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| 1 | +// -- BEGIN LICENSE BLOCK ---------------------------------------------- |
| 2 | +// Copyright 2021 Universal Robots A/S |
| 3 | +// |
| 4 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | +// you may not use this file except in compliance with the License. |
| 6 | +// You may obtain a copy of the License at |
| 7 | +// |
| 8 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | +// |
| 10 | +// Unless required by applicable law or agreed to in writing, software |
| 11 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | +// See the License for the specific language governing permissions and |
| 14 | +// limitations under the License. |
| 15 | + |
| 16 | +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of |
| 17 | +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS |
| 18 | +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR |
| 19 | +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE |
| 20 | +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY |
| 21 | +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, |
| 22 | +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, |
| 23 | +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the |
| 24 | +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an |
| 25 | +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first |
| 26 | +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice |
| 27 | +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, |
| 28 | +// please contact [email protected]. |
| 29 | +// -- END LICENSE BLOCK ------------------------------------------------ |
| 30 | + |
| 31 | +#ifndef UR_DRIVER_URCL_LOG_HANDLER_H_INCLUDED |
| 32 | +#define UR_DRIVER_URCL_LOG_HANDLER_H_INCLUDED |
| 33 | + |
| 34 | +#include <ur_client_library/log.h> |
| 35 | + |
| 36 | +namespace ur_driver |
| 37 | +{ |
| 38 | +/*! |
| 39 | + * \brief Loghandler for handling messages logged with the C++ client library. This loghandler will log the messages |
| 40 | + * from the client library with ROS logging. |
| 41 | + * Use registerLogHandler to register this class. This class shouldn't be instantiated directly. |
| 42 | + */ |
| 43 | +class UrclLogHandler : public urcl::LogHandler |
| 44 | +{ |
| 45 | +public: |
| 46 | + /*! |
| 47 | + * \brief Default constructor |
| 48 | + */ |
| 49 | + UrclLogHandler(); |
| 50 | + |
| 51 | + /*! |
| 52 | + * \brief Function to log a message |
| 53 | + * |
| 54 | + * \param file The log message comes from this file |
| 55 | + * \param line The log message comes from this line |
| 56 | + * \param loglevel Indicates the severity of the log message |
| 57 | + * \param log Log message |
| 58 | + */ |
| 59 | + void log(const char* file, int line, urcl::LogLevel loglevel, const char* message) override; |
| 60 | + |
| 61 | +private: |
| 62 | + std::string log_name_; |
| 63 | + |
| 64 | + void logMessage(const char* file, int line, ros::console::Level level, const char* message); |
| 65 | +}; |
| 66 | + |
| 67 | +/*! |
| 68 | + * \brief Register the UrclLoghHandler, this will start logging messages from the client library with RPS2 logging. |
| 69 | + * This function has to be called inside your node, to enable the log handler. |
| 70 | + */ |
| 71 | +void registerUrclLogHandler(); |
| 72 | + |
| 73 | +/*! |
| 74 | + * \brief Unregister the UrclLoghHandler, stop logging messages from the client library with ROS2 logging. |
| 75 | + */ |
| 76 | +void unregisterUrclLogHandler(); |
| 77 | + |
| 78 | +} // namespace ur_driver |
| 79 | + |
| 80 | +#endif // UR_DRIVER_URCL_LOG_HANDLER_H_INCLUDED |
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