logging.h

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// Copyright 2017 Open Source Robotics Foundation, 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.

#ifndef RCUTILS__LOGGING_H_
#define RCUTILS__LOGGING_H_

#include <stdarg.h>
#include <stdbool.h>
#include <stdio.h>

#include "rcutils/visibility_control.h"

#if __cplusplus
extern "C"
{
#endif

RCUTILS_PUBLIC
extern bool g_rcutils_logging_initialized;


RCUTILS_PUBLIC
void rcutils_logging_initialize();

typedef struct rcutils_log_location_t
{
  const char * function_name;
  const char * file_name;
  size_t line_number;
} rcutils_log_location_t;

enum RCUTILS_LOG_SEVERITY
{
  RCUTILS_LOG_SEVERITY_DEBUG = 0,  
  RCUTILS_LOG_SEVERITY_INFO = 1,  
  RCUTILS_LOG_SEVERITY_WARN = 2,  
  RCUTILS_LOG_SEVERITY_ERROR = 3,  
  RCUTILS_LOG_SEVERITY_FATAL = 4,  
};


typedef void (* rcutils_logging_output_handler_t)(
  rcutils_log_location_t *,  // location
  int,  // severity
  const char *,  // name
  const char *,  // format
  va_list *  // args
);

RCUTILS_PUBLIC
extern rcutils_logging_output_handler_t g_rcutils_logging_output_handler;


RCUTILS_PUBLIC
rcutils_logging_output_handler_t rcutils_logging_get_output_handler();


RCUTILS_PUBLIC
void rcutils_logging_set_output_handler(rcutils_logging_output_handler_t function);


RCUTILS_PUBLIC
extern int g_rcutils_logging_severity_threshold;


RCUTILS_PUBLIC
int rcutils_logging_get_severity_threshold();


RCUTILS_PUBLIC
void rcutils_logging_set_severity_threshold(int severity);


RCUTILS_PUBLIC
void rcutils_log(
  rcutils_log_location_t * location,
  int severity,
  const char * name,
  const char * format,
  ...);


RCUTILS_PUBLIC
void rcutils_logging_console_output_handler(
  rcutils_log_location_t * location,
  int severity, const char * name, const char * format, va_list * args);

// Provide the compiler with branch prediction information
#ifndef _WIN32

# define RCUTILS_LIKELY(x) __builtin_expect((x), 1)

# define RCUTILS_UNLIKELY(x) __builtin_expect((x), 0)
#else

# define RCUTILS_LIKELY(x) (x)

# define RCUTILS_UNLIKELY(x) (x)
#endif  // _WIN32

#define RCUTILS_LOGGING_AUTOINIT \
  if (RCUTILS_UNLIKELY(!g_rcutils_logging_initialized)) { \
    rcutils_logging_initialize(); \
  }

#if __cplusplus
}
#endif

#endif  // RCUTILS__LOGGING_H_