internal RosOutLogger(string typeName, string nodeId, LogLevel logLevel, bool showLevel, bool showDateTime, bool showLogName, string dateTimeFormat)
: base(typeName, logLevel, showLevel, showDateTime, showLogName, dateTimeFormat)
{
_nodeId = nodeId;
_node = Ros.GetNodes().FirstOrDefault(x => x.NodeId == _nodeId);
if (_node != null)
{
_publisher = _node.LogPubliser;
}
}
protected override void WriteInternal(LogLevel targetLevel, object message, Exception e)
{
var sb = new StringBuilder();
FormatOutput(sb, targetLevel, message, e);
if (_node == null)
{
_node = Ros.GetNodes().FirstOrDefault(x => x.NodeId == _nodeId);
}
LogLevel currentLevel = LogLevel.Info;
string nodeId = "unknown";
if (_node != null)
{
currentLevel = _node.LogLevel.ToLogLevel();
nodeId = _node.NodeId;
}
if (_publisher == null && _node != null)
{
_publisher = _node.LogPubliser;
}
if (_publisher != null)
{
if (targetLevel >= currentLevel)
{
_publisher.OnNext(new Log()
{
name = nodeId,
level = currentLevel.ToLogLevel(),
msg = message.ToString()
});
}
}
}
public void Start()
{
var node = Ros.InitNodeAsync("/rosout", enableLogger: false).Result;
var publisher = node.PublisherAsync <Log>("/rosout_agg").Result;
var subscriber = node.SubscriberAsync <Log>("/rosout").Result;
subscriber.Subscribe(x =>
{
Console.WriteLine(x);
});
var d = subscriber.Publish(xs =>
{
xs.Where(x => x.level == Log.DEBUG).Subscribe(x => _logger.Debug(m => m("Node = {0}, Message = {1}", x.name, x.msg)));
xs.Where(x => x.level == Log.INFO).Subscribe(x => _logger.Info(m => m("Node = {0}, Message = {1}", x.name, x.msg)));
xs.Where(x => x.level == Log.WARN).Subscribe(x => _logger.Warn(m => m("Node = {0}, Message = {1}", x.name, x.msg)));
xs.Where(x => x.level == Log.ERROR).Subscribe(x => _logger.Error(m => m("Node = {0}, Message = {1}", x.name, x.msg)));
xs.Where(x => x.level == Log.FATAL).Subscribe(x => _logger.Fatal(m => m("Node = {0}, Message = {1}", x.name, x.msg)));
return(xs);
}).Subscribe();
}
