log.h

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/* Author: Zachary Kingston */
 
#ifndef ROBOWFLEX_LOGGING_
#define ROBOWFLEX_LOGGING_
 
#include <boost/format.hpp>
#include <ros/console.h>
 
/** \file Logging
 *  Functions for logging throughout Robowflex. Uses the boost::format format string syntax.
 *  See https://www.boost.org/doc/libs/1_66_0/libs/format/doc/format.html for details.
 *  All functions follow a 'printf' style, where there is a format string followed by arguments.
 *  e.g., RBX_ERROR("%s failed! Try %+08d", "test", 10)
 *        RBX_ERROR("%1%: %2%", "argument 1", "argument 2")
 *
 *  There are the following debugging levels available, in descending order of priority:
 *  - FATAL, which also causes the program to terminate.
 *  - ERROR
 *  - WARN
 *  - INFO
 *  - DEBUG, which are not visible unless enabled (e.g., with showUpToDebug())
 *
 *  Currently, all logging is done through rosconsole. It is good practice to use the defined
 *  macros here for abstraction purpose.
 */
 
namespace robowflex
{
    /** \brief Logging functions.
     */
    namespace log
    {
        /** \brief Recursion base case, return string form of formatted arguments.
         *  \param[in] f Formatter.
         *  \return String of formatted arguments.
         */
        std::string formatRecurse(boost::format &f);
 
        /** \brief Recursion base case, return string form of formatted arguments.
         *  \tparam[in] T Type of first argument.
         *  \tparam[in] Args format argument types.
         *  \param[in] f Formatter.
         *  \param[in] t First argument.
         *  \param[in] args Remaining format arguments.
         *  \return String of formatted arguments.
         */
        template <class T, class... Args>
        std::string formatRecurse(boost::format &f, T &&t, Args &&... args)
        {
            return formatRecurse(f % std::forward<T>(t), std::forward<Args>(args)...);
        }
 
        /** \brief Recursion base case, return string form of formatted arguments.
         *  \tparam[in] Args format argument types.
         *  \param[in] fmt Format string.
         *  \param[in] args Format arguments.
         *  \return String of formatted arguments.
         */
        template <typename... Args>
        std::string format(const std::string &fmt, Args &&... args)
        {
            boost::format f(fmt);
            return formatRecurse(f, std::forward<Args>(args)...);
        }
 
        /** \brief Show all logging messages fatal and above.
         */
        void showUpToFatal();
 
        /** \brief Show all logging messages error and above.
         */
        void showUpToError();
 
        /** \brief Show all logging messages warning and above.
         */
        void showUpToWarning();
 
        /** \brief Show all logging messages info and above.
         */
        void showUpToInfo();
 
        /** \brief Show all logging messages debug and above.
         */
        void showUpToDebug();
    }  // namespace log
}  // namespace robowflex
 
/**
 * \def RBX_FATAL
 * \brief Output a fatal logging message.
 * \param[in] fmt Format string (see boost::format specification)
 * \param[in] ... Format arguments.
 */
#define RBX_FATAL(fmt, ...) ROS_FATAL_STREAM(robowflex::log::format(fmt, ##__VA_ARGS__).c_str())
 
/**
 * \def RBX_ERROR
 * \brief Output a error logging message.
 * \param[in] fmt Format string (see boost::format specification)
 * \param[in] ... Format arguments.
 */
#define RBX_ERROR(fmt, ...) ROS_ERROR_STREAM(robowflex::log::format(fmt, ##__VA_ARGS__).c_str())
 
/**
 * \def RBX_WARN
 * \brief Output a warning logging message.
 * \param[in] fmt Format string (see boost::format specification)
 * \param[in] ... Format arguments.
 */
#define RBX_WARN(fmt, ...) ROS_WARN_STREAM(robowflex::log::format(fmt, ##__VA_ARGS__).c_str())
 
/**
 * \def RBX_INFO
 * \brief Output a info logging message.
 * \param[in] fmt Format string (see boost::format specification)
 * \param[in] ... Format arguments.
 */
#define RBX_INFO(fmt, ...) ROS_INFO_STREAM(robowflex::log::format(fmt, ##__VA_ARGS__).c_str())
 
/**
 * \def RBX_DEBUG
 * \brief Output a debug logging message.
 * \param[in] fmt Format string (see boost::format specification)
 * \param[in] ... Format arguments.
 */
#define RBX_DEBUG(fmt, ...) ROS_DEBUG_STREAM(robowflex::log::format(fmt, ##__VA_ARGS__).c_str())
 
#endif