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<divclass="fragment"><divclass="line"><aid="l00001" name="l00001"></a><spanclass="lineno"> 1</span><spanclass="comment">/*********************************************************************</span></div>
<divclass="line"><aid="l00002" name="l00002"></a><spanclass="lineno"> 2</span><spanclass="comment"> * Software License Agreement (BSD License)</span></div>
<divclass="line"><aid="l00003" name="l00003"></a><spanclass="lineno"> 3</span><spanclass="comment"> *</span></div>
<divclass="line"><aid="l00004" name="l00004"></a><spanclass="lineno"> 4</span><spanclass="comment"> * Copyright (c) 2008, Willow Garage, Inc.</span></div>
<divclass="line"><aid="l00005" name="l00005"></a><spanclass="lineno"> 5</span><spanclass="comment"> * All rights reserved.</span></div>
<divclass="line"><aid="l00006" name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment"> *</span></div>
<divclass="line"><aid="l00007" name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<divclass="line"><aid="l00008" name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> * modification, are permitted provided that the following conditions</span></div>
<divclass="line"><aid="l00009" name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * are met:</span></div>
<divclass="line"><aid="l00010" name="l00010"></a><spanclass="lineno"> 10</span><spanclass="comment"> *</span></div>
<divclass="line"><aid="l00011" name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00012" name="l00012"></a><spanclass="lineno"> 12</span><spanclass="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00013" name="l00013"></a><spanclass="lineno"> 13</span><spanclass="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<divclass="line"><aid="l00014" name="l00014"></a><spanclass="lineno"> 14</span><spanclass="comment"> * copyright notice, this list of conditions and the following</span></div>
<divclass="line"><aid="l00015" name="l00015"></a><spanclass="lineno"> 15</span><spanclass="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<divclass="line"><aid="l00016" name="l00016"></a><spanclass="lineno"> 16</span><spanclass="comment"> * with the distribution.</span></div>
<divclass="line"><aid="l00017" name="l00017"></a><spanclass="lineno"> 17</span><spanclass="comment"> * * Neither the name of the Willow Garage nor the names of its</span></div>
<divclass="line"><aid="l00018" name="l00018"></a><spanclass="lineno"> 18</span><spanclass="comment"> * contributors may be used to endorse or promote products derived</span></div>
<divclass="line"><aid="l00019" name="l00019"></a><spanclass="lineno"> 19</span><spanclass="comment"> * from this software without specific prior written permission.</span></div>
<divclass="line"><aid="l00020" name="l00020"></a><spanclass="lineno"> 20</span><spanclass="comment"> *</span></div>
<divclass="line"><aid="l00021" name="l00021"></a><spanclass="lineno"> 21</span><spanclass="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<divclass="line"><aid="l00022" name="l00022"></a><spanclass="lineno"> 22</span><spanclass="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<divclass="line"><aid="l00023" name="l00023"></a><spanclass="lineno"> 23</span><spanclass="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<divclass="line"><aid="l00024" name="l00024"></a><spanclass="lineno"> 24</span><spanclass="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<divclass="line"><aid="l00025" name="l00025"></a><spanclass="lineno"> 25</span><spanclass="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<divclass="line"><aid="l00026" name="l00026"></a><spanclass="lineno"> 26</span><spanclass="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<divclass="line"><aid="l00027" name="l00027"></a><spanclass="lineno"> 27</span><spanclass="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<divclass="line"><aid="l00028" name="l00028"></a><spanclass="lineno"> 28</span><spanclass="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<divclass="line"><aid="l00029" name="l00029"></a><spanclass="lineno"> 29</span><spanclass="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<divclass="line"><aid="l00030" name="l00030"></a><spanclass="lineno"> 30</span><spanclass="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<divclass="line"><aid="l00031" name="l00031"></a><spanclass="lineno"> 31</span><spanclass="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<divclass="line"><aid="l00032" name="l00032"></a><spanclass="lineno"> 32</span><spanclass="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<divclass="line"><aid="l00033" name="l00033"></a><spanclass="lineno"> 33</span><spanclass="comment"> *********************************************************************/</span></div>
<divclass="line"><aid="l00034" name="l00034"></a><spanclass="lineno"> 34</span></div>
<divclass="line"><aid="l00035" name="l00035"></a><spanclass="lineno"> 35</span><spanclass="comment">/* Author: Ioan Sucan */</span></div>
<divclass="line"><aid="l00036" name="l00036"></a><spanclass="lineno"> 36</span></div>
<divclass="line"><aid="l00037" name="l00037"></a><spanclass="lineno"> 37</span><spanclass="preprocessor">#include "<aclass="code" href="Console_8h.html">ompl/util/Console.h</a>"</span></div>
<divclass="line"><aid="l00038" name="l00038"></a><spanclass="lineno"> 38</span><spanclass="preprocessor">#include <mutex></span></div>
<divclass="line"><aid="l00039" name="l00039"></a><spanclass="lineno"> 39</span><spanclass="preprocessor">#include <iostream></span></div>
<divclass="line"><aid="l00040" name="l00040"></a><spanclass="lineno"> 40</span><spanclass="preprocessor">#include <cstdio></span></div>
<divclass="line"><aid="l00041" name="l00041"></a><spanclass="lineno"> 41</span><spanclass="preprocessor">#include <cstdarg></span></div>
<divclass="line"><aid="l00042" name="l00042"></a><spanclass="lineno"> 42</span><spanclass="preprocessor">#ifdef _WIN32</span></div>
<divclass="line"><aid="l00043" name="l00043"></a><spanclass="lineno"> 43</span><spanclass="preprocessor">#include <stdio.h></span></div>
<divclass="line"><aid="l00044" name="l00044"></a><spanclass="lineno"> 44</span><spanclass="preprocessor">#include <io.h></span></div>
<divclass="line"><aid="l00045" name="l00045"></a><spanclass="lineno"> 45</span><spanclass="preprocessor">#define isatty(x) _isatty(x)</span></div>
<divclass="line"><aid="l00046" name="l00046"></a><spanclass="lineno"> 46</span><spanclass="preprocessor">#define fileno(x) _fileno(x)</span></div>
<divclass="line"><aid="l00047" name="l00047"></a><spanclass="lineno"> 47</span><spanclass="preprocessor">#else</span></div>
<divclass="line"><aid="l00048" name="l00048"></a><spanclass="lineno"> 48</span><spanclass="preprocessor">#include <unistd.h></span></div>
<divclass="line"><aid="l00049" name="l00049"></a><spanclass="lineno"> 49</span><spanclass="preprocessor">#endif</span></div>
<divclass="line"><aid="l00050" name="l00050"></a><spanclass="lineno"> 50</span></div>
<divclass="line"><aid="l00051" name="l00051"></a><spanclass="lineno"> 51</span><spanclass="preprocessor">#define ANSI_COLOR_RED "\x1b[31m"</span></div>
<divclass="line"><aid="l00052" name="l00052"></a><spanclass="lineno"> 52</span><spanclass="preprocessor">#define ANSI_COLOR_GREEN "\x1b[32m"</span></div>
<divclass="line"><aid="l00053" name="l00053"></a><spanclass="lineno"> 53</span><spanclass="preprocessor">#define ANSI_COLOR_YELLOW "\x1b[33m"</span></div>
<divclass="line"><aid="l00054" name="l00054"></a><spanclass="lineno"> 54</span><spanclass="preprocessor">#define ANSI_COLOR_BLUE "\x1b[34m"</span></div>
<divclass="line"><aid="l00055" name="l00055"></a><spanclass="lineno"> 55</span><spanclass="preprocessor">#define ANSI_COLOR_MAGENTA "\x1b[35m"</span></div>
<divclass="line"><aid="l00056" name="l00056"></a><spanclass="lineno"> 56</span><spanclass="preprocessor">#define ANSI_COLOR_CYAN "\x1b[36m"</span></div>
<divclass="line"><aid="l00057" name="l00057"></a><spanclass="lineno"> 57</span><spanclass="preprocessor">#define ANSI_COLOR_RESET "\x1b[0m"</span></div>
<divclass="line"><aid="l00058" name="l00058"></a><spanclass="lineno"> 58</span></div>
<divclass="line"><aid="l00060" name="l00060"></a><spanclass="lineno"> 60</span></div>
<divclass="line"><aid="l00061" name="l00061"></a><spanclass="lineno"> 61</span><spanclass="keyword">struct </span>DefaultOutputHandler</div>
<divclass="line"><aid="l00062" name="l00062"></a><spanclass="lineno"> 62</span>{</div>
<divclass="line"><aid="l00063" name="l00063"></a><spanclass="lineno"> 63</span> DefaultOutputHandler()</div>
<divclass="line"><aid="l00064" name="l00064"></a><spanclass="lineno"> 64</span> {</div>
<divclass="line"><aid="l00065" name="l00065"></a><spanclass="lineno"> 65</span> output_handler_ = <spanclass="keyword">static_cast<</span>ompl::msg::OutputHandler *<spanclass="keyword">></span>(&std_output_handler_);</div>
<divclass="line"><aid="l00066" name="l00066"></a><spanclass="lineno"> 66</span> previous_output_handler_ = output_handler_;</div>
<divclass="line"><aid="l00067" name="l00067"></a><spanclass="lineno"> 67</span> logLevel_ = ompl::msg::LOG_DEBUG;</div>
<divclass="line"><aid="l00068" name="l00068"></a><spanclass="lineno"> 68</span> }</div>
<divclass="line"><aid="l00069" name="l00069"></a><spanclass="lineno"> 69</span></div>
<divclass="line"><aid="l00070" name="l00070"></a><spanclass="lineno"> 70</span> ompl::msg::OutputHandlerSTD std_output_handler_;</div>
<divclass="line"><aid="l00071" name="l00071"></a><spanclass="lineno"> 71</span> ompl::msg::OutputHandler *output_handler_;</div>
<divclass="line"><aid="l00072" name="l00072"></a><spanclass="lineno"> 72</span> ompl::msg::OutputHandler *previous_output_handler_;</div>
<divclass="line"><aid="l00073" name="l00073"></a><spanclass="lineno"> 73</span><aclass="code hl_enumeration" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a> logLevel_;</div>
<divclass="line"><aid="l00074" name="l00074"></a><spanclass="lineno"> 74</span> std::mutex lock_; <spanclass="comment">// it is likely the outputhandler does some I/O, so we serialize it</span></div>
<divclass="line"><aid="l00075" name="l00075"></a><spanclass="lineno"> 75</span>};</div>
<divclass="line"><aid="l00076" name="l00076"></a><spanclass="lineno"> 76</span></div>
<divclass="line"><aid="l00077" name="l00077"></a><spanclass="lineno"> 77</span><spanclass="comment">// we use this function because we want to handle static initialization correctly</span></div>
<divclass="line"><aid="l00078" name="l00078"></a><spanclass="lineno"> 78</span><spanclass="comment">// however, the first run of this function is not thread safe, due to the use of a static</span></div>
<divclass="line"><aid="l00079" name="l00079"></a><spanclass="lineno"> 79</span><spanclass="comment">// variable inside the function. For this reason, we ensure the first call happens during</span></div>
<divclass="line"><aid="l00080" name="l00080"></a><spanclass="lineno"> 80</span><spanclass="comment">// static initialization using a proxy class</span></div>
<divclass="line"><aid="l00081" name="l00081"></a><spanclass="lineno"> 81</span><spanclass="keyword">static</span> DefaultOutputHandler *getDOH()</div>
<divclass="line"><aid="l00082" name="l00082"></a><spanclass="lineno"> 82</span>{</div>
<divclass="line"><aid="l00083" name="l00083"></a><spanclass="lineno"> 83</span><spanclass="keyword">static</span> DefaultOutputHandler DOH;</div>
<divclass="line"><aid="l00084" name="l00084"></a><spanclass="lineno"> 84</span><spanclass="keywordflow">return</span> &DOH;</div>
<divclass="line"><aid="l00085" name="l00085"></a><spanclass="lineno"> 85</span>}</div>
<divclass="line"><aid="l00086" name="l00086"></a><spanclass="lineno"> 86</span></div>
<divclass="line"><aid="l00087" name="l00087"></a><spanclass="lineno"> 87</span><spanclass="preprocessor">#define USE_DOH \</span></div>
<divclass="line"><aid="l00088" name="l00088"></a><spanclass="lineno"> 88</span><spanclass="preprocessor"> DefaultOutputHandler *doh = getDOH(); \</span></div>
<divclass="line"><aid="l00089" name="l00089"></a><spanclass="lineno"> 89</span><spanclass="preprocessor"> std::lock_guard<std::mutex> slock(doh->lock_)</span></div>
<divclass="line"><aid="l00090" name="l00090"></a><spanclass="lineno"> 90</span></div>
<divclass="line"><aid="l00091" name="l00091"></a><spanclass="lineno"> 91</span><spanclass="preprocessor">#define MAX_BUFFER_SIZE 1024</span></div>
<divclass="line"><aid="l00092" name="l00092"></a><spanclass="lineno"> 92</span></div>
<divclass="line"><aid="l00094" name="l00094"></a><spanclass="lineno"> 94</span></div>
<divclass="foldopen" id="foldopen00095" data-start="{" data-end="}">
<divclass="line"><aid="l00095" name="l00095"></a><spanclass="lineno"><aclass="line" href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d"> 95</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">ompl::msg::noOutputHandler</a>()</div>
<divclass="line"><aid="l00096" name="l00096"></a><spanclass="lineno"> 96</span>{</div>
<divclass="line"><aid="l00097" name="l00097"></a><spanclass="lineno"> 97</span> USE_DOH;</div>
<divclass="line"><aid="l00098" name="l00098"></a><spanclass="lineno"> 98</span> doh->previous_output_handler_ = doh->output_handler_;</div>
<divclass="line"><aid="l00099" name="l00099"></a><spanclass="lineno"> 99</span> doh->output_handler_ = <spanclass="keyword">nullptr</span>;</div>
<divclass="line"><aid="l00100" name="l00100"></a><spanclass="lineno"> 100</span>}</div>
</div>
<divclass="line"><aid="l00101" name="l00101"></a><spanclass="lineno"> 101</span></div>
<divclass="foldopen" id="foldopen00102" data-start="{" data-end="}">
<divclass="line"><aid="l00102" name="l00102"></a><spanclass="lineno"><aclass="line" href="namespaceompl_1_1msg.html#ae944620cc2012c5ffe07e8bb6186d28c"> 102</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="namespaceompl_1_1msg.html#ae944620cc2012c5ffe07e8bb6186d28c">ompl::msg::restorePreviousOutputHandler</a>()</div>
<divclass="line"><aid="l00103" name="l00103"></a><spanclass="lineno"> 103</span>{</div>
<divclass="line"><aid="l00104" name="l00104"></a><spanclass="lineno"> 104</span> USE_DOH;</div>
<divclass="line"><aid="l00105" name="l00105"></a><spanclass="lineno"> 105</span> std::swap(doh->previous_output_handler_, doh->output_handler_);</div>
<divclass="line"><aid="l00106" name="l00106"></a><spanclass="lineno"> 106</span>}</div>
</div>
<divclass="line"><aid="l00107" name="l00107"></a><spanclass="lineno"> 107</span></div>
<divclass="foldopen" id="foldopen00108" data-start="{" data-end="}">
<divclass="line"><aid="l00108" name="l00108"></a><spanclass="lineno"><aclass="line" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b"> 108</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">ompl::msg::useOutputHandler</a>(<aclass="code hl_class" href="classompl_1_1msg_1_1OutputHandler.html">OutputHandler</a> *oh)</div>
<divclass="line"><aid="l00109" name="l00109"></a><spanclass="lineno"> 109</span>{</div>
<divclass="line"><aid="l00110" name="l00110"></a><spanclass="lineno"> 110</span> USE_DOH;</div>
<divclass="line"><aid="l00111" name="l00111"></a><spanclass="lineno"> 111</span> doh->previous_output_handler_ = doh->output_handler_;</div>
<divclass="line"><aid="l00112" name="l00112"></a><spanclass="lineno"> 112</span> doh->output_handler_ = oh;</div>
<divclass="line"><aid="l00113" name="l00113"></a><spanclass="lineno"> 113</span>}</div>
</div>
<divclass="line"><aid="l00114" name="l00114"></a><spanclass="lineno"> 114</span></div>
<divclass="foldopen" id="foldopen00115" data-start="{" data-end="}">
<divclass="line"><aid="l00115" name="l00115"></a><spanclass="lineno"><aclass="line" href="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746"> 115</a></span><aclass="code hl_class" href="classompl_1_1msg_1_1OutputHandler.html">ompl::msg::OutputHandler</a> *<aclass="code hl_function" href="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746">ompl::msg::getOutputHandler</a>()</div>
<divclass="line"><aid="l00116" name="l00116"></a><spanclass="lineno"> 116</span>{</div>
<divclass="line"><aid="l00117" name="l00117"></a><spanclass="lineno"> 117</span><spanclass="keywordflow">return</span> getDOH()->output_handler_;</div>
<divclass="line"><aid="l00118" name="l00118"></a><spanclass="lineno"> 118</span>}</div>
</div>
<divclass="line"><aid="l00119" name="l00119"></a><spanclass="lineno"> 119</span></div>
<divclass="foldopen" id="foldopen00120" data-start="{" data-end="}">
<divclass="line"><aid="l00120" name="l00120"></a><spanclass="lineno"><aclass="line" href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350"> 120</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">ompl::msg::log</a>(<spanclass="keyword">const</span><spanclass="keywordtype">char</span> *file, <spanclass="keywordtype">int</span> line, <aclass="code hl_enumeration" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">LogLevel</a> level, <spanclass="keyword">const</span><spanclass="keywordtype">char</span> *m, ...)</div>
<divclass="line"><aid="l00121" name="l00121"></a><spanclass="lineno"> 121</span>{</div>
<divclass="line"><aid="l00122" name="l00122"></a><spanclass="lineno"> 122</span> USE_DOH;</div>
<divclass="line"><aid="l00123" name="l00123"></a><spanclass="lineno"> 123</span><spanclass="keywordflow">if</span> ((doh->output_handler_ != <spanclass="keyword">nullptr</span>) && level >= doh->logLevel_)</div>
<divclass="line"><aid="l00124" name="l00124"></a><spanclass="lineno"> 124</span> {</div>
<divclass="line"><aid="l00125" name="l00125"></a><spanclass="lineno"> 125</span> va_list __ap;</div>
<divclass="line"><aid="l00126" name="l00126"></a><spanclass="lineno"> 126</span> va_start(__ap, m);</div>
<divclass="line"><aid="l00127" name="l00127"></a><spanclass="lineno"> 127</span><spanclass="keywordtype">char</span> buf[MAX_BUFFER_SIZE];</div>
<divclass="line"><aid="l00128" name="l00128"></a><spanclass="lineno"> 128</span> vsnprintf(buf, <spanclass="keyword">sizeof</span>(buf), m, __ap);</div>
<divclass="line"><aid="l00129" name="l00129"></a><spanclass="lineno"> 129</span> va_end(__ap);</div>
<divclass="line"><aid="l00130" name="l00130"></a><spanclass="lineno"> 130</span> buf[MAX_BUFFER_SIZE - 1] = <spanclass="charliteral">'\0'</span>;</div>
<divclass="line"><aid="l00131" name="l00131"></a><spanclass="lineno"> 131</span></div>
<divclass="line"><aid="l00132" name="l00132"></a><spanclass="lineno"> 132</span> doh->output_handler_->log(buf, level, file, line);</div>
<divclass="line"><aid="l00133" name="l00133"></a><spanclass="lineno"> 133</span> }</div>
<divclass="line"><aid="l00134" name="l00134"></a><spanclass="lineno"> 134</span>}</div>
</div>
<divclass="line"><aid="l00135" name="l00135"></a><spanclass="lineno"> 135</span></div>
<divclass="foldopen" id="foldopen00136" data-start="{" data-end="}">
<divclass="line"><aid="l00136" name="l00136"></a><spanclass="lineno"><aclass="line" href="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864"> 136</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864">ompl::msg::setLogLevel</a>(<aclass="code hl_enumeration" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">LogLevel</a> level)</div>
<divclass="line"><aid="l00137" name="l00137"></a><spanclass="lineno"> 137</span>{</div>
<divclass="line"><aid="l00138" name="l00138"></a><spanclass="lineno"> 138</span> USE_DOH;</div>
<divclass="line"><aid="l00139" name="l00139"></a><spanclass="lineno"> 139</span> doh->logLevel_ = level;</div>
<divclass="line"><aid="l00140" name="l00140"></a><spanclass="lineno"> 140</span>}</div>
</div>
<divclass="line"><aid="l00141" name="l00141"></a><spanclass="lineno"> 141</span></div>
<divclass="foldopen" id="foldopen00142" data-start="{" data-end="}">
<divclass="line"><aid="l00142" name="l00142"></a><spanclass="lineno"><aclass="line" href="namespaceompl_1_1msg.html#ad43f0d2a008f25720e8111395c5ff314"> 142</a></span><aclass="code hl_enumeration" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a><aclass="code hl_function" href="namespaceompl_1_1msg.html#ad43f0d2a008f25720e8111395c5ff314">ompl::msg::getLogLevel</a>()</div>
<divclass="line"><aid="l00143" name="l00143"></a><spanclass="lineno"> 143</span>{</div>
<divclass="line"><aid="l00144" name="l00144"></a><spanclass="lineno"> 144</span> USE_DOH;</div>
<divclass="line"><aid="l00145" name="l00145"></a><spanclass="lineno"> 145</span><spanclass="keywordflow">return</span> doh->logLevel_;</div>
<divclass="line"><aid="l00146" name="l00146"></a><spanclass="lineno"> 146</span>}</div>
</div>
<divclass="line"><aid="l00147" name="l00147"></a><spanclass="lineno"> 147</span></div>
<divclass="line"><aid="l00148" name="l00148"></a><spanclass="lineno"> 148</span><spanclass="keyword">static</span><spanclass="keyword">const</span><spanclass="keywordtype">char</span> *LogLevelString[6] = {<spanclass="stringliteral">"Dev2: "</span>, <spanclass="stringliteral">"Dev1: "</span>, <spanclass="stringliteral">"Debug: "</span>, <spanclass="stringliteral">"Info: "</span>, <spanclass="stringliteral">"Warning: "</span>, <spanclass="stringliteral">"Error: "</span>};</div>
<divclass="line"><aid="l00149" name="l00149"></a><spanclass="lineno"> 149</span><spanclass="keyword">static</span><spanclass="keyword">const</span><spanclass="keywordtype">char</span> *LogColorString[6] = {ANSI_COLOR_MAGENTA, ANSI_COLOR_GREEN, ANSI_COLOR_BLUE,</div>
<divclass="line"><aid="l00150" name="l00150"></a><spanclass="lineno"> 150</span> ANSI_COLOR_CYAN, ANSI_COLOR_YELLOW, ANSI_COLOR_RED};</div>
<divclass="line"><aid="l00151" name="l00151"></a><spanclass="lineno"> 151</span></div>
<divclass="foldopen" id="foldopen00152" data-start="{" data-end="}">
<divclass="line"><aid="l00152" name="l00152"></a><spanclass="lineno"><aclass="line" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a582e1a90e43fa2b2fb9b66e7b7ae8a60"> 152</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a582e1a90e43fa2b2fb9b66e7b7ae8a60">ompl::msg::OutputHandlerSTD::log</a>(<spanclass="keyword">const</span> std::string &text, <aclass="code hl_enumeration" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">LogLevel</a> level, <spanclass="keyword">const</span><spanclass="keywordtype">char</span> *filename, <spanclass="keywordtype">int</span> line)</div>
<divclass="line"><aid="l00153" name="l00153"></a><spanclass="lineno"> 153</span>{</div>
<divclass="line"><aid="l00154" name="l00154"></a><spanclass="lineno"> 154</span><spanclass="keywordflow">if</span> (level >= LOG_WARN)</div>
<divclass="line"><aid="l00155" name="l00155"></a><spanclass="lineno"> 155</span> {</div>
<divclass="line"><aid="l00156" name="l00156"></a><spanclass="lineno"> 156</span><spanclass="keywordtype">bool</span> isTTY(isatty(fileno(stderr)) != 0);</div>
<divclass="line"><aid="l00157" name="l00157"></a><spanclass="lineno"> 157</span><spanclass="keywordflow">if</span> (isTTY)</div>
<divclass="line"><aid="l00158" name="l00158"></a><spanclass="lineno"> 158</span> std::cerr << LogColorString[level + 2];</div>
<divclass="line"><aid="l00159" name="l00159"></a><spanclass="lineno"> 159</span> std::cerr << LogLevelString[level + 2] << text << std::endl;</div>
<divclass="line"><aid="l00160" name="l00160"></a><spanclass="lineno"> 160</span> std::cerr << <spanclass="stringliteral">" at line "</span> << line << <spanclass="stringliteral">" in "</span> << filename << std::endl;</div>
<divclass="line"><aid="l00161" name="l00161"></a><spanclass="lineno"> 161</span><spanclass="keywordflow">if</span> (isTTY)</div>
<divclass="line"><aid="l00162" name="l00162"></a><spanclass="lineno"> 162</span> std::cerr << ANSI_COLOR_RESET;</div>
<divclass="line"><aid="l00163" name="l00163"></a><spanclass="lineno"> 163</span> std::cerr.flush();</div>
<divclass="line"><aid="l00164" name="l00164"></a><spanclass="lineno"> 164</span> }</div>
<divclass="line"><aid="l00165" name="l00165"></a><spanclass="lineno"> 165</span><spanclass="keywordflow">else</span></div>
<divclass="line"><aid="l00166" name="l00166"></a><spanclass="lineno"> 166</span> {</div>
<divclass="line"><aid="l00167" name="l00167"></a><spanclass="lineno"> 167</span><spanclass="keywordtype">bool</span> isTTY(isatty(fileno(stdout)) != 0);</div>
<divclass="line"><aid="l00168" name="l00168"></a><spanclass="lineno"> 168</span><spanclass="keywordflow">if</span> (isTTY)</div>
<divclass="line"><aid="l00169" name="l00169"></a><spanclass="lineno"> 169</span> std::cout << LogColorString[level + 2];</div>
<divclass="line"><aid="l00170" name="l00170"></a><spanclass="lineno"> 170</span> std::cout << LogLevelString[level + 2] << text << std::endl;</div>
<divclass="line"><aid="l00171" name="l00171"></a><spanclass="lineno"> 171</span><spanclass="keywordflow">if</span> (isTTY)</div>
<divclass="line"><aid="l00172" name="l00172"></a><spanclass="lineno"> 172</span> std::cout << ANSI_COLOR_RESET;</div>
<divclass="line"><aid="l00173" name="l00173"></a><spanclass="lineno"> 173</span> std::cout.flush();</div>
<divclass="line"><aid="l00174" name="l00174"></a><spanclass="lineno"> 174</span> }</div>
<divclass="line"><aid="l00175" name="l00175"></a><spanclass="lineno"> 175</span>}</div>
</div>
<divclass="line"><aid="l00176" name="l00176"></a><spanclass="lineno"> 176</span></div>
<divclass="foldopen" id="foldopen00177" data-start="{" data-end="}">
<divclass="line"><aid="l00177" name="l00177"></a><spanclass="lineno"><aclass="line" href="classompl_1_1msg_1_1OutputHandlerFile.html#abc64dc38951bc6cb6e80756b6bf95e81"> 177</a></span><aclass="code hl_function" href="classompl_1_1msg_1_1OutputHandlerFile.html#abc64dc38951bc6cb6e80756b6bf95e81">ompl::msg::OutputHandlerFile::OutputHandlerFile</a>(<spanclass="keyword">const</span><spanclass="keywordtype">char</span> *filename)</div>
<divclass="line"><aid="l00178" name="l00178"></a><spanclass="lineno"> 178</span>{</div>
<divclass="line"><aid="l00179" name="l00179"></a><spanclass="lineno"> 179</span> file_ = fopen(filename, <spanclass="stringliteral">"a"</span>);</div>
<divclass="line"><aid="l00180" name="l00180"></a><spanclass="lineno"> 180</span><spanclass="keywordflow">if</span> (file_ == <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00181" name="l00181"></a><spanclass="lineno"> 181</span> std::cerr << <spanclass="stringliteral">"Unable to open log file: '"</span> << filename << <spanclass="stringliteral">"'"</span> << std::endl;</div>
<divclass="line"><aid="l00182" name="l00182"></a><spanclass="lineno"> 182</span>}</div>
</div>
<divclass="line"><aid="l00183" name="l00183"></a><spanclass="lineno"> 183</span></div>
<divclass="line"><aid="l00184" name="l00184"></a><spanclass="lineno"> 184</span>ompl::msg::OutputHandlerFile::~OutputHandlerFile()</div>
<divclass="line"><aid="l00185" name="l00185"></a><spanclass="lineno"> 185</span>{</div>
<divclass="line"><aid="l00186" name="l00186"></a><spanclass="lineno"> 186</span><spanclass="keywordflow">if</span> (file_ != <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00187" name="l00187"></a><spanclass="lineno"> 187</span><spanclass="keywordflow">if</span> (fclose(file_) != 0)</div>
<divclass="line"><aid="l00188" name="l00188"></a><spanclass="lineno"> 188</span> std::cerr << <spanclass="stringliteral">"Error closing logfile"</span> << std::endl;</div>
<divclass="line"><aid="l00189" name="l00189"></a><spanclass="lineno"> 189</span>}</div>
<divclass="line"><aid="l00190" name="l00190"></a><spanclass="lineno"> 190</span></div>
<divclass="foldopen" id="foldopen00191" data-start="{" data-end="}">
<divclass="line"><aid="l00191" name="l00191"></a><spanclass="lineno"><aclass="line" href="classompl_1_1msg_1_1OutputHandlerFile.html#a1491c556f1cea44e15a1afb23f43ea63"> 191</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="classompl_1_1msg_1_1OutputHandlerFile.html#a1491c556f1cea44e15a1afb23f43ea63">ompl::msg::OutputHandlerFile::log</a>(<spanclass="keyword">const</span> std::string &text, <aclass="code hl_enumeration" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">LogLevel</a> level, <spanclass="keyword">const</span><spanclass="keywordtype">char</span> *filename, <spanclass="keywordtype">int</span> line)</div>
<divclass="line"><aid="l00192" name="l00192"></a><spanclass="lineno"> 192</span>{</div>
<divclass="line"><aid="l00193" name="l00193"></a><spanclass="lineno"> 193</span><spanclass="keywordflow">if</span> (file_ != <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00194" name="l00194"></a><spanclass="lineno"> 194</span> {</div>
<divclass="line"><aid="l00195" name="l00195"></a><spanclass="lineno"> 195</span> fprintf(file_, <spanclass="stringliteral">"%s%s\n"</span>, LogLevelString[level + 2], text.c_str());</div>
<divclass="line"><aid="l00196" name="l00196"></a><spanclass="lineno"> 196</span><spanclass="keywordflow">if</span> (level >= LOG_WARN)</div>
<divclass="line"><aid="l00197" name="l00197"></a><spanclass="lineno"> 197</span> fprintf(file_, <spanclass="stringliteral">" at line %d in %s\n"</span>, line, filename);</div>
<divclass="line"><aid="l00198" name="l00198"></a><spanclass="lineno"> 198</span> fflush(file_);</div>
<divclass="line"><aid="l00199" name="l00199"></a><spanclass="lineno"> 199</span> }</div>
<divclass="line"><aid="l00200" name="l00200"></a><spanclass="lineno"> 200</span>}</div>
</div>
<divclass="ttc" id="aConsole_8h_html"><divclass="ttname"><ahref="Console_8h.html">Console.h</a></div></div>
<divclass="ttc" id="aclassompl_1_1msg_1_1OutputHandlerFile_html_a1491c556f1cea44e15a1afb23f43ea63"><divclass="ttname"><ahref="classompl_1_1msg_1_1OutputHandlerFile.html#a1491c556f1cea44e15a1afb23f43ea63">ompl::msg::OutputHandlerFile::log</a></div><divclass="ttdeci">void log(const std::string &text, LogLevel level, const char *filename, int line) override</div><divclass="ttdoc">log a message to the output handler with the given text and logging level from a specific file and li...</div><divclass="ttdef"><b>Definition</b><ahref="#l00191">Console.cpp:191</a></div></div>
<divclass="ttc" id="aclassompl_1_1msg_1_1OutputHandlerFile_html_abc64dc38951bc6cb6e80756b6bf95e81"><divclass="ttname"><ahref="classompl_1_1msg_1_1OutputHandlerFile.html#abc64dc38951bc6cb6e80756b6bf95e81">ompl::msg::OutputHandlerFile::OutputHandlerFile</a></div><divclass="ttdeci">OutputHandlerFile(const char *filename)</div><divclass="ttdoc">The name of the file in which to save the message data.</div><divclass="ttdef"><b>Definition</b><ahref="#l00177">Console.cpp:177</a></div></div>
<divclass="ttc" id="aclassompl_1_1msg_1_1OutputHandlerSTD_html_a582e1a90e43fa2b2fb9b66e7b7ae8a60"><divclass="ttname"><ahref="classompl_1_1msg_1_1OutputHandlerSTD.html#a582e1a90e43fa2b2fb9b66e7b7ae8a60">ompl::msg::OutputHandlerSTD::log</a></div><divclass="ttdeci">void log(const std::string &text, LogLevel level, const char *filename, int line) override</div><divclass="ttdoc">log a message to the output handler with the given text and logging level from a specific file and li...</div><divclass="ttdef"><b>Definition</b><ahref="#l00152">Console.cpp:152</a></div></div>
<divclass="ttc" id="aclassompl_1_1msg_1_1OutputHandler_html"><divclass="ttname"><ahref="classompl_1_1msg_1_1OutputHandler.html">ompl::msg::OutputHandler</a></div><divclass="ttdoc">Generic class to handle output from a piece of code.</div><divclass="ttdef"><b>Definition</b><ahref="Console_8h_source.html#l00102">Console.h:103</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1msg_html_a0e9a5d161592281f8caf01b0c8b2e746"><divclass="ttname"><ahref="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746">ompl::msg::getOutputHandler</a></div><divclass="ttdeci">OutputHandler * getOutputHandler()</div><divclass="ttdoc">Get the instance of the OutputHandler currently used. This is nullptr in case there is no output hand...</div><divclass="ttdef"><b>Definition</b><ahref="#l00115">Console.cpp:115</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1msg_html_a1c18c4617e713817e0e4fe7dc5c5c864"><divclass="ttname"><ahref="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864">ompl::msg::setLogLevel</a></div><divclass="ttdeci">void setLogLevel(LogLevel level)</div><divclass="ttdoc">Set the minimum level of logging data to output. Messages with lower logging levels will not be recor...</div><divclass="ttdef"><b>Definition</b><ahref="#l00136">Console.cpp:136</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1msg_html_a66fd8fd39855d4166ff40164fe4d9d6b"><divclass="ttname"><ahref="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">ompl::msg::useOutputHandler</a></div><divclass="ttdeci">void useOutputHandler(OutputHandler *oh)</div><divclass="ttdoc">Specify the instance of the OutputHandler to use. By default, this is OutputHandlerSTD.</div><divclass="ttdef"><b>Definition</b><ahref="#l00108">Console.cpp:108</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1msg_html_a83e28f524a5576a73bb062523bbdc53d"><divclass="ttname"><ahref="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">ompl::msg::noOutputHandler</a></div><divclass="ttdeci">void noOutputHandler()</div><divclass="ttdoc">This function instructs ompl that no messages should be outputted. Equivalent to useOutputHandler(nul...</div><divclass="ttdef"><b>Definition</b><ahref="#l00095">Console.cpp:95</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1msg_html_ace832246a7b4bc5a50dde93a7e29a6b9"><divclass="ttname"><ahref="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a></div><divclass="ttdeci">LogLevel</div><divclass="ttdoc">The set of priorities for message logging.</div><divclass="ttdef"><b>Definition</b><ahref="Console_8h_source.html#l00084">Console.h:85</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1msg_html_ad43f0d2a008f25720e8111395c5ff314"><divclass="ttname"><ahref="namespaceompl_1_1msg.html#ad43f0d2a008f25720e8111395c5ff314">ompl::msg::getLogLevel</a></div><divclass="ttdeci">LogLevel getLogLevel()</div><divclass="ttdoc">Retrieve the current level of logging data. Messages with lower logging levels will not be recorded.</div><divclass="ttdef"><b>Definition</b><ahref="#l00142">Console.cpp:142</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1msg_html_ae944620cc2012c5ffe07e8bb6186d28c"><divclass="ttname"><ahref="namespaceompl_1_1msg.html#ae944620cc2012c5ffe07e8bb6186d28c">ompl::msg::restorePreviousOutputHandler</a></div><divclass="ttdeci">void restorePreviousOutputHandler()</div><divclass="ttdoc">Restore the output handler that was previously in use (if any).</div><divclass="ttdef"><b>Definition</b><ahref="#l00102">Console.cpp:102</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1msg_html_affe7852f27c06f98af7eb2579f1e5350"><divclass="ttname"><ahref="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">ompl::msg::log</a></div><divclass="ttdeci">void log(const char *file, int line, LogLevel level, const char *m,...)</div><divclass="ttdoc">Root level logging function. This should not be invoked directly, but rather used via a logging macro...</div><divclass="ttdef"><b>Definition</b><ahref="#l00120">Console.cpp:120</a></div></div>
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