bridge.cpp

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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()
{
}

OutputHandlerROS::~OutputHandlerROS(void) {
  console_bridge::restorePreviousOutputHandler();
}

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);
}

}