Program Listing for File ros_log_sink.h
↰ Return to documentation for file (/tmp/ws/src/cartographer_ros/cartographer_ros/include/cartographer_ros/ros_log_sink.h
)
/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_LOG_SINK_H
#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_LOG_SINK_H
#include <ctime>
#include "glog/logging.h"
#include <rclcpp/rclcpp.hpp>
namespace cartographer_ros {
// Makes Google logging use ROS logging for output while an instance of this
// class exists.
class ScopedRosLogSink : public ::google::LogSink {
public:
ScopedRosLogSink();
~ScopedRosLogSink() override;
void send(::google::LogSeverity severity, const char* filename,
const char* base_filename, int line, const struct std::tm* tm_time,
const char* message, size_t message_len) override;
void WaitTillSent() override;
private:
bool will_die_;
rclcpp::Logger logger_{rclcpp::get_logger("cartographer logger")};
};
} // namespace cartographer_ros
#endif // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_LOG_SINK_H