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/* Author: Ioan Sucan */
#include <ros/console.h>
#include <console_bridge/console.h>
#include "rosconsole_bridge/bridge.h"
namespace rosconsole_bridge
{
OutputHandlerROS::OutputHandlerROS(void) : OutputHandler()
{
}
void OutputHandlerROS::log(const std::string &text, console_bridge::LogLevel level, const char *filename, int line)
{
std::string prefix;
// Check for fake subprefix name defined as text output "package.prefix: message"
// Rejects something like "foo bar: message" because of the space
static const std::string NEEDLE_STRING = ": ";
size_t sub_index = text.find(NEEDLE_STRING);
size_t space_index = text.find(" ");
if (sub_index != std::string::npos && // needle is found
sub_index > 0 && // does not start with needle
space_index > sub_index && // no spaces before needle (": ")
text.length() > space_index + 1) // remaining text is not empty
{
prefix = std::string(ROSCONSOLE_NAME_PREFIX) + "." + text.substr(0, sub_index);
// update the sub_index to allow us to later remove the prefix from the message
sub_index += NEEDLE_STRING.length();
}
else
{
prefix = std::string(ROSCONSOLE_NAME_PREFIX) + ".console_bridge";
sub_index = 0;
}
// Handle different logging levels
switch (level)
{
case console_bridge::CONSOLE_BRIDGE_LOG_INFO:
{
ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Info, prefix);
if (ROS_UNLIKELY(__rosconsole_define_location__enabled))
{
::ros::console::print(NULL, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, filename, line, "", "%s",
text.substr(sub_index, std::string::npos).c_str());
}
}
break;
case console_bridge::CONSOLE_BRIDGE_LOG_WARN:
{
ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Warn, prefix);
if (ROS_UNLIKELY(__rosconsole_define_location__enabled))
{
::ros::console::print(NULL, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, filename, line, "", "%s",
text.substr(sub_index, std::string::npos).c_str());
}
}
break;
case console_bridge::CONSOLE_BRIDGE_LOG_ERROR:
{
ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Error, prefix);
if (ROS_UNLIKELY(__rosconsole_define_location__enabled))
{
::ros::console::print(NULL, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, filename, line, "", "%s",
text.substr(sub_index, std::string::npos).c_str());
}
}
break;
default:
// debug
{
ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Debug, prefix);
if (ROS_UNLIKELY(__rosconsole_define_location__enabled))
{
::ros::console::print(NULL, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, filename, line, "", "%s",
text.substr(sub_index, std::string::npos).c_str());
}
}
break;
}
}
RegisterOutputHandlerProxy::RegisterOutputHandlerProxy(void)
{
static OutputHandlerROS oh_ros;
console_bridge::useOutputHandler(&oh_ros);
// we want the output level to be decided by rosconsole, so we bring all messages to rosconsole
console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_DEBUG);
}
RegisterOutputHandlerProxy::~RegisterOutputHandlerProxy()
{
console_bridge::restorePreviousOutputHandler();
}
}