org.ros.internal.node.RosoutLogger.java Source code

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Here is the source code for org.ros.internal.node.RosoutLogger.java

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/*
 * Copyright (C) 2011 Google Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.internal.node;

import java.io.PrintWriter;
import java.io.StringWriter;

import org.apache.commons.logging.Log;
import org.apache.commons.logging.LogFactory;
import org.ros.Topics;
import org.ros.node.topic.Publisher;

/**
 * Logger that logs to both an underlying Apache Commons Log as well as /rosout.
 *
 * @author kwc@willowgarage.com (Ken Conley)
 * @author damonkohler@google.com (Damon Kohler)
 */
class RosoutLogger implements Log {

    private final DefaultNode defaultNode;
    private final Publisher<rosgraph_msgs.Log> publisher;
    private final Log log;

    public RosoutLogger(DefaultNode defaultNode) {
        this.defaultNode = defaultNode;
        publisher = defaultNode.newPublisher(Topics.ROSOUT, rosgraph_msgs.Log._TYPE);
        log = LogFactory.getLog(defaultNode.getName().toString());
    }

    public Publisher<rosgraph_msgs.Log> getPublisher() {
        return publisher;
    }

    private void publish(byte level, Object message, Throwable throwable) {
        StringWriter stringWriter = new StringWriter();
        PrintWriter printWriter = new PrintWriter(stringWriter);
        throwable.printStackTrace(printWriter);
        publish(level, message.toString() + '\n' + stringWriter.toString());
    }

    private void publish(byte level, Object message) {
        rosgraph_msgs.Log logMessage = publisher.newMessage();
        logMessage.getHeader().setStamp(defaultNode.getCurrentTime());
        logMessage.setLevel(level);
        logMessage.setName(defaultNode.getName().toString());
        logMessage.setMsg(message.toString());
        // TODO(damonkohler): Should update the topics field with a list of all
        // published and subscribed topics for the node that created this logger.
        // This helps filter the rosoutconsole.
        publisher.publish(logMessage);
    }

    @Override
    public boolean isDebugEnabled() {
        return log.isDebugEnabled();
    }

    @Override
    public boolean isErrorEnabled() {
        return log.isErrorEnabled();
    }

    @Override
    public boolean isFatalEnabled() {
        return log.isFatalEnabled();
    }

    @Override
    public boolean isInfoEnabled() {
        return log.isInfoEnabled();
    }

    @Override
    public boolean isTraceEnabled() {
        return log.isTraceEnabled();
    }

    @Override
    public boolean isWarnEnabled() {
        return log.isWarnEnabled();
    }

    @Override
    public void trace(Object message) {
        log.trace(message);
        if (log.isTraceEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.DEBUG, message);
        }
    }

    @Override
    public void trace(Object message, Throwable t) {
        log.trace(message, t);
        if (log.isTraceEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.DEBUG, message, t);
        }
    }

    @Override
    public void debug(Object message) {
        log.debug(message);
        if (log.isDebugEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.DEBUG, message);
        }
    }

    @Override
    public void debug(Object message, Throwable t) {
        log.debug(message, t);
        if (log.isDebugEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.DEBUG, message, t);
        }
    }

    @Override
    public void info(Object message) {
        log.info(message);
        if (log.isInfoEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.INFO, message);
        }
    }

    @Override
    public void info(Object message, Throwable t) {
        log.info(message, t);
        if (log.isInfoEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.INFO, message, t);
        }
    }

    @Override
    public void warn(Object message) {
        log.warn(message);
        if (log.isWarnEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.WARN, message);
        }
    }

    @Override
    public void warn(Object message, Throwable t) {
        log.warn(message, t);
        if (log.isWarnEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.WARN, message, t);
        }
    }

    @Override
    public void error(Object message) {
        log.error(message);
        if (log.isErrorEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.ERROR, message);
        }
    }

    @Override
    public void error(Object message, Throwable t) {
        log.error(message, t);
        if (log.isErrorEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.ERROR, message, t);
        }
    }

    @Override
    public void fatal(Object message) {
        log.fatal(message);
        if (log.isFatalEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.FATAL, message);
        }
    }

    @Override
    public void fatal(Object message, Throwable t) {
        log.fatal(message, t);
        if (log.isFatalEnabled() && publisher != null) {
            publish(rosgraph_msgs.Log.FATAL, message, t);
        }
    }
}