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Added the ability to redirect logging to a callable. #6244

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97f596e
Added the ability to redirect logging to a callable.
larshg Mar 1, 2025
ed01cff
Use formatted string instead of temporary stringstream.
larshg Mar 2, 2025
83573ca
Add includes.
larshg Mar 2, 2025
0f0fa61
cleanup
larshg Mar 2, 2025
918ddbd
Test for undefined symbol.
larshg Mar 2, 2025
242261c
Fix copy paste error.
larshg Mar 2, 2025
b49c8f4
Fix ODR of OctreeKey::maxdepth.
larshg Mar 2, 2025
5038d8b
Remove unnecessary c_str().
larshg Mar 2, 2025
b0d715d
Wrap static member variables in a getter method.
larshg Mar 3, 2025
be72de7
Add wrapper function for easier setting the callback.
larshg Mar 3, 2025
1fb51d3
Address parsing in the string from the LogRecord to reduce copying.
larshg Mar 25, 2025
172f52b
Revert removal of c_str()
larshg Mar 25, 2025
5384843
Revert direct removal of the two static variables, but added deprecre…
larshg Mar 25, 2025
746959d
Added more documentation for usage of the setCallback and how to rese…
larshg Mar 25, 2025
3169df7
Fix missing field in initializer
larshg Mar 26, 2025
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349 changes: 277 additions & 72 deletions common/include/pcl/console/print.h
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324 changes: 76 additions & 248 deletions common/src/print.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,10 @@
*/
#include <pcl/console/print.h>
#include <algorithm>
#include <cstdarg> // for va_list, va_start, va_end
#include <cstdio>
#include <cstdlib>
#include <cctype> // for toupper
#include <map>
#include <map> // For std::map
#include <string>
#include <boost/optional.hpp>

Expand Down Expand Up @@ -87,7 +87,6 @@ convertAttributesColor (int attribute, int fg, int bg=0)

#else
# include <unistd.h>
# include <cstdio>
#endif

// Map to store, for each output stream, whether to use colored output
Expand All @@ -110,6 +109,13 @@ useColoredOutput (FILE *stream)
return colored.get ();
}

pcl::console::Logger&
pcl::console::Logger::getInstance()
{
static Logger instance;
return instance;
}

////////////////////////////////////////////////////////////////////////////////
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template <typename Functor>
void pcl::console::Logger::setCallback(Functor&& callback){
      getInstance().setCallback(std::move(callback));
}

DISCLAIMER: draft, untested code.
@larshg wouldn't this work? Would the template be a problem there?

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You want a free function like:


    template <typename Functor>
    void
    setCallback(Functor&& callback)
    {
      Logger::getInstance().setCallback(std::move(callback));
    }

so you can call:
pcl::console::setCallback(...);

Yes, thats possible.

void
pcl::console::enableColoredOutput (FILE *stream, bool enable)
Expand Down Expand Up @@ -168,212 +174,6 @@ pcl::console::reset_text_color (FILE *stream)
#endif
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_color (FILE *stream, int attr, int fg, const char *format, ...)
{
change_text_color (stream, attr, fg);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_info (const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_INFO)) return;

reset_text_color (stdout);

va_list ap;

va_start (ap, format);
vfprintf (stdout, format, ap);
va_end (ap);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_info (FILE *stream, const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_INFO)) return;

reset_text_color (stream);

va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_highlight (const char *format, ...)
{
//if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

change_text_color (stdout, TT_BRIGHT, TT_GREEN);
fprintf (stdout, "> ");
reset_text_color (stdout);

va_list ap;

va_start (ap, format);
vfprintf (stdout, format, ap);
va_end (ap);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_highlight (FILE *stream, const char *format, ...)
{
//if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

change_text_color (stream, TT_BRIGHT, TT_GREEN);
fprintf (stream, "> ");
reset_text_color (stream);

va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_error (const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_ERROR)) return;

change_text_color (stderr, TT_BRIGHT, TT_RED);
va_list ap;

va_start (ap, format);
vfprintf (stderr, format, ap);
va_end (ap);

reset_text_color (stderr);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_error (FILE *stream, const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_ERROR)) return;

change_text_color (stream, TT_BRIGHT, TT_RED);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_warn (const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_WARN)) return;

change_text_color (stderr, TT_BRIGHT, TT_YELLOW);
va_list ap;

va_start (ap, format);
vfprintf (stderr, format, ap);
va_end (ap);

reset_text_color (stderr);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_warn (FILE *stream, const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_WARN)) return;

change_text_color (stream, TT_BRIGHT, TT_YELLOW);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_value (const char *format, ...)
{
//if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

change_text_color (stdout, TT_RESET, TT_CYAN);
va_list ap;

va_start (ap, format);
vfprintf (stdout, format, ap);
va_end (ap);

reset_text_color (stdout);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_value (FILE *stream, const char *format, ...)
{
//if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

change_text_color (stream, TT_RESET, TT_CYAN);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_debug (const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_DEBUG)) return;

change_text_color (stdout, TT_RESET, TT_GREEN);
va_list ap;

va_start (ap, format);
vfprintf (stdout, format, ap);
va_end (ap);

reset_text_color (stdout);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_debug (FILE *stream, const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_DEBUG)) return;

change_text_color (stream, TT_RESET, TT_GREEN);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
namespace pcl
{
Expand Down Expand Up @@ -456,68 +256,96 @@ pcl::console::initVerbosityLevel ()
return true;
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print (pcl::console::VERBOSITY_LEVEL level, FILE *stream, const char *format, ...)
pcl::console::Logger::print(FILE* stream, const LogRecord& logEntry)
{
if (!isVerbosityLevelEnabled (level)) return;
switch (level)
{
if (!pcl::console::isVerbosityLevelEnabled(logEntry.level))
return;

if (logcallback)
logcallback(logEntry);
else {
switch (logEntry.level) {
case L_DEBUG:
change_text_color (stream, TT_RESET, TT_GREEN);
change_text_color(stream, TT_RESET, TT_GREEN);
break;
case L_WARN:
change_text_color (stream, TT_BRIGHT, TT_YELLOW);
change_text_color(stream, TT_BRIGHT, TT_YELLOW);
break;
case L_ERROR:
change_text_color (stream, TT_BRIGHT, TT_RED);
change_text_color(stream, TT_BRIGHT, TT_RED);
break;
case L_ALWAYS:
case L_INFO:
case L_VERBOSE:
default:
break;
}
}

va_list ap;
fputs(logEntry.message.c_str(), stream);

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);
reset_text_color(stream);
}
}

reset_text_color (stream);
void
pcl::console::Logger::print(const LogRecord& logEntry)
{
FILE* stream =
(logEntry.level == L_WARN || logEntry.level == L_ERROR) ? stderr : stdout;

print(stream, logEntry);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print (pcl::console::VERBOSITY_LEVEL level, const char *format, ...)
pcl::console::Logger::print_highlight(FILE* stream, const LogRecord& logEntry)
{
if (!isVerbosityLevelEnabled (level)) return;
FILE *stream = (level == L_WARN || level == L_ERROR) ? stderr : stdout;
switch (level)
{
case L_DEBUG:
change_text_color (stream, TT_RESET, TT_GREEN);
break;
case L_WARN:
change_text_color (stream, TT_BRIGHT, TT_YELLOW);
break;
case L_ERROR:
change_text_color (stream, TT_BRIGHT, TT_RED);
break;
case L_ALWAYS:
case L_INFO:
case L_VERBOSE:
default:
break;
if (logcallback)
logcallback(logEntry);
else {
change_text_color(stream, TT_BRIGHT, TT_GREEN);
fputs("> ", stream);
reset_text_color(stream);

fputs(logEntry.message.c_str(), stream);
}
}

void
pcl::console::Logger::print_highlight(const LogRecord& logEntry)
{
print_highlight(stdout, logEntry);
}

void
pcl::console::Logger::print_value(FILE* stream, const LogRecord& logEntry)
{
if (logcallback)
logcallback(logEntry);
else {
change_text_color(stream, TT_RESET, TT_CYAN);

va_list ap;
fputs(logEntry.message.c_str(), stream);

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);
reset_text_color(stream);
}
}

reset_text_color (stream);
void
pcl::console::Logger::print_value(const LogRecord& logEntry)
{
print_value(stdout, logEntry);
}

void
pcl::console::Logger::print_color(
FILE* stream, int attr, int fg, const LogRecord& logEntry)
{
if (logcallback)
logcallback(logEntry);
else {
change_text_color(stream, attr, fg);
fputs(logEntry.message.c_str(), stream);
reset_text_color(stream);
}
}
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