log_utils.h

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <cstdarg>
#include <memory>
#include <string>
 
#include <ros/console.h>
 
#include <cras_cpp_common/string_utils.hpp>
 
namespace cras
{
 
int8_t logLevelToRosgraphMsgLevel(::ros::console::Level rosLevel);
 
::ros::console::Level rosgraphMsgLevelToLogLevel(uint8_t msgLevel);
 
class LogHelper
{
public:
  typedef ::std::shared_ptr<::cras::LogHelper> Ptr;  
  typedef ::std::shared_ptr<const ::cras::LogHelper> ConstPtr;  
 
  // The class is not copyable/movable to prevent slicing
 
  LogHelper();
  virtual ~LogHelper() = default;
  LogHelper(const LogHelper&) = delete;
  LogHelper& operator=(const LogHelper&) = delete;
  LogHelper(LogHelper &&) = delete;
  LogHelper& operator=(LogHelper &&) = delete;
 
  mutable bool initialized {false};
 
  void initialize() const;
 
protected:
  virtual void initializeImpl() const = 0;
 
public:
  void initializeLogLocation(
    ::ros::console::LogLocation* loc, const std::string& name, ::ros::console::Level level) const;
 
protected:
  virtual void initializeLogLocationImpl(
    ::ros::console::LogLocation* loc, const std::string& name, ::ros::console::Level level) const = 0;
 
public:
  virtual void setLogLocationLevel(::ros::console::LogLocation* loc, ::ros::console::Level level) const;
 
  virtual void checkLogLocationEnabled(::ros::console::LogLocation* loc) const;
 
  virtual void logString(void* logger, ::ros::console::Level level, const ::std::string& str, const char* file,
    uint32_t line, const char* function) const = 0;
 
  virtual ::ros::Time getTimeNow() const;
 
  virtual const void* getId() const;
 
  void print(::ros::console::FilterBase* filter, void* logger, ::ros::console::Level level,
    const char* file, int line, const char* function, const char* fmt, ...) const ROSCONSOLE_PRINTF_ATTRIBUTE(8, 9);
 
  void print(::ros::console::FilterBase* filter, void* logger, ::ros::console::Level level,
    const char* file, int line, const char* function, ::std::string fmt, ...) const;
 
  void print(::ros::console::FilterBase* filter, void* logger, ::ros::console::Level level,
    const ::std::stringstream& ss, const char* file, int line, const char* function) const;
 
  void print(::ros::console::FilterBase* filter, void* logger, ::ros::console::Level level, const ::std::string& str,
    const char* file, int line, const char* function) const;
 
  [[deprecated("This function will be removed in a future release.")]]
  void setGlobalLogger() const;
 
  [[deprecated("Use CRAS_* logging macros instead.")]]
  void log(::ros::console::Level level, const char* format, ...) const;
 
  [[deprecated("Use CRAS_* logging macros instead.")]]
  void log(::ros::console::Level level, ::std::string format, ...) const;
 
  [[deprecated("Use CRAS_* logging macros instead.")]]
  void print(::ros::console::Level level, const ::std::string& text) const;
 
  friend class WrapperLogHelper;
};
 
typedef ::cras::LogHelper::Ptr LogHelperPtr;  
typedef ::cras::LogHelper::ConstPtr LogHelperConstPtr;  
 
class RosconsoleLogHelper : public ::cras::LogHelper
{
public:
  void setLogLocationLevel(::ros::console::LogLocation* loc, ::ros::console::Level level) const override;
 
  void checkLogLocationEnabled(::ros::console::LogLocation* loc) const override;
 
  void logString(void* logger, ::ros::console::Level level, const ::std::string& str, const char* file, uint32_t line,
    const char* function) const override;
 
protected:
  void initializeImpl() const override;
 
  void initializeLogLocationImpl(
    ::ros::console::LogLocation* loc, const ::std::string& name, ::ros::console::Level level) const override;
};
 
class HasLogger
{
public:
  explicit HasLogger(const ::cras::LogHelperPtr& log);
 
  ::cras::LogHelperConstPtr getCrasLogger() const;
 
  void setCrasLogger(const ::cras::LogHelperPtr& log);
 
protected:
  ::cras::LogHelperPtr log;
};
 
class [[deprecated("This wrapper should only be used to provide backward compatibility.")]]
  WrapperLogHelper : public ::cras::LogHelper
{
public:
  explicit WrapperLogHelper(const ::cras::LogHelper* wrapped);
 
  void setLogLocationLevel(::ros::console::LogLocation* loc, ::ros::console::Level level) const override;
 
  void checkLogLocationEnabled(::ros::console::LogLocation* loc) const override;
 
  void logString(void* logger, ::ros::console::Level level, const ::std::string& str, const char* file, uint32_t line,
    const char* function) const override;
 
  ::ros::Time getTimeNow() const override;
 
  const void* getId() const override;
 
protected:
  void initializeImpl() const override;
 
  void initializeLogLocationImpl(
    ::ros::console::LogLocation* loc, const ::std::string& name, ::ros::console::Level level) const override;
 
private:
  const ::cras::LogHelper* wrapped;
};
 
}
 
::cras::LogHelperConstPtr getCrasLogger();
 
::cras::LogHelperConstPtr setCrasLogger(const ::cras::LogHelperConstPtr& log);
 
[[deprecated("This function will be removed in a future release.")]]
void restorePreviousCrasLogger();
 
#include <cras_cpp_common/log_utils/macros.h>
#include <cras_cpp_common/log_utils/deprecated/macros.h>