log.cpp

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/*
 * Copyright (C) 2021-2022 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 <basic_autonomy/log/log.hpp>
 
namespace basic_autonomy
{
 
namespace
{
// Function-local static is initialized once and is thread-safe (C++11).
rclcpp::Logger & module_logger()
{
  static rclcpp::Logger logger = rclcpp::get_logger("basic_autonomy");
  return logger;
}
}  // anonymous namespace
 
rclcpp::Logger get_logger() { return module_logger(); }
void set_logger(rclcpp::Logger logger) { module_logger() = logger; }
 
namespace log
{
std::string basicPointToStream(lanelet::BasicPoint2d point)
{
  std::ostringstream out;
  out << point.x() << ", " << point.y();
  return out.str();
}
std::string pointSpeedPairToStream(waypoint_generation::PointSpeedPair point)
{
  std::ostringstream out;
  out << "Point: " << basicPointToStream(point.point) << " Speed: " << point.speed;
  return out.str();
}
 
void printDoublesPerLineWithPrefix(const std::string& prefix, const std::vector<double>& values)
{
  for (const auto& value : values)
  {
    RCLCPP_DEBUG_STREAM(basic_autonomy::get_logger(), prefix << value);
  }
}
 
}  // namespace log
}  // namespace basic_autonomy