/********************************************************* * * 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;}