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Added the ability to redirect logging to a callable. #6244

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34a715a
Added the ability to redirect logging to a callable.
larshg Mar 1, 2025
c124eae
Use formatted string instead of temporary stringstream.
larshg Mar 2, 2025
e2330a3
Add includes.
larshg Mar 2, 2025
b4af210
cleanup
larshg Mar 2, 2025
ec488bf
Test for undefined symbol.
larshg Mar 2, 2025
991a563
Fix copy paste error.
larshg Mar 2, 2025
760eb91
Fix ODR of OctreeKey::maxdepth.
larshg Mar 2, 2025
1fa1464
Remove unnecessary c_str().
larshg Mar 2, 2025
8ad043f
Wrap static member variables in a getter method.
larshg Mar 3, 2025
40c9566
Add wrapper function for easier setting the callback.
larshg Mar 3, 2025
12ca114
Address parsing in the string from the LogRecord to reduce copying.
larshg Mar 25, 2025
36966b2
Revert removal of c_str()
larshg Mar 25, 2025
43330ac
Revert direct removal of the two static variables, but added deprecre…
larshg Mar 25, 2025
654de2d
Added more documentation for usage of the setCallback and how to rese…
larshg Mar 25, 2025
6f2972b
Fix missing field in initializer
larshg Mar 26, 2025
1186310
Address suggestions from copilot.
larshg Dec 1, 2025
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348 changes: 276 additions & 72 deletions common/include/pcl/console/print.h
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324 changes: 76 additions & 248 deletions common/src/print.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,10 @@
*/
#include <pcl/console/print.h>
#include <algorithm>
#include <cstdarg> // for va_list, va_start, va_end
#include <cstdio>
#include <cstdlib>
#include <cctype> // for toupper
#include <map>
#include <map> // For std::map
#include <string>
#include <boost/optional.hpp>

Expand Down Expand Up @@ -87,7 +87,6 @@ convertAttributesColor (int attribute, int fg, int bg=0)

#else
# include <unistd.h>
# include <cstdio>
#endif

// Map to store, for each output stream, whether to use colored output
Expand All @@ -110,6 +109,13 @@ useColoredOutput (FILE *stream)
return colored.get ();
}

pcl::console::Logger&
pcl::console::Logger::getInstance()
{
static Logger instance;
return instance;
}

////////////////////////////////////////////////////////////////////////////////
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@roncapat roncapat Mar 3, 2025

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template <typename Functor>
void pcl::console::Logger::setCallback(Functor&& callback){
      getInstance().setCallback(std::move(callback));
}

DISCLAIMER: draft, untested code.
@larshg wouldn't this work? Would the template be a problem there?

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@larshg larshg Mar 3, 2025

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You want a free function like:


    template <typename Functor>
    void
    setCallback(Functor&& callback)
    {
      Logger::getInstance().setCallback(std::move(callback));
    }

so you can call:
pcl::console::setCallback(...);

Yes, thats possible.

void
pcl::console::enableColoredOutput (FILE *stream, bool enable)
Expand Down Expand Up @@ -168,212 +174,6 @@ pcl::console::reset_text_color (FILE *stream)
#endif
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_color (FILE *stream, int attr, int fg, const char *format, ...)
{
change_text_color (stream, attr, fg);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_info (const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_INFO)) return;

reset_text_color (stdout);

va_list ap;

va_start (ap, format);
vfprintf (stdout, format, ap);
va_end (ap);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_info (FILE *stream, const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_INFO)) return;

reset_text_color (stream);

va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_highlight (const char *format, ...)
{
//if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

change_text_color (stdout, TT_BRIGHT, TT_GREEN);
fprintf (stdout, "> ");
reset_text_color (stdout);

va_list ap;

va_start (ap, format);
vfprintf (stdout, format, ap);
va_end (ap);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_highlight (FILE *stream, const char *format, ...)
{
//if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

change_text_color (stream, TT_BRIGHT, TT_GREEN);
fprintf (stream, "> ");
reset_text_color (stream);

va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_error (const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_ERROR)) return;

change_text_color (stderr, TT_BRIGHT, TT_RED);
va_list ap;

va_start (ap, format);
vfprintf (stderr, format, ap);
va_end (ap);

reset_text_color (stderr);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_error (FILE *stream, const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_ERROR)) return;

change_text_color (stream, TT_BRIGHT, TT_RED);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_warn (const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_WARN)) return;

change_text_color (stderr, TT_BRIGHT, TT_YELLOW);
va_list ap;

va_start (ap, format);
vfprintf (stderr, format, ap);
va_end (ap);

reset_text_color (stderr);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_warn (FILE *stream, const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_WARN)) return;

change_text_color (stream, TT_BRIGHT, TT_YELLOW);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_value (const char *format, ...)
{
//if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

change_text_color (stdout, TT_RESET, TT_CYAN);
va_list ap;

va_start (ap, format);
vfprintf (stdout, format, ap);
va_end (ap);

reset_text_color (stdout);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_value (FILE *stream, const char *format, ...)
{
//if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

change_text_color (stream, TT_RESET, TT_CYAN);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_debug (const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_DEBUG)) return;

change_text_color (stdout, TT_RESET, TT_GREEN);
va_list ap;

va_start (ap, format);
vfprintf (stdout, format, ap);
va_end (ap);

reset_text_color (stdout);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print_debug (FILE *stream, const char *format, ...)
{
if (!isVerbosityLevelEnabled (L_DEBUG)) return;

change_text_color (stream, TT_RESET, TT_GREEN);
va_list ap;

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);

reset_text_color (stream);
}

////////////////////////////////////////////////////////////////////////////////
namespace pcl
{
Expand Down Expand Up @@ -456,68 +256,96 @@ pcl::console::initVerbosityLevel ()
return true;
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print (pcl::console::VERBOSITY_LEVEL level, FILE *stream, const char *format, ...)
pcl::console::Logger::print(FILE* stream, const LogRecord& logEntry)
{
if (!isVerbosityLevelEnabled (level)) return;
switch (level)
{
if (!pcl::console::isVerbosityLevelEnabled(logEntry.level))
return;

if (logcallback)
logcallback(logEntry);
else {
switch (logEntry.level) {
case L_DEBUG:
change_text_color (stream, TT_RESET, TT_GREEN);
change_text_color(stream, TT_RESET, TT_GREEN);
break;
case L_WARN:
change_text_color (stream, TT_BRIGHT, TT_YELLOW);
change_text_color(stream, TT_BRIGHT, TT_YELLOW);
break;
case L_ERROR:
change_text_color (stream, TT_BRIGHT, TT_RED);
change_text_color(stream, TT_BRIGHT, TT_RED);
break;
case L_ALWAYS:
case L_INFO:
case L_VERBOSE:
default:
break;
}
}

va_list ap;
fputs(logEntry.message.c_str(), stream);

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);
reset_text_color(stream);
}
}

reset_text_color (stream);
void
pcl::console::Logger::print(const LogRecord& logEntry)
{
FILE* stream =
(logEntry.level == L_WARN || logEntry.level == L_ERROR) ? stderr : stdout;

print(stream, logEntry);
}

////////////////////////////////////////////////////////////////////////////////
void
pcl::console::print (pcl::console::VERBOSITY_LEVEL level, const char *format, ...)
pcl::console::Logger::print_highlight(FILE* stream, const LogRecord& logEntry)
{
if (!isVerbosityLevelEnabled (level)) return;
FILE *stream = (level == L_WARN || level == L_ERROR) ? stderr : stdout;
switch (level)
{
case L_DEBUG:
change_text_color (stream, TT_RESET, TT_GREEN);
break;
case L_WARN:
change_text_color (stream, TT_BRIGHT, TT_YELLOW);
break;
case L_ERROR:
change_text_color (stream, TT_BRIGHT, TT_RED);
break;
case L_ALWAYS:
case L_INFO:
case L_VERBOSE:
default:
break;
if (logcallback)
logcallback(logEntry);
else {
change_text_color(stream, TT_BRIGHT, TT_GREEN);
fputs("> ", stream);
reset_text_color(stream);

fputs(logEntry.message.c_str(), stream);
}
}

void
pcl::console::Logger::print_highlight(const LogRecord& logEntry)
{
print_highlight(stdout, logEntry);
}

void
pcl::console::Logger::print_value(FILE* stream, const LogRecord& logEntry)
{
if (logcallback)
logcallback(logEntry);
else {
change_text_color(stream, TT_RESET, TT_CYAN);

va_list ap;
fputs(logEntry.message.c_str(), stream);

va_start (ap, format);
vfprintf (stream, format, ap);
va_end (ap);
reset_text_color(stream);
}
}

reset_text_color (stream);
void
pcl::console::Logger::print_value(const LogRecord& logEntry)
{
print_value(stdout, logEntry);
}

void
pcl::console::Logger::print_color(
FILE* stream, int attr, int fg, const LogRecord& logEntry)
{
if (logcallback)
logcallback(logEntry);
else {
change_text_color(stream, attr, fg);
fputs(logEntry.message.c_str(), stream);
reset_text_color(stream);
}
}
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