logLevel_)
    {
        va_list __ap;
        va_start(__ap, m);
        char buf[MAX_BUFFER_SIZE];
#ifdef _MSC_VER
        vsnprintf_s(buf, sizeof(buf), _TRUNCATE, m, __ap);
#else
        vsnprintf(buf, sizeof(buf), m, __ap);
#endif
        va_end(__ap);
        buf[MAX_BUFFER_SIZE - 1] = '\0';
 
        doh->output_handler_->log(buf, level, file, line);
    }
}
 
void console_bridge::log(const char *file, int line, LogLevel level, const char* m, ...)
{
    USE_DOH;
    if (doh->output_handler_ && level >= doh->logLevel_)
    {
        va_list __ap;
        va_start(__ap, m);
        char buf[MAX_BUFFER_SIZE];
#ifdef _MSC_VER
        vsnprintf_s(buf, sizeof(buf), _TRUNCATE, m, __ap);
#else
        vsnprintf(buf, sizeof(buf), m, __ap);
#endif
        va_end(__ap);
        buf[MAX_BUFFER_SIZE - 1] = '\0';
 
        doh->output_handler_->log(buf, level, file, line);
    }
}
 
void console_bridge::setLogLevel(LogLevel level)
{
    USE_DOH;
    doh->logLevel_ = level;
}
 
console_bridge::LogLevel console_bridge::getLogLevel(void)
{
    USE_DOH;
    return doh->logLevel_;
}
 
static const char* LogLevelString[4] = {"Debug:   ", "Info:    ", "Warning: ", "Error:   "};
 
void console_bridge::OutputHandlerSTD::log(const std::string &text, LogLevel level, const char *filename, int line)
{
    if (level >= CONSOLE_BRIDGE_LOG_WARN)
    {
        std::cerr << LogLevelString[level] << text << std::endl;
        std::cerr << "         at line " << line << " in " << filename << std::endl;
        std::cerr.flush();
    }
    else
    {
        std::cout << LogLevelString[level] << text << std::endl;
        std::cout.flush();
    }
}
 
console_bridge::OutputHandlerFile::OutputHandlerFile(const char *filename) : OutputHandler()
{
#ifdef _MSC_VER
    errno_t err = fopen_s(&file_, filename, "a");
    if (err != 0 || !file_)
#else
    file_ = fopen(filename, "a");
    if (!file_)
#endif
        std::cerr << "Unable to open log file: '" << filename << "'" << std::endl;
}
 
console_bridge::OutputHandlerFile::~OutputHandlerFile(void)
{
    if (file_)
        if (fclose(file_) != 0)
            std::cerr << "Error closing logfile" << std::endl;
}
 
void console_bridge::OutputHandlerFile::log(const std::string &text, LogLevel level, const char *filename, int line)
{
    if (file_)
    {
        fprintf(file_, "%s%s\n", LogLevelString[level], text.c_str());
        if(level >= CONSOLE_BRIDGE_LOG_WARN)
            fprintf(file_, "         at line %d in %s\n", line, filename);
        fflush(file_);
    }
}