ompl_console.cpp

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/* Author: Ioan Sucan */

#include <ros/console.h>
#include <ompl/util/Console.h>

namespace ompl_inteface
{
class OutputHandlerROS : public ompl::msg::OutputHandler
{
public:

  OutputHandlerROS() : OutputHandler()
  {
  }

  virtual void log(const std::string &text, ompl::msg::LogLevel level, const char *filename, int line)
  {
    switch (level)
    {
    case ompl::msg::LOG_INFO:
      {
        ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Info, std::string(ROSCONSOLE_ROOT_LOGGER_NAME) + ".ompl");
        if (ROS_UNLIKELY(enabled))
        {
          ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
        }
      }
      break;
    case ompl::msg::LOG_WARN:
      {
        ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Warn, std::string(ROSCONSOLE_ROOT_LOGGER_NAME) + ".ompl");
        if (ROS_UNLIKELY(enabled))
        {
          ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
        }
      }
      break;
    case ompl::msg::LOG_ERROR:
      {
        ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Error, std::string(ROSCONSOLE_ROOT_LOGGER_NAME) + ".ompl");
        if (ROS_UNLIKELY(enabled))
        {
          ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
        }
      }
      break;
    default:
      // debug
      {
        ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Debug, std::string(ROSCONSOLE_ROOT_LOGGER_NAME) + ".ompl");
        if (ROS_UNLIKELY(enabled))
        {
          ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
        }
      }
      break;
    }
  }
};

struct RegisterOH
{
  RegisterOH()
  {
    static OutputHandlerROS oh_ros;
    ompl::msg::useOutputHandler(&oh_ros);
    ompl::msg::setLogLevel(ompl::msg::LOG_DEBUG);
  }
};

static RegisterOH proxy;
}