rosfmt.h

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// rosfmt - type-safe ROS_* logging macros
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>

#ifndef ROSFMT_H
#define ROSFMT_H

#if __cplusplus < 201103L
#error rosfmt needs C++11 support. Suggestion: add "set(CMAKE_CXX_STANDARD 11)" \
    to your CMakeLists.txt.

#else

#include <ros/console.h>

#include <fmt/core.h>

#include <string>

namespace rosfmt
{

std::string vformat(fmt::string_view format_str, fmt::format_args args);

template<typename ... Args>
std::string format(const std::string& formatString, const Args& ... args)
{
        fmt::format_arg_store<fmt::format_context, Args...> as{args...};
        return rosfmt::vformat(formatString, as);
}

template<typename... Args>
void print(
        ros::console::FilterBase* filter, void* logger, ros::console::Level level,
        const char* file, int line, const char* function,
        const std::string& format, const Args&... args)
{
        std::string s = rosfmt::format(format, args...);
        std::stringstream ss;
        ss << s;
        ros::console::print(filter, logger, level, ss, file, line, function);
}

}

#define ROSFMT_PRINT_AT_LOCATION_WITH_FILTER(filter, ...) \
    ::rosfmt::print(filter, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, __FILE__, __LINE__, __ROSCONSOLE_FUNCTION__, __VA_ARGS__)

#define ROSFMT_PRINT_AT_LOCATION(...) \
    ROSFMT_PRINT_AT_LOCATION_WITH_FILTER(NULL, __VA_ARGS__)

#define ROSFMT_LOG_COND(cond, level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(cond, level, name); \
    \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled)) \
    { \
      ROSFMT_PRINT_AT_LOCATION(__VA_ARGS__); \
    } \
  } while(false)

#define ROSFMT_LOG_ONCE(level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    static bool hit = false; \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(!hit)) \
    { \
      hit = true; \
      ROSFMT_PRINT_AT_LOCATION(__VA_ARGS__); \
    } \
  } while(false)

#define ROSFMT_LOG_THROTTLE(period, level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    static double last_hit = 0.0; \
    ::ros::Time now = ::ros::Time::now(); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(last_hit + period <= now.toSec())) \
    { \
      last_hit = now.toSec(); \
      ROSFMT_PRINT_AT_LOCATION(__VA_ARGS__); \
    } \
  } while(false)

#define ROSFMT_LOG_DELAYED_THROTTLE(period, level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    ::ros::Time __ros_log_delayed_throttle__now__ = ::ros::Time::now(); \
    static double __ros_log_delayed_throttle__last_hit__ = __ros_log_delayed_throttle__now__.toSec(); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && ROS_UNLIKELY(__ros_log_delayed_throttle__last_hit__ + period <= __ros_log_delayed_throttle__now__.toSec())) \
    { \
      __ros_log_delayed_throttle__last_hit__ = __ros_log_delayed_throttle__now__.toSec(); \
      ROSFMT_PRINT_AT_LOCATION(__VA_ARGS__); \
    } \
  } while(false)

#define ROSFMT_LOG_FILTER(filter, level, name, ...) \
  do \
  { \
    ROSCONSOLE_DEFINE_LOCATION(true, level, name); \
    if (ROS_UNLIKELY(__rosconsole_define_location__enabled) && (filter)->isEnabled()) \
    { \
      ROSFMT_PRINT_AT_LOCATION_WITH_FILTER(filter, __VA_ARGS__); \
    } \
  } while(false)

#define ROSFMT_LOG(level, name, ...) ROSFMT_LOG_COND(true, level, name, __VA_ARGS__)

#include "macros_generated.h"

#endif // C++11

#endif // include guard