utils.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

/*
 * File: utils.h
 * Author: Vladislav Tananaev
 *
 */

#pragma once

#include <ros/console.h>
#include <mrpt/system/datetime.h>
#include <mrpt/system/COutputLogger.h>
#include <log4cxx/logger.h>

namespace mrpt_bridge
{
inline mrpt::system::VerbosityLevel rosLoggerLvlToMRPTLoggerLvl(
        log4cxx::LevelPtr lvl)
{
        using namespace log4cxx;

        // determine on the corresponding VerbosityLevel
        mrpt::system::VerbosityLevel mrpt_lvl;

        if (lvl == Level::getFatal() || lvl == Level::getError())
        {
                mrpt_lvl = mrpt::system::LVL_ERROR;
        }
        else if (lvl == Level::getWarn())
        {
                mrpt_lvl = mrpt::system::LVL_WARN;
        }
        else if (lvl == Level::getInfo())
        {
                mrpt_lvl = mrpt::system::LVL_INFO;
        }
        else if (lvl == Level::getDebug() || lvl == Level::getTrace())
        {
                mrpt_lvl = mrpt::system::LVL_DEBUG;
        }
        else
        {
                mrpt_lvl = mrpt::system::LVL_INFO;
                ROS_ERROR("Unknown log4cxx::Level is given.");
        }

        return mrpt_lvl;

}  // end of rosLoggerLvlToMRPTLoggerLvl

inline void mrptToROSLoggerCallback(
        const std::string& msg, const mrpt::system::VerbosityLevel level,
        [[maybe_unused]] const std::string& loggerName,
        [[maybe_unused]] const mrpt::system::TTimeStamp timestamp)
{
        // Remove trailing \n if present
        std::string tmsg = msg;
        if (!tmsg.empty() &&
                tmsg.compare(tmsg.length() - 1, tmsg.length(), "\n") == 0)
        {
                tmsg.erase(tmsg.end() - 1);
        }

        switch (level)
        {
                case mrpt::system::LVL_DEBUG:
                        ROS_DEBUG("%s", tmsg.c_str());
                        break;
                case mrpt::system::LVL_WARN:
                        ROS_WARN("%s", tmsg.c_str());
                        break;
                case mrpt::system::LVL_ERROR:
                        ROS_ERROR("%s", tmsg.c_str());
                        break;
                default:
                case mrpt::system::LVL_INFO:
                        ROS_INFO("%s", tmsg.c_str());
                        break;
        }
}

}  // namespace mrpt_bridge