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 
00057 class Rosout
00058 {
00059 public:
00060   std::string log_file_name_;
00061   FILE* handle_;
00062   size_t max_file_size_;
00063   size_t current_file_size_;
00064   size_t max_backup_index_;
00065   size_t current_backup_index_;
00066   ros::NodeHandle node_;
00067   ros::Subscriber rosout_sub_;
00068   ros::Publisher agg_pub_;
00069 
00070   Rosout()
00071   {
00072     init();
00073   }
00074 
00075   void init()
00076   {
00077     max_file_size_ = 100*1024*1024;
00078     current_file_size_ = 0;
00079     max_backup_index_ = 10;
00080     current_backup_index_ = 0;
00081 
00082     log_file_name_ = ros::file_log::getLogDirectory() + "/rosout.log";
00083     handle_ = fopen(log_file_name_.c_str(), "w");
00084 
00085     if (handle_ == 0)
00086     {
00087       std::cerr << "Error opening rosout log file '" << log_file_name_.c_str() << "': " << strerror(errno);
00088     }
00089     else
00090     {
00091       std::cout << "logging to " << log_file_name_.c_str() << std::endl;
00092 
00093       std::stringstream ss;
00094       ss <<  "\n\n" << ros::Time::now() << "  Node Startup\n";
00095       int written = fprintf(handle_, "%s", ss.str().c_str());
00096       if (written < 0)
00097       {
00098         std::cerr << "Error writting to rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_)) << std::endl;
00099       }
00100       else if (written > 0)
00101       {
00102         current_file_size_ += written;
00103         if (fflush(handle_))
00104         {
00105           std::cerr << "Error flushing rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_));
00106         }
00107       }
00108     }
00109 
00110     agg_pub_ = node_.advertise<rosgraph_msgs::Log>("/rosout_agg", 0);
00111     std::cout << "re-publishing aggregated messages to /rosout_agg" << std::endl;
00112 
00113     rosout_sub_ = node_.subscribe("/rosout", 0, &Rosout::rosoutCallback, this);
00114     std::cout << "subscribed to /rosout" << std::endl;
00115   }
00116 
00117   void rosoutCallback(const rosgraph_msgs::Log::ConstPtr& msg)
00118   {
00119     agg_pub_.publish(msg);
00120 
00121     std::stringstream ss;
00122     ss << msg->header.stamp << " ";
00123     switch (msg->level)
00124     {
00125     case rosgraph_msgs::Log::FATAL:
00126       ss << "FATAL ";
00127       break;
00128     case rosgraph_msgs::Log::ERROR:
00129       ss << "ERROR ";
00130       break;
00131     case rosgraph_msgs::Log::WARN:
00132       ss << "WARN ";
00133       break;
00134     case rosgraph_msgs::Log::DEBUG:
00135       ss << "DEBUG ";
00136       break;
00137     case rosgraph_msgs::Log::INFO:
00138       ss << "INFO ";
00139       break;
00140     default:
00141       ss << msg->level << " ";
00142     }
00143 
00144     ss << "[" << msg->file << ":" << msg->line << "(" << msg->function << ") ";
00145 
00146     ss << "[topics: ";
00147     std::vector<std::string>::const_iterator it = msg->topics.begin();
00148     std::vector<std::string>::const_iterator end = msg->topics.end();
00149     for ( ; it != end; ++it )
00150     {
00151       const std::string& topic = *it;
00152 
00153       if ( it != msg->topics.begin() )
00154       {
00155         ss << ", ";
00156       }
00157 
00158       ss << topic;
00159     }
00160     ss << "] ";
00161 
00162     ss << msg->msg;
00163     ss << "\n";
00164     int written = fprintf(handle_, "%s", ss.str().c_str());
00165     if (written < 0)
00166     {
00167       std::cerr << "Error writting to rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_)) << std::endl;
00168     }
00169     else if (written > 0)
00170     {
00171       current_file_size_ += written;
00172       if (fflush(handle_))
00173       {
00174         std::cerr << "Error flushing rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_));
00175       }
00176 
00177       // check for rolling
00178       if (current_file_size_ > max_file_size_)
00179       {
00180         if (fclose(handle_))
00181         {
00182           std::cerr << "Error closing rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_)) << std::endl;
00183         }
00184         current_backup_index_++;
00185         if (current_backup_index_ <= max_backup_index_)
00186         {
00187           std::stringstream backup_file_name;
00188           backup_file_name << log_file_name_ << "." << current_backup_index_;
00189           int rc = rename(log_file_name_.c_str(), backup_file_name.str().c_str());
00190           if (rc != 0)
00191           {
00192             rc = remove(backup_file_name.str().c_str());
00193             if (rc == 0)
00194             {
00195               rc = rename(log_file_name_.c_str(), backup_file_name.str().c_str());
00196               if (rc)
00197               {
00198                 std::cerr << "Error rotating rosout log file '" << log_file_name_.c_str() << "' to '" << backup_file_name.str().c_str() << "': " << strerror(errno);
00199               }
00200             }
00201           }
00202           if (rc)
00203           {
00204             std::cerr << "Error rotating rosout log file '" << log_file_name_.c_str() << "'' to '" << backup_file_name.str().c_str() << "'" << std::endl;
00205           }
00206           else
00207           {
00208             std::cout << "rosout log file " << log_file_name_.c_str() << " reached max size, back up data to " << backup_file_name.str().c_str() << std::endl;
00209           }
00210           if (current_backup_index_ == max_backup_index_)
00211           {
00212             current_backup_index_ = 0;
00213           }
00214         }
00215         handle_ = fopen(log_file_name_.c_str(), "w");
00216         if (handle_ == 0)
00217         {
00218           std::cerr << "Error opening rosout log file '" << log_file_name_.c_str() << "': " << strerror(errno);
00219         }
00220         current_file_size_ = 0;
00221       }
00222     }
00223   }
00224 };
00225 
00226 int main(int argc, char **argv)
00227 {
00228   ros::init(argc, argv, "rosout", ros::init_options::NoRosout);
00229   ros::NodeHandle n;
00230   Rosout r;
00231 
00232   ros::spin();
00233 
00234   return 0;
00235 }
00236 


rosout
Author(s): Josh Faust
autogenerated on Thu Jun 6 2019 21:10:22