rosout.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <cstring>
00031 #include <cstdlib>
00032 
00033 #include "ros/ros.h"
00034 #include "ros/file_log.h"
00035 
00036 #ifdef WIN32
00037   #ifdef ERROR
00038     // ach, windows.h polluting everything again,
00039         // clashes with autogenerated rosgraph_msgs/Log.h
00040     #undef ERROR
00041   #endif
00042 #endif
00043 #include "rosgraph_msgs/Log.h"
00044 
00045 #include "log4cxx/logger.h"
00046 #include "log4cxx/rollingfileappender.h"
00047 #include "log4cxx/patternlayout.h"
00048 #include "log4cxx/helpers/pool.h"
00049 #ifdef _MSC_VER
00050   #include "log4cxx/helpers/transcoder.h" // to decode std::string -> LogStrings on windows
00051 #endif
00052 
00065 class Rosout
00066 {
00067 public:
00068   log4cxx::LoggerPtr logger_;
00069   ros::NodeHandle node_;
00070   ros::Subscriber rosout_sub_;
00071   ros::Publisher agg_pub_;
00072 
00073   Rosout()
00074   {
00075     init();
00076   }
00077 
00078   void init()
00079   {
00080     //calculate log directory
00081 #ifdef _MSC_VER
00082     std::string log_file_name_str = ros::file_log::getLogDirectory() + "/rosout.log";
00083     LOG4CXX_DECODE_CHAR(log_file_name, log_file_name_str); // this instantiates log_file_name as type LogString as well
00084     std::string empty_str = "";
00085     LOG4CXX_DECODE_CHAR(log_empty, empty_str);
00086 #else
00087     std::string log_file_name = ros::file_log::getLogDirectory() + "/rosout.log";
00088     std::string log_empty = "";
00089 #endif
00090 
00091     logger_ = log4cxx::Logger::getRootLogger();
00092     log4cxx::LayoutPtr layout = new log4cxx::PatternLayout(log_empty);
00093     log4cxx::RollingFileAppenderPtr appender = new log4cxx::RollingFileAppender(layout, log_file_name, true);
00094     logger_->addAppender( appender );
00095     appender->setMaximumFileSize(100*1024*1024);
00096     appender->setMaxBackupIndex(10);
00097     log4cxx::helpers::Pool pool;
00098     appender->activateOptions(pool);
00099 
00100     std::cout << "logging to " << log_file_name.c_str() << std::endl;
00101 
00102     LOG4CXX_INFO(logger_, "\n\n" << ros::Time::now() << "  Node Startup\n");
00103 
00104     agg_pub_ = node_.advertise<rosgraph_msgs::Log>("/rosout_agg", 0);
00105     std::cout << "re-publishing aggregated messages to /rosout_agg" << std::endl;
00106 
00107     rosout_sub_ = node_.subscribe("/rosout", 0, &Rosout::rosoutCallback, this);
00108     std::cout << "subscribed to /rosout" << std::endl;
00109   }
00110 
00111   void rosoutCallback(const rosgraph_msgs::Log::ConstPtr& msg)
00112   {
00113     agg_pub_.publish(msg);
00114 
00115     std::stringstream ss;
00116     ss << msg->header.stamp << " ";
00117     switch (msg->level)
00118     {
00119     case rosgraph_msgs::Log::FATAL:
00120       ss << "FATAL ";
00121       break;
00122     case rosgraph_msgs::Log::ERROR:
00123       ss << "ERROR ";
00124       break;
00125     case rosgraph_msgs::Log::WARN:
00126       ss << "WARN ";
00127       break;
00128     case rosgraph_msgs::Log::DEBUG:
00129       ss << "DEBUG ";
00130       break;
00131     case rosgraph_msgs::Log::INFO:
00132       ss << "INFO ";
00133       break;
00134     default:
00135       ss << msg->level << " ";
00136     }
00137 
00138     ss << "[" << msg->file << ":" << msg->line << "(" << msg->function << ") ";
00139 
00140     ss << "[topics: ";
00141     std::vector<std::string>::const_iterator it = msg->topics.begin();
00142     std::vector<std::string>::const_iterator end = msg->topics.end();
00143     for ( ; it != end; ++it )
00144     {
00145       const std::string& topic = *it;
00146 
00147       if ( it != msg->topics.begin() )
00148       {
00149         ss << ", ";
00150       }
00151 
00152       ss << topic;
00153     }
00154     ss << "] ";
00155 
00156     ss << msg->msg;
00157     LOG4CXX_INFO(logger_, ss.str());
00158   }
00159 };
00160 
00161 int main(int argc, char **argv)
00162 {
00163   ros::init(argc, argv, "rosout", ros::init_options::NoRosout);
00164   ros::NodeHandle n;
00165   Rosout r;
00166 
00167   ros::spin();
00168 
00169   return 0;
00170 }
00171 


rosout
Author(s): Josh Faust/jfaust@willowgarage.com
autogenerated on Sat Dec 28 2013 17:36:17