00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #include "ros/rosout_appender.h" 00036 #include "ros/this_node.h" 00037 #include "ros/node_handle.h" 00038 #include "ros/topic_manager.h" 00039 #include "ros/advertise_options.h" 00040 #include "ros/names.h" 00041 00042 #include <rosgraph_msgs/Log.h> 00043 00044 namespace ros 00045 { 00046 00047 ROSOutAppender::ROSOutAppender() 00048 : shutting_down_(false) 00049 , publish_thread_(boost::bind(&ROSOutAppender::logThread, this)) 00050 { 00051 AdvertiseOptions ops; 00052 ops.init<rosgraph_msgs::Log>(names::resolve("/rosout"), 0); 00053 ops.latch = true; 00054 SubscriberCallbacksPtr cbs(boost::make_shared<SubscriberCallbacks>()); 00055 TopicManager::instance()->advertise(ops, cbs); 00056 } 00057 00058 ROSOutAppender::~ROSOutAppender() 00059 { 00060 shutting_down_ = true; 00061 00062 { 00063 boost::mutex::scoped_lock lock(queue_mutex_); 00064 queue_condition_.notify_all(); 00065 } 00066 00067 publish_thread_.join(); 00068 } 00069 00070 const std::string& ROSOutAppender::getLastError() const 00071 { 00072 return last_error_; 00073 } 00074 00075 void ROSOutAppender::log(::ros::console::Level level, const char* str, const char* file, const char* function, int line) 00076 { 00077 rosgraph_msgs::LogPtr msg(boost::make_shared<rosgraph_msgs::Log>()); 00078 00079 msg->header.stamp = ros::Time::now(); 00080 if (level == ros::console::levels::Debug) 00081 { 00082 msg->level = rosgraph_msgs::Log::DEBUG; 00083 } 00084 else if (level == ros::console::levels::Info) 00085 { 00086 msg->level = rosgraph_msgs::Log::INFO; 00087 } 00088 else if (level == ros::console::levels::Warn) 00089 { 00090 msg->level = rosgraph_msgs::Log::WARN; 00091 } 00092 else if (level == ros::console::levels::Error) 00093 { 00094 msg->level = rosgraph_msgs::Log::ERROR; 00095 } 00096 else if (level == ros::console::levels::Fatal) 00097 { 00098 msg->level = rosgraph_msgs::Log::FATAL; 00099 } 00100 msg->name = this_node::getName(); 00101 msg->msg = str; 00102 msg->file = file; 00103 msg->function = function; 00104 msg->line = line; 00105 this_node::getAdvertisedTopics(msg->topics); 00106 00107 if (level == ::ros::console::levels::Fatal || level == ::ros::console::levels::Error) 00108 { 00109 last_error_ = str; 00110 } 00111 00112 boost::mutex::scoped_lock lock(queue_mutex_); 00113 log_queue_.push_back(msg); 00114 queue_condition_.notify_all(); 00115 } 00116 00117 void ROSOutAppender::logThread() 00118 { 00119 while (!shutting_down_) 00120 { 00121 V_Log local_queue; 00122 00123 { 00124 boost::mutex::scoped_lock lock(queue_mutex_); 00125 00126 if (shutting_down_) 00127 { 00128 return; 00129 } 00130 00131 queue_condition_.wait(lock); 00132 00133 if (shutting_down_) 00134 { 00135 return; 00136 } 00137 00138 local_queue.swap(log_queue_); 00139 } 00140 00141 V_Log::iterator it = local_queue.begin(); 00142 V_Log::iterator end = local_queue.end(); 00143 for (; it != end; ++it) 00144 { 00145 TopicManager::instance()->publish(names::resolve("/rosout"), *(*it)); 00146 } 00147 } 00148 } 00149 00150 } // namespace ros