readd logging macros

Author: ZacharyTaylor

cuckoo_time_translator_algorithms/CMakeLists.txt

@@ -5,7 +5,11 @@ find_package(catkin_simple REQUIRED)
 catkin_simple()
 
 find_package(Eigen REQUIRED)
+
 find_package(console_bridge REQUIRED)
+if(console_bridge_VERSION GREATER_EQUAL 0.4.0)
+  add_definitions(-DDEFINE_LOGGING_MACROS)
+endif ()
 
 include_directories(
   ${console_bridge_INCLUDE_DIRS}

cuckoo_time_translator_algorithms/include/cuckoo_time_translator/AbstractAssert.h

@@ -3,10 +3,19 @@
 
 #include <console_bridge/console.h>
 
+#ifdef DEFINE_LOGGING_MACROS
+
+#define logError(fmt, ...)  CONSOLE_BRIDGE_logError(fmt, ##__VA_ARGS__) 
+#define logWarn(fmt, ...)   CONSOLE_BRIDGE_logWarn(fmt, ##__VA_ARGS__)
+#define logInform(fmt, ...) CONSOLE_BRIDGE_logInform(fmt, ##__VA_ARGS__)
+#define logDebug(fmt, ...)  CONSOLE_BRIDGE_logDebug(fmt, ##__VA_ARGS__)
+
+#endif
+
 #define AASSERT(x, message) \
   do { \
     if (!(x)) { \
-      CONSOLE_BRIDGE_logError("ASSERTION %s FAILED: %s (%s:%d)", #x, message, __FILE__, __LINE__); \
+      logError("ASSERTION %s FAILED: %s (%s:%d)", #x, message, __FILE__, __LINE__); \
       throw std::runtime_error(message); \
     } \
   } while (0)

cuckoo_time_translator_algorithms/include/cuckoo_time_translator/TimestampUnwrapper.h

@@ -3,6 +3,7 @@
 
 #include <stdint.h>
 
+#include "AbstractAssert.h"
 #include "ClockParameters.h"
 
 // TODO (c++11) remove this

cuckoo_time_translator_algorithms/src/KalmanOwt.cpp

@@ -78,7 +78,7 @@ LocalTime KalmanOwt::updateAndTranslateToLocalTimestamp(const RemoteTime remoteT
     const double mahalDistance = sqrt(measurementResidual*measurementResidual*(1.0/S));
 
     if(config.outlierThreshold && mahalDistance > config.outlierThreshold){
-      CONSOLE_BRIDGE_logWarn("KalmanOwt: local_time=%f, remote_time=%f -> measurement_residual=%g, mahal_distance=%g!", localTimeSecs, remoteTimeTics, measurementResidual, mahalDistance);
+      logWarn("KalmanOwt: local_time=%f, remote_time=%f -> measurement_residual=%g, mahal_distance=%g!", localTimeSecs, remoteTimeTics, measurementResidual, mahalDistance);
     } else {
       x_ = x_ + K * measurementResidual;
       P_ = (Eigen::Matrix2d::Identity() - K * H_) * P_;

cuckoo_time_translator_algorithms/src/TimestampUnwrapper.cpp

@@ -28,11 +28,11 @@ void WrappingClockParameters::checkNewDeviceStamp(uint64_t wrapsCounter, uint64_
   maxStamp_ = std::max(newDeviceStamp, maxStamp_);
   if (newDeviceStamp >= wrapAroundNumber_){
     const uint64_t newWrapAroundNumber = newDeviceStamp + 1;
-    CONSOLE_BRIDGE_logError("newDeviceStamp=%u is larger than wrapAroundNumber=%lu -> adapting wrapAroundNumber to %lu!", newDeviceStamp, wrapAroundNumber_, newWrapAroundNumber);
+    logError("newDeviceStamp=%u is larger than wrapAroundNumber=%lu -> adapting wrapAroundNumber to %lu!", newDeviceStamp, wrapAroundNumber_, newWrapAroundNumber);
     wrapAroundNumber_ = newWrapAroundNumber;
   }
   if(wrapsCounter % 10 == 9 && uint64_t(maxStamp_) < wrapAroundNumber_ * 2u / 3u){
-    CONSOLE_BRIDGE_logWarn("Last maxStamp=%u, suspiciously small! Maybe it wraps in fact earlier? (wrapAroundNumber=%lu)",  maxStamp_, wrapAroundNumber_);
+    logWarn("Last maxStamp=%u, suspiciously small! Maybe it wraps in fact earlier? (wrapAroundNumber=%lu)",  maxStamp_, wrapAroundNumber_);
   }
 }