Merge branch 'feature/log_multiple_args' into 'master'

Log multiple args, also using operator<<()

Closes #24 and #23

See merge request MRT/released/rosinterface_handler!24

CMakeLists.txt

@@ -69,7 +69,7 @@ if (CATKIN_ENABLE_TESTING)
     find_package(tf2_ros REQUIRED)
     find_package(image_transport REQUIRED)
     target_link_libraries(${TEST_TARGET_NAME} ${catkin_LIBRARIES} ${tf2_ros_LIBRARIES} ${image_transport_LIBRARIES} gtest)
-    target_include_directories(${TEST_TARGET_NAME} PUBLIC ${catkin_INCLUDE_DIRS} ${tf2_ros_INCLUDE_DIRS} ${image_transport_INCLUDE_DIRS} include)
+    target_include_directories(${TEST_TARGET_NAME} PUBLIC include ${catkin_INCLUDE_DIRS} ${tf2_ros_INCLUDE_DIRS} ${image_transport_INCLUDE_DIRS})
     add_dependencies(${TEST_TARGET_NAME} ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
     set_property(TARGET ${TEST_TARGET_NAME} PROPERTY CXX_STANDARD 14)
     set_property(TARGET ${TEST_TARGET_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)

include/rosinterface_handler/simple_node_status.hpp

@@ -5,6 +5,8 @@
 #include <diagnostic_updater/diagnostic_updater.h>
 #include <ros/node_handle.h>
 
+#include "utilities.hpp"
+
 namespace rosinterface_handler {
 //! Mirrors diagnostic_updater::DiagnosticStatus, but with strong typing
 enum class NodeStatus : std::uint8_t {
@@ -39,12 +41,13 @@ class SimpleNodeStatus {
         updater_->force_update();
     }
 
-    //! Leightweight way to set or report a new status. The status remains until overwritten by a new status.
-    void set(NodeStatus s, const std::string& msg) {
+    //! Lightweight way to set or report a new status. The status remains until overwritten by a new status.
+    template <typename Arg, typename... Args>
+    void set(NodeStatus s, const Arg& arg, const Args&... Args_) {
         bool modified = false;
         {
             std::lock_guard<std::mutex> g{statusMutex_};
-            Status newStatus{s, msg};
+            Status newStatus{s, asString(arg, Args_...)};
             modified = status_ != newStatus;
             status_ = newStatus;
         }
@@ -56,9 +59,10 @@ class SimpleNodeStatus {
 
     //! Add/overwrite extra information about the status in form of key/value pairs. The information will be shared
     //! along with the overall node status. It remains until explicitly cleared or overwritten.
-    void info(const std::string& name, std::string message) {
+    template <typename Arg, typename... Args>
+    void info(const std::string& name, const Arg& arg, const Args&... Args_) {
         std::lock_guard<std::mutex> g{statusMutex_};
-        extraInfo_[name] = std::move(message);
+        extraInfo_[name] = asString(arg, Args_...);
     }
 
     //! Clears previously set information. Returns true on success.

include/rosinterface_handler/utilities.hpp

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <limits>
+#include <sstream>
 #include <string>
 #include <ros/node_handle.h>
 #include <ros/param.h>
@@ -301,4 +302,26 @@ inline void testMax(const std::string key, std::map<K, T>& val, T max = std::num
     }
 }
 
+/// \brief Convert at least one argument to a string
+/// \tparam Arg Type of required argument
+/// \tparam Args Type of additional arguments (optional)
+/// \param arg Required argument
+/// \param args Additional arguments (optional)
+/// \return
+template <typename Arg, typename... Args>
+inline std::string asString(Arg&& arg, Args&&... Args_) {
+    std::ostringstream oss;
+    oss << std::forward<Arg>(arg);
+    (oss << ... << std::forward<Args>(Args_));
+    return oss.str();
+}
+
+inline std::string asString(std::string&& arg) {
+    return std::move(arg);
+}
+
+inline const std::string& asString(const std::string& arg) {
+    return arg;
+}
+
 } // namespace rosinterface_handler

templates/Interface.h.template

@@ -119,34 +119,39 @@ $string_representation;
       return privateNodeHandle_.getNamespace();
   }
 
-  /// \brief logs to the debug output. Works also within nodelets. Output is throttled.
+  /// \brief logs to the debug output. Works also within nodelets.
   // NOLINTNEXTLINE(readability-function-size)
-  inline void logDebug(const std::string& msg) const {
-      ROS_DEBUG_STREAM_NAMED(nodeNameWithNamespace(), msg);
+  template <typename Msg, typename... Msgs>
+  inline void logDebug(const Msg& msg, const Msgs&... Msgs_) const {
+      ROS_DEBUG_STREAM_NAMED(nodeNameWithNamespace(), rosinterface_handler::asString(msg, Msgs_...));
   }
 
   /// \brief logs to the debug output. Works also within nodelets. Output is throttled.
   // NOLINTNEXTLINE(readability-function-size)
-  inline void logInfo(const std::string& msg) const {
-      ROS_INFO_STREAM_THROTTLE_NAMED(5, nodeNameWithNamespace(), msg);
+  template <typename Msg, typename... Msgs>
+  inline void logInfo(const Msg& msg, const Msgs&... Msgs_) const {
+      ROS_INFO_STREAM_THROTTLE_NAMED(5, nodeNameWithNamespace(), rosinterface_handler::asString(msg, Msgs_...));
   }
 
   /// \brief logs to the debug output. Works also within nodelets. Output is throttled.
   // NOLINTNEXTLINE(readability-function-size)
-  inline void logWarn(const std::string& msg) const {
-      ROS_WARN_STREAM_THROTTLE_NAMED(5, nodeNameWithNamespace(), msg);
+  template <typename Msg, typename... Msgs>
+  inline void logWarn(const Msg& msg, const Msgs&... Msgs_) const {
+      ROS_WARN_STREAM_THROTTLE_NAMED(5, nodeNameWithNamespace(), rosinterface_handler::asString(msg, Msgs_...));
   }
 
   /// \brief logs to the error output. Works also within nodelets. Output is throttled.
   // NOLINTNEXTLINE(readability-function-size)
-  inline void logError(const std::string& msg) const {
-      ROS_ERROR_STREAM_THROTTLE_NAMED(5, nodeNameWithNamespace(), msg);
+  template <typename Msg, typename... Msgs>
+  inline void logError(const Msg& msg, const Msgs&... Msgs_) const {
+      ROS_ERROR_STREAM_THROTTLE_NAMED(5, nodeNameWithNamespace(), rosinterface_handler::asString(msg, Msgs_...));
   }
 
   /// \brief logs to the error output. Works also within nodelets. Not throttled! Dont call this in loops!
   // NOLINTNEXTLINE(readability-function-size)
-  inline void logErrorDirect(const std::string& msg) const {
-      ROS_ERROR_STREAM_NAMED(nodeNameWithNamespace(), msg);
+  template <typename Msg, typename... Msgs>
+  inline void logErrorDirect(const Msg& msg, const Msgs&... Msgs_) const {
+      ROS_ERROR_STREAM_NAMED(nodeNameWithNamespace(), rosinterface_handler::asString(msg, Msgs_...));
   }
 
   /// \brief logs subscribed and advertised topics to the command line. Works also within nodelets.