Obbart/universal_robots_ros_driver
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Newline parity between printf and ros logging

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This commit is contained in:
Simon Rasmussen
2017-02-08 10:32:01 +01:00
parent 113b32d5af
commit e523a5d466
4 changed files with 15 additions and 15 deletions
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10
include/ur_modern_driver/log.h
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@@ -12,10 +12,10 @@
#else #else
#define LOG_DEBUG(format, ...) printf("DEBUG: " format, ##__VA_ARGS__) #define LOG_DEBUG(format, ...) printf("DEBUG: " format "\n", ##__VA_ARGS__)
#define LOG_WARN(format, ...) printf("WARNING: " format, ##__VA_ARGS__) #define LOG_WARN(format, ...) printf("WARNING: " format "\n", ##__VA_ARGS__)
#define LOG_INFO(format, ...) printf("INFO: " format, ##__VA_ARGS__) #define LOG_INFO(format, ...) printf("INFO: " format "\n", ##__VA_ARGS__)
#define LOG_ERROR(format, ...) printf("ERROR: " format, ##__VA_ARGS__) #define LOG_ERROR(format, ...) printf("ERROR: " format "\n", ##__VA_ARGS__)
#define LOG_FATAL(format, ...) printf("FATAL: " format, ##__VA_ARGS__) #define LOG_FATAL(format, ...) printf("FATAL: " format "\n", ##__VA_ARGS__)
#endif #endif

6
src/ur/producer.cpp
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@@ -29,7 +29,7 @@ std::unique_ptr<Packet> URProducer::try_get() {
ssize_t len = _stream.receive(pos, size); ssize_t len = _stream.receive(pos, size);
if(len < 1) { if(len < 1) {
LOG_DEBUG("Read nothing from stream\n"); LOG_DEBUG("Read nothing from stream");
return std::unique_ptr<Packet>(nullptr); return std::unique_ptr<Packet>(nullptr);
} }
@@ -40,13 +40,13 @@ std::unique_ptr<Packet> URProducer::try_get() {
packet_size = bp.peek<int32_t>(); packet_size = bp.peek<int32_t>();
//TODO: check other wrong packet sizes? //TODO: check other wrong packet sizes?
if(packet_size > sizeof(buf)) { if(packet_size > sizeof(buf)) {
LOG_ERROR("A packet with 'len' larger than buffer was received, discarding...\n"); LOG_ERROR("A packet with 'len' (%d) larger than buffer was received, discarding...", packet_size);
return std::unique_ptr<Packet>(nullptr); return std::unique_ptr<Packet>(nullptr);
} }
} }
if(total < packet_size){ if(total < packet_size){
LOG_DEBUG("Partial packet recieved\n"); LOG_DEBUG("Partial packet recieved");
continue; continue;
} }
return std::move(_parser.parse(bp)); return std::move(_parser.parse(bp));

6
src/ur/state.cpp
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@@ -6,13 +6,13 @@ bool RobotState::parse_with(BinParser &bp) {
//continue as long as there are bytes to read //continue as long as there are bytes to read
while(bp.check_size(sizeof(uint8_t))) { while(bp.check_size(sizeof(uint8_t))) {
if(!bp.check_size(sizeof(uint32_t))){ if(!bp.check_size(sizeof(uint32_t))){
LOG_ERROR("Failed to read sub-package length, there's likely a parsing error\n"); LOG_ERROR("Failed to read sub-package length, there's likely a parsing error");
return false; return false;
} }
uint32_t sub_size = bp.peek<uint32_t>(); uint32_t sub_size = bp.peek<uint32_t>();
if(!bp.check_size(static_cast<size_t>(sub_size))) { if(!bp.check_size(static_cast<size_t>(sub_size))) {
LOG_WARN("Invalid sub-package size of %" PRIu32 " received!\n", sub_size); LOG_WARN("Invalid sub-package size of %" PRIu32 " received!", sub_size);
return false; return false;
} }
@@ -48,7 +48,7 @@ bool RobotState_V1_6__7::parse_package(BinParser &bp) {
//TODO //TODO
break; break;
default: default:
LOG_ERROR("Invalid package type parsed: %" PRIu8 "\n", type); LOG_ERROR("Invalid package type parsed: %" PRIu8 "", type);
return false; return false;
} }

8
src/ur/stream.cpp
View File

@@ -9,7 +9,7 @@ bool URStream::connect() {
if(_initialized) if(_initialized)
return false; return false;
LOG_INFO("Connecting to UR @ %s:%d\n", _host.c_str(), _port); LOG_INFO("Connecting to UR @ %s:%d", _host.c_str(), _port);
//gethostbyname() is deprecated so use getadderinfo() as described in: //gethostbyname() is deprecated so use getadderinfo() as described in:
//http://www.beej.us/guide/bgnet/output/html/multipage/syscalls.html#getaddrinfo //http://www.beej.us/guide/bgnet/output/html/multipage/syscalls.html#getaddrinfo
@@ -23,7 +23,7 @@ bool URStream::connect() {
hints.ai_flags = AI_PASSIVE; hints.ai_flags = AI_PASSIVE;
if(getaddrinfo(_host.c_str(), service.c_str(), &hints, &result) != 0) { if(getaddrinfo(_host.c_str(), service.c_str(), &hints, &result) != 0) {
LOG_ERROR("Failed to get host name\n"); LOG_ERROR("Failed to get host name");
return false; return false;
} }
@@ -45,13 +45,13 @@ bool URStream::connect() {
int flag = 1; int flag = 1;
setsockopt(_socket_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(flag)); setsockopt(_socket_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(flag));
_initialized = true; _initialized = true;
LOG_INFO("Connection successfully established\n"); LOG_INFO("Connection successfully established");
break; break;
} }
freeaddrinfo(result); freeaddrinfo(result);
if(!_initialized) if(!_initialized)
LOG_ERROR("Connection failed\n"); LOG_ERROR("Connection failed");
return _initialized; return _initialized;
} }