log.hpp

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/*------------------------------------------------------------------------------
* Copyright (C) 2020-2022 LEIDOS.
*
* 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.
------------------------------------------------------------------------------*/
 
#include <sstream>
#include <basic_autonomy/basic_autonomy.hpp>
 
namespace basic_autonomy
{
    static const std::string BASIC_AUTONOMY_LOGGER = "basic_autonomy";
 
    namespace log
    {
    std::string basicPointToStream(lanelet::BasicPoint2d point);
 
    std::string pointSpeedPairToStream(waypoint_generation::PointSpeedPair point);
 
    template <class T>
    void printDebugPerLine(const std::vector<T>& values, std::function<std::string(T)> func)
    {
        for (const auto& value : values)
        {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), func(value));
        }
    }
 
    template <class T>
    void printDebugPerLine(const std::vector<T>& values, std::string (*free_func)(T))
    {
        auto function = static_cast<std::function<std::string(T)>>(free_func);
        printDebugPerLine(values, function);
    }
 
    void printDoublesPerLineWithPrefix(const std::string& prefix, const std::vector<double>& values);
 
    }  // namespace log
}  // namespace basic_autonomy