add console_bridge interface.l

roseus/roseus.cpp

@@ -74,6 +74,7 @@
 #include <rospack/rospack.h>
 #include <ros/param.h>
 #include <ros/callback_queue.h>
+#include <console_bridge/console.h>
 
 // for eus.h
 #define class   eus_class
@@ -149,7 +150,7 @@ static bool s_bInstalled = false;
 #define s_mapTimered s_staticdata.mapTimered
 #define s_mapHandle s_staticdata.mapHandle
 
-pointer K_ROSEUS_MD5SUM,K_ROSEUS_DATATYPE,K_ROSEUS_DEFINITION,K_ROSEUS_CONNECTION_HEADER,K_ROSEUS_SERIALIZATION_LENGTH,K_ROSEUS_SERIALIZE,K_ROSEUS_DESERIALIZE,K_ROSEUS_INIT,K_ROSEUS_GET,K_ROSEUS_REQUEST,K_ROSEUS_RESPONSE,K_ROSEUS_GROUPNAME,K_ROSEUS_ONESHOT,K_ROSEUS_LAST_EXPECTED,K_ROSEUS_LAST_REAL,K_ROSEUS_CURRENT_EXPECTED,K_ROSEUS_CURRENT_REAL,K_ROSEUS_LAST_DURATION,K_ROSEUS_SEC,K_ROSEUS_NSEC,QANON,QNOOUT,QREPOVERSION,QROSDEBUG,QROSINFO,QROSWARN,QROSERROR,QROSFATAL;
+pointer K_ROSEUS_MD5SUM,K_ROSEUS_DATATYPE,K_ROSEUS_DEFINITION,K_ROSEUS_CONNECTION_HEADER,K_ROSEUS_SERIALIZATION_LENGTH,K_ROSEUS_SERIALIZE,K_ROSEUS_DESERIALIZE,K_ROSEUS_INIT,K_ROSEUS_GET,K_ROSEUS_REQUEST,K_ROSEUS_RESPONSE,K_ROSEUS_GROUPNAME,K_ROSEUS_ONESHOT,K_ROSEUS_LAST_EXPECTED,K_ROSEUS_LAST_REAL,K_ROSEUS_CURRENT_EXPECTED,K_ROSEUS_CURRENT_REAL,K_ROSEUS_LAST_DURATION,K_ROSEUS_SEC,K_ROSEUS_NSEC,QANON,QNOOUT,QREPOVERSION,QROSDEBUG,QROSINFO,QROSWARN,QROSERROR,QROSFATAL,QCONSOLE_BRIDGE_LOG_DEBUG,QCONSOLE_BRIDGE_LOG_INFO,QCONSOLE_BRIDGE_LOG_WARN,QCONSOLE_BRIDGE_LOG_ERROR;
 extern pointer LAMCLOSURE;
 
 /***********************************************************
@@ -831,6 +832,59 @@ pointer ROSEUS_EXIT(register context *ctx,int n,pointer *argv)
   else _exit(ckintval(argv[0]));
 }
 
+/************************************************************
+ *   rosconsole_bridge
+ ************************************************************/
+#define def_console_bridge_formatter(funcname, rosfuncname)     \
+  pointer funcname(register context *ctx,int n,pointer *argv)   \
+  { pointer *argv2,msg;                                         \
+    int argc2;                                                  \
+    argc2 = n+1;                                                \
+    argv2 = (pointer *)malloc(sizeof(pointer)*argc2);           \
+    argv2[0] = NIL;                                             \
+    for(int i=0;i<n;i++) argv2[i+1]=argv[i] ;                   \
+    msg = XFORMAT(ctx, argc2, argv2);                           \
+    rosfuncname("%s", msg->c.str.chars);                        \
+    free(argv2);                                                \
+    return (T);                                                 \
+  }
+
+def_console_bridge_formatter(ROSEUS_CONSOLE_BRIDGE_LOGDEBUG, CONSOLE_BRIDGE_logDebug)
+def_console_bridge_formatter(ROSEUS_CONSOLE_BRIDGE_LOGINFO,  CONSOLE_BRIDGE_logInform)
+def_console_bridge_formatter(ROSEUS_CONSOLE_BRIDGE_LOGWARN,  CONSOLE_BRIDGE_logWarn)
+def_console_bridge_formatter(ROSEUS_CONSOLE_BRIDGE_LOGERROR, CONSOLE_BRIDGE_logError)
+
+pointer ROSEUS_CONSOLE_BRIDGE_SET_LOG_LEVEL(register context *ctx,int n,pointer *argv)
+{
+  ckarg(1);
+  int log_level = ckintval(argv[0]);
+  console_bridge::LogLevel level;
+  switch(log_level){
+  case 0:
+    level = console_bridge::CONSOLE_BRIDGE_LOG_DEBUG;
+    break;
+  case 1:
+    level = console_bridge::CONSOLE_BRIDGE_LOG_INFO;
+    break;
+  case 2:
+    level = console_bridge::CONSOLE_BRIDGE_LOG_WARN;
+    break;
+  case 3:
+    level = console_bridge::CONSOLE_BRIDGE_LOG_ERROR;
+  default:
+    return (NIL);
+  }
+
+  console_bridge::setLogLevel(level);
+  return (T);
+}
+
+pointer ROSEUS_CONSOLE_BRIDGE_GET_LOG_LEVEL(register context *ctx,int n,pointer *argv)
+{
+  console_bridge::LogLevel level = console_bridge::getLogLevel();
+  return makeint(level);
+}
+
 /************************************************************
  *   ROSEUS Publisher/Subscriber
  ************************************************************/
@@ -2031,6 +2085,17 @@ pointer ___roseus(register context *ctx, int n, pointer *argv, pointer env)
   defun(ctx,"ROS-FATAL",argv[0],(pointer (*)())ROSEUS_ROSFATAL, "write mesage to fatal output");
   defun(ctx,"EXIT",argv[0],(pointer (*)())ROSEUS_EXIT, "Exit ros clinet");
 
+  QCONSOLE_BRIDGE_LOG_DEBUG=defvar(ctx,"*CONSOLE-BRIDGE-LOG-DEBUG*",makeint(0),rospkg);
+  QCONSOLE_BRIDGE_LOG_INFO=defvar(ctx,"*CONSOLE-BRIDGE-LOG-INFO*",makeint(1),rospkg);
+  QCONSOLE_BRIDGE_LOG_WARN=defvar(ctx,"*CONSOLE-BRIDGE-LOG-WARN*",makeint(2),rospkg);
+  QCONSOLE_BRIDGE_LOG_ERROR=defvar(ctx,"*CONSOLE-BRIDGE-LOG-ERROR*",makeint(3),rospkg);
+  defun(ctx,"CONSOLE-BRIDGE-SET-LOG-LEVEL",argv[0],(pointer (*)())ROSEUS_CONSOLE_BRIDGE_SET_LOG_LEVEL, "set the minimum level of logging data to output to console_bridge");
+  defun(ctx,"CONSOLE-BRIDGE-GET-LOG-LEVEL",argv[0],(pointer (*)())ROSEUS_CONSOLE_BRIDGE_GET_LOG_LEVEL, "retrieve the current level of console_bridge logging data");
+  defun(ctx,"CONSOLE-BRIDGE-LOG-DEBUG",argv[0],(pointer (*)())ROSEUS_CONSOLE_BRIDGE_LOGDEBUG, "debug level logging function of console_bridge");
+  defun(ctx,"CONSOLE-BRIDGE-LOG-INFO",argv[0],(pointer (*)())ROSEUS_CONSOLE_BRIDGE_LOGINFO, "info level logging function of console_bridge");
+  defun(ctx,"CONSOLE-BRIDGE-LOG-WARN",argv[0],(pointer (*)())ROSEUS_CONSOLE_BRIDGE_LOGWARN, "warn level logging function of console_bridge");
+  defun(ctx,"CONSOLE-BRIDGE-LOG-ERROR",argv[0],(pointer (*)())ROSEUS_CONSOLE_BRIDGE_LOGDEBUG, "error level logging function of console_bridge");
+
   defun(ctx,"SUBSCRIBE",argv[0],(pointer (*)())ROSEUS_SUBSCRIBE,
          "topicname message_type callbackfunc args0 ... argsN &optional (queuesize 1) &key (:groupname groupname)\n\n"
          "Subscribe to a topic, version for class member function with bare pointer.\n"

roseus/test/test-console-bridge.l

@@ -0,0 +1,24 @@
+#!/usr/bin/env roseus
+
+(require :unittest "lib/llib/unittest.l")
+(setq sys::*gc-hook* #'(lambda (a b) (format *error-output* ";; gc ~A ~A~%" a b)))
+(init-unit-test)
+
+;;
+(deftest test-console-bridge
+    (dolist (level (list ros::*console-bridge-log-debug*
+                         ros::*console-bridge-log-info*
+                         ros::*console-bridge-log-warn*
+                         ros::*console-bridge-log-error*))
+      (warning-message 2 "check ~A level~%" level)
+      (ros::console-bridge-set-log-level level)
+      (warning-message 2 "  current log level ~A~%" (ros::console-bridge-get-log-level))
+      (ros::console-bridge-log-error "this is ERROR message")
+      (ros::console-bridge-log-warn "this is WARN message")
+      (ros::console-bridge-log-info "this is INFO message")
+      (ros::console-bridge-log-debug "this is DEBUG message")
+      ))
+
+(run-all-tests)
+
+(exit)

roseus/test/test-console-bridge.test

@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="test_console_bridge" pkg="roseus" type="test-console-bridge.l" name="test_console_bridge" />
+</launch>