?? clog.c
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/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public * License as published by the Free Software Foundation; * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE. See the GNU General Public License for more * details. * * You should have received a copy of the GNU General * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place, * Suite 330, Boston, MA 02111-1307 USA * ********************************************************/#include <stdio.h>#include <sys/time.h>#include <stdarg.h>#include <string.h>#include <stdlib.h>#include <unistd.h>#include "clog.h"int clog_log_level = 4;static int clog_init_flag = 0;static int clog_stdout_flag = 1;static int clog_logfile_fd = -1;static struct timeval clog_start_tv;static char *LOGLEVELS[] = {"FATAL", "ERROR", "WARN", "INFO", "VERBOSE", "DEBUG"};char *clog_mallocf(const char *fmt, ...){ int sz = 256; char *buf = NULL; va_list ap; int len;_revprintf: buf = (char*) realloc(buf,sz); va_start(ap, fmt); len = vsnprintf(buf, sz, fmt, ap); if (len < 0) { sz*=2; goto _revprintf; } if (len >= sz) { sz = len+1; goto _revprintf; } va_end(ap); return buf;}void clog_log_message(const char *source, int level, const char *file, int line, const char *msg, int freemsg){ if (level >= clog_log_level) return; if (!clog_init_flag) { clog_init(); clog_log_message("CLOG", 2, __FILE__, __LINE__, "clog_init() not called at application startup", 0); } struct timeval _tv; gettimeofday(&_tv, NULL); long t = _tv.tv_sec*1000 + _tv.tv_usec/1000 - clog_start_tv.tv_sec*1000 + clog_start_tv.tv_usec/1000; char *msgf = clog_mallocf("%8s %8s %6li.%03li %10s:%-4i %s\n", source, LOGLEVELS[level], t/1000, t%1000, file, line, msg); int len = strlen(msgf); if (clog_stdout_flag) write(STDOUT_FILENO, msgf, len); if (clog_logfile_fd >= 0) write(clog_logfile_fd, msgf, len); free(msgf); if (freemsg) free((char*) msg);} void clog_init(){ gettimeofday(&clog_start_tv, NULL); clog_init_flag = 1;}void clog_set_level(int level){ clog_log_level = level;}void clog_set_logfile(int fd){ clog_logfile_fd = fd;}
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