file_log.cpp

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * 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 names of Stanford University or 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <cstdio>
#include "ros/file_log.h"
#include "ros/this_node.h"
 
#include <ros/io.h>
#include <ros/console.h>
 
#include <boost/filesystem.hpp>
 
namespace fs = boost::filesystem;
 
namespace ros
{
 
namespace file_log
{
 
std::string g_log_directory;
 
const std::string& getLogDirectory()
{
  return g_log_directory;
}
 
void init(const M_string& remappings)
{
  std::string log_file_name;
  M_string::const_iterator it = remappings.find("__log");
  if (it != remappings.end())
  {
    log_file_name = it->second;
  }
 
  {
    // Log filename can be specified on the command line through __log
    // If it's been set, don't create our own name
    if (log_file_name.empty())
    {
      // Setup the logfile appender
      // Can't do this in rosconsole because the node name is not known
      pid_t pid = getpid();
      std::string ros_log_env;
      if ( get_environment_variable(ros_log_env, "ROS_LOG_DIR"))
      {
        log_file_name = ros_log_env + std::string("/");
      }
      else
      {
        if ( get_environment_variable(ros_log_env, "ROS_HOME"))
        {
          log_file_name = ros_log_env + std::string("/log/");
        }
        else
        {
          // Not cross-platform?
          if( get_environment_variable(ros_log_env, "HOME") )
          {
            std::string dotros = ros_log_env + std::string("/.ros/");
            fs::create_directory(dotros);
            log_file_name = dotros + "log/";
            fs::create_directory(log_file_name);
          }
        }
      }
 
      // sanitize the node name and tack it to the filename
      for (size_t i = 1; i < this_node::getName().length(); i++)
      {
        if (!isalnum(this_node::getName()[i]))
        {
          log_file_name += '_';
        }
        else
        {
          log_file_name += this_node::getName()[i];
        }
      }
 
      char pid_str[100];
      std::snprintf(pid_str, sizeof(pid_str), "%d", pid);
      log_file_name += std::string("_") + std::string(pid_str) + std::string(".log");
    }
 
    log_file_name = fs::system_complete(log_file_name).string();
    g_log_directory = fs::path(log_file_name).parent_path().string();
  }
}
 
} // namespace file_log
 
} // namespace ros