Program Listing for File urcl_log_handler.hpp

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#ifndef UR_ROBOT_DRIVER__URCL_LOG_HANDLER_HPP_
#define UR_ROBOT_DRIVER__URCL_LOG_HANDLER_HPP_

#include <string>
#include "ur_client_library/log.h"
namespace ur_robot_driver
{

void registerUrclLogHandler(const std::string& tf_prefix = "");

void unregisterUrclLogHandler();

class UrclLogHandler : public urcl::LogHandler
{
public:
  UrclLogHandler();

  void log(const char* file, int line, urcl::LogLevel loglevel, const char* message) override;

  const std::string& getTFPrefix() const
  {
    return tf_prefix_;
  }

private:
  std::string tf_prefix_{};

  void setTFPrefix(const std::string& tf_prefix)
  {
    tf_prefix_ = tf_prefix;
  }

  // Declare the register method as a friend so that we can access setTFPrefix from it
  friend void registerUrclLogHandler(const std::string& tf_prefix);
};

}  // namespace ur_robot_driver

#endif  // UR_ROBOT_DRIVER__URCL_LOG_HANDLER_HPP_