ar_basalt/thirdparty/ros/console_bridge/src/console.cpp

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/* Author: Ryan Luna, Ioan Sucan */

#include "console_bridge/console.h"

#include <cstdio>
#include <cstdarg>

#include <iostream>
#include <mutex>

/// @cond IGNORE

struct DefaultOutputHandler
{
    DefaultOutputHandler(void)
    {
        output_handler_ = static_cast<console_bridge::OutputHandler*>(&std_output_handler_);
        previous_output_handler_ = output_handler_;
        logLevel_ = console_bridge::CONSOLE_BRIDGE_LOG_WARN;
    }

    console_bridge::OutputHandlerSTD std_output_handler_;
    console_bridge::OutputHandler   *output_handler_;
    console_bridge::OutputHandler   *previous_output_handler_;
    console_bridge::LogLevel         logLevel_;
    std::mutex                       lock_; // it is likely the outputhandler does some I/O, so we serialize it
};

// we use this function because we want to handle static initialization correctly
// however, the first run of this function is not thread safe, due to the use of a static
// variable inside the function. For this reason, we ensure the first call happens during
// static initialization using a proxy class
static DefaultOutputHandler* getDOH(void)
{
    static DefaultOutputHandler DOH;
    return &DOH;
}

#define USE_DOH                                                                \
    DefaultOutputHandler *doh = getDOH();                                      \
    std::lock_guard<std::mutex> lock_guard(doh->lock_)

#define MAX_BUFFER_SIZE 1024

/// @endcond

void console_bridge::noOutputHandler(void)
{
    USE_DOH;
    doh->previous_output_handler_ = doh->output_handler_;
    doh->output_handler_ = NULL;
}

void console_bridge::restorePreviousOutputHandler(void)
{
    USE_DOH;
    std::swap(doh->previous_output_handler_, doh->output_handler_);
}

void console_bridge::useOutputHandler(OutputHandler *oh)
{
    USE_DOH;
    doh->previous_output_handler_ = doh->output_handler_;
    doh->output_handler_ = oh;
}

console_bridge::OutputHandler* console_bridge::getOutputHandler(void)
{
    return getDOH()->output_handler_;
}

void console_bridge::log(const char *file, int line, LogLevel level, const char* m, ...)
{
    USE_DOH;
    if (doh->output_handler_ && level >= doh->logLevel_)
    {
        va_list __ap;
        va_start(__ap, m);
        char buf[MAX_BUFFER_SIZE];
#ifdef _MSC_VER
        vsnprintf_s(buf, sizeof(buf), _TRUNCATE, m, __ap);
#else
        vsnprintf(buf, sizeof(buf), m, __ap);
#endif
        va_end(__ap);
        buf[MAX_BUFFER_SIZE - 1] = '\0';

        doh->output_handler_->log(buf, level, file, line);
    }
}

void console_bridge::setLogLevel(LogLevel level)
{
    USE_DOH;
    doh->logLevel_ = level;
}

console_bridge::LogLevel console_bridge::getLogLevel(void)
{
    USE_DOH;
    return doh->logLevel_;
}

static const char* LogLevelString[4] = {"Debug:   ", "Info:    ", "Warning: ", "Error:   "};

void console_bridge::OutputHandlerSTD::log(const std::string &text, LogLevel level, const char *filename, int line)
{
    if (level >= CONSOLE_BRIDGE_LOG_WARN)
    {
        std::cerr << LogLevelString[level] << text << std::endl;
        std::cerr << "         at line " << line << " in " << filename << std::endl;
        std::cerr.flush();
    }
    else
    {
        std::cout << LogLevelString[level] << text << std::endl;
        std::cout.flush();
    }
}

console_bridge::OutputHandlerFile::OutputHandlerFile(const char *filename) : OutputHandler()
{
#ifdef _MSC_VER
    errno_t err = fopen_s(&file_, filename, "a");
    if (err != 0 || !file_)
#else
    file_ = fopen(filename, "a");
    if (!file_)
#endif
        std::cerr << "Unable to open log file: '" << filename << "'" << std::endl;
}

console_bridge::OutputHandlerFile::~OutputHandlerFile(void)
{
    if (file_)
        if (fclose(file_) != 0)
            std::cerr << "Error closing logfile" << std::endl;
}

void console_bridge::OutputHandlerFile::log(const std::string &text, LogLevel level, const char *filename, int line)
{
    if (file_)
    {
        fprintf(file_, "%s%s\n", LogLevelString[level], text.c_str());
        if(level >= CONSOLE_BRIDGE_LOG_WARN)
            fprintf(file_, "         at line %d in %s\n", line, filename);
        fflush(file_);
    }
}