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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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70
utilite/src/ULogger.cpp
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@@ -88,15 +88,12 @@ protected:
private:
virtual void _write(const char* msg, va_list arg)
{
if(arg != 0)
{
vprintf(msg, arg);
}
else
{
printf("%s", msg);
}
vprintf(msg, arg);
}
virtual void _writeStr(const char* msg)
{
printf("%s", msg);
}
};
/**
@@ -158,16 +155,16 @@ private:
{
if(fout_)
{
if(arg != 0)
{
vfprintf(fout_, msg, arg);
}
else
{
fprintf(fout_, "%s", msg);
}
vfprintf(fout_, msg, arg);
}
}
virtual void _writeStr(const char* msg)
{
if(fout_)
{
fprintf(fout_, "%s", msg);
}
}
private:
std::string fileName_; ///< the file name
@@ -243,7 +240,7 @@ void ULogger::flush()
void ULogger::_flush()
{
ULogger::getInstance()->_write(bufferedMsgs_.c_str(), 0);
ULogger::getInstance()->_writeStr(bufferedMsgs_.c_str());
bufferedMsgs_.clear();
}
@@ -277,7 +274,7 @@ void ULogger::write(const char* msg, ...)
}
else
{
ULogger::getInstance()->_write(time.c_str(), 0);
ULogger::getInstance()->_writeStr(time.c_str());
}
}
@@ -300,7 +297,7 @@ void ULogger::write(const char* msg, ...)
}
else
{
ULogger::getInstance()->_write(endline.c_str(), 0);
ULogger::getInstance()->_writeStr(endline.c_str());
}
}
loggerMutex_.unlock();
@@ -444,7 +441,7 @@ void ULogger::write(ULogger::Level level,
}
else
{
ULogger::getInstance()->_write(color, 0);
ULogger::getInstance()->_writeStr(color);
}
#endif
}
@@ -458,9 +455,9 @@ void ULogger::write(ULogger::Level level,
}
else
{
ULogger::getInstance()->_write(levelStr.c_str(), 0);
ULogger::getInstance()->_write(time.c_str(), 0);
ULogger::getInstance()->_write(whereStr.c_str(), 0);
ULogger::getInstance()->_writeStr(levelStr.c_str());
ULogger::getInstance()->_writeStr(time.c_str());
ULogger::getInstance()->_writeStr(whereStr.c_str());
ULogger::getInstance()->_write(msg, args);
}
if(type_ == ULogger::kTypeConsole && printColored_)
@@ -474,7 +471,7 @@ void ULogger::write(ULogger::Level level,
}
else
{
ULogger::getInstance()->_write(COLOR_NORMAL, 0);
ULogger::getInstance()->_writeStr(COLOR_NORMAL);
}
#endif
}
@@ -484,7 +481,7 @@ void ULogger::write(ULogger::Level level,
}
else
{
ULogger::getInstance()->_write(endline.c_str(), 0);
ULogger::getInstance()->_writeStr(endline.c_str());
}
va_end (args);
}
@@ -493,14 +490,7 @@ void ULogger::write(ULogger::Level level,
{
std::string fullMsg = uFormat("%s%s%s", levelStr.c_str(), time.c_str(), whereStr.c_str());
va_start(args, msg);
if(args != 0)
{
fullMsg.append(uFormatv(msg, args));
}
else
{
fullMsg.append(msg);
}
fullMsg.append(uFormatv(msg, args));
va_end(args);
if(level >= exitLevel_)
{
@@ -517,18 +507,14 @@ void ULogger::write(ULogger::Level level,
if(level >= exitLevel_)
{
printf("\n*******\n%s message occurred!\n", levelName_[level]);
printf(" %s%s%s", levelStr.c_str(), time.c_str(), whereStr.c_str());
va_start(args, msg);
if(args != 0)
printf("\n*******\n%s message occurred! Application will now exit.\n", levelName_[level]);
if(type_ != kTypeConsole)
{
printf(" %s%s%s", levelStr.c_str(), time.c_str(), whereStr.c_str());
va_start(args, msg);
vprintf(msg, args);
va_end(args);
}
else
{
printf("%s", msg);
}
va_end(args);
printf("\n*******\n");
destroyer_.setDoomed(0);
delete instance_; // If a FileLogger is used, this will close the file.