Move the ScopedRosLogSink to a separate file. (#74)

cartographer_ros/CMakeLists.txt

@@ -87,6 +87,8 @@ add_executable(cartographer_node
   src/node_options.h
   src/occupancy_grid.cc
   src/occupancy_grid.h
+  src/ros_log_sink.cc
+  src/ros_log_sink.h
   src/sensor_data.cc
   src/sensor_data.h
   src/sensor_data_producer.cc

cartographer_ros/src/cartographer_node_main.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include <cstring>
+#include <chrono>
 #include <map>
 #include <queue>
 #include <string>
@@ -51,7 +51,6 @@
 #include "cartographer_ros_msgs/SubmapQuery.h"
 #include "cartographer_ros_msgs/TrajectorySubmapList.h"
 #include "gflags/gflags.h"
-#include "glog/log_severity.h"
 #include "glog/logging.h"
 #include "nav_msgs/OccupancyGrid.h"
 #include "nav_msgs/Odometry.h"
@@ -65,6 +64,7 @@
 #include "msg_conversion.h"
 #include "node_options.h"
 #include "occupancy_grid.h"
+#include "ros_log_sink.h"
 #include "sensor_data.h"
 #include "sensor_data_producer.h"
 #include "time_conversion.h"
@@ -535,7 +535,7 @@ void Node::PublishPoseAndScanMatchedPointCloud(
 
 void Node::SpinOccupancyGridThreadForever() {
   for (;;) {
-    std::this_thread::sleep_for(carto::common::FromMilliseconds(1000));
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
     {
       carto::common::MutexLocker lock(&mutex_);
       if (terminating_) {
@@ -615,54 +615,6 @@ void Run() {
   node.SpinForever();
 }
 
-const char* GetBasename(const char* filepath) {
-  const char* base = strrchr(filepath, '/');
-  return base ? (base + 1) : filepath;
-}
-
-// Makes Google logging use ROS logging for output while an instance of this
-// class exists.
-class ScopedRosLogSink : public google::LogSink {
- public:
-  ScopedRosLogSink() : will_die_(false) { AddLogSink(this); }
-  ~ScopedRosLogSink() override { RemoveLogSink(this); }
-
-  void send(google::LogSeverity severity, const char* filename,
-            const char* base_filename, int line, const struct ::tm* tm_time,
-            const char* message, size_t message_len) override {
-    const std::string message_string = google::LogSink::ToString(
-        severity, GetBasename(filename), line, tm_time, message, message_len);
-    switch (severity) {
-      case google::GLOG_INFO:
-        ROS_INFO_STREAM(message_string);
-        break;
-
-      case google::GLOG_WARNING:
-        ROS_WARN_STREAM(message_string);
-        break;
-
-      case google::GLOG_ERROR:
-        ROS_ERROR_STREAM(message_string);
-        break;
-
-      case google::GLOG_FATAL:
-        ROS_FATAL_STREAM(message_string);
-        will_die_ = true;
-        break;
-    }
-  }
-
-  void WaitTillSent() override {
-    if (will_die_) {
-      // Give ROS some time to actually publish our message.
-      std::this_thread::sleep_for(carto::common::FromMilliseconds(1000));
-    }
-  }
-
- private:
-  bool will_die_;
-};
-
 }  // namespace
 }  // namespace cartographer_ros
 

cartographer_ros/src/node_options.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAHPER_ROS_NODE_OPTIONS_H_
-#define CARTOGRAHPER_ROS_NODE_OPTIONS_H_
+#ifndef CARTOGRAPHER_ROS_NODE_OPTIONS_H_
+#define CARTOGRAPHER_ROS_NODE_OPTIONS_H_
 
 #include <string>
 
@@ -53,4 +53,4 @@ NodeOptions CreateNodeOptions(
 
 }  // namespace cartographer_ros
 
-#endif  // CARTOGRAHPER_ROS_NODE_OPTIONS_H_
+#endif  // CARTOGRAPHER_ROS_NODE_OPTIONS_H_

cartographer_ros/src/occupancy_grid.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAHPER_ROS_OCCUPANCY_GRID_H_
-#define CARTOGRAHPER_ROS_OCCUPANCY_GRID_H_
+#ifndef CARTOGRAPHER_ROS_OCCUPANCY_GRID_H_
+#define CARTOGRAPHER_ROS_OCCUPANCY_GRID_H_
 
 #include <vector>
 
@@ -32,4 +32,4 @@ void BuildOccupancyGrid(
 
 }  // namespace cartographer_ros
 
-#endif  // CARTOGRAHPER_ROS_OCCUPANCY_GRID_H_
+#endif  // CARTOGRAPHER_ROS_OCCUPANCY_GRID_H_

cartographer_ros/src/ros_log_sink.cc

@@ -0,0 +1,76 @@
+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * 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 "ros_log_sink.h"
+
+#include <chrono>
+#include <cstring>
+#include <string>
+#include <thread>
+
+#include "glog/log_severity.h"
+#include "ros/console.h"
+
+namespace cartographer_ros {
+
+namespace {
+
+const char* GetBasename(const char* filepath) {
+  const char* base = std::strrchr(filepath, '/');
+  return base ? (base + 1) : filepath;
+}
+
+}  // namespace
+
+ScopedRosLogSink::ScopedRosLogSink() : will_die_(false) { AddLogSink(this); }
+ScopedRosLogSink::~ScopedRosLogSink() { RemoveLogSink(this); }
+
+void ScopedRosLogSink::send(const ::google::LogSeverity severity,
+                            const char* const filename,
+                            const char* const base_filename, const int line,
+                            const struct std::tm* const tm_time,
+                            const char* const message,
+                            const size_t message_len) {
+  const std::string message_string = ::google::LogSink::ToString(
+      severity, GetBasename(filename), line, tm_time, message, message_len);
+  switch (severity) {
+    case ::google::GLOG_INFO:
+      ROS_INFO_STREAM(message_string);
+      break;
+
+    case ::google::GLOG_WARNING:
+      ROS_WARN_STREAM(message_string);
+      break;
+
+    case ::google::GLOG_ERROR:
+      ROS_ERROR_STREAM(message_string);
+      break;
+
+    case ::google::GLOG_FATAL:
+      ROS_FATAL_STREAM(message_string);
+      will_die_ = true;
+      break;
+  }
+}
+
+void ScopedRosLogSink::WaitTillSent() {
+  if (will_die_) {
+    // Give ROS some time to actually publish our message.
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+  }
+}
+
+}  // namespace cartographer_ros

cartographer_ros/src/ros_log_sink.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * 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.
+ */
+
+#ifndef CARTOGRAPHER_ROS_ROS_LOG_SINK_H_
+#define CARTOGRAPHER_ROS_ROS_LOG_SINK_H_
+
+#include <ctime>
+
+#include "glog/logging.h"
+
+namespace cartographer_ros {
+
+// Makes Google logging use ROS logging for output while an instance of this
+// class exists.
+class ScopedRosLogSink : public ::google::LogSink {
+ public:
+  ScopedRosLogSink();
+  ~ScopedRosLogSink() override;
+
+  void send(::google::LogSeverity severity, const char* filename,
+            const char* base_filename, int line, const struct std::tm* tm_time,
+            const char* message, size_t message_len) override;
+
+  void WaitTillSent() override;
+
+ private:
+  bool will_die_;
+};
+
+}  // namespace cartographer_ros
+
+#endif  // CARTOGRAPHER_ROS_ROS_LOG_SINK_H_

cartographer_ros/src/sensor_data.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAHPER_ROS_SENSOR_DATA_H_
-#define CARTOGRAHPER_ROS_SENSOR_DATA_H_
+#ifndef CARTOGRAPHER_ROS_SENSOR_DATA_H_
+#define CARTOGRAPHER_ROS_SENSOR_DATA_H_
 
 #include <string>
 
@@ -51,4 +51,4 @@ struct SensorData {
 
 }  // namespace cartographer_ros
 
-#endif  // CARTOGRAHPER_ROS_SENSOR_DATA_H_
+#endif  // CARTOGRAPHER_ROS_SENSOR_DATA_H_

cartographer_ros/src/sensor_data_producer.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAHPER_ROS_SENSOR_DATA_PRODUCER_H_
-#define CARTOGRAHPER_ROS_SENSOR_DATA_PRODUCER_H_
+#ifndef CARTOGRAPHER_ROS_SENSOR_DATA_PRODUCER_H_
+#define CARTOGRAPHER_ROS_SENSOR_DATA_PRODUCER_H_
 
 #include "cartographer/mapping/sensor_collator.h"
 #include "geometry_msgs/Transform.h"
@@ -60,4 +60,4 @@ class SensorDataProducer {
 
 }  // namespace cartographer_ros
 
-#endif  // CARTOGRAHPER_ROS_SENSOR_DATA_PRODUCER_H_
+#endif  // CARTOGRAPHER_ROS_SENSOR_DATA_PRODUCER_H_