Merge pull request #42 from ethz-asl/fix/melodic

changed logging to compile on melodic

Author: HannesSommer

cuckoo_time_translator_algorithms/include/cuckoo_time_translator/AbstractAssert.h

@@ -1,12 +1,12 @@
 #ifndef H7E81A0F8_04E4_435D_8F39_103889A163E8
 #define H7E81A0F8_04E4_435D_8F39_103889A163E8
 
-#include <console_bridge/console.h>
+#include "Logging.h"
 
 #define AASSERT(x, message) \
   do { \
     if (!(x)) { \
-      logError("ASSERTION %s FAILED: %s (%s:%d)", #x, message, __FILE__, __LINE__); \
+      CUCKOO_TIME_TRANSLATOR_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/Logging.h

@@ -0,0 +1,22 @@
+#ifndef HCEF9D5FC_9095_462B_B900_048DD967629F
+#define HCEF9D5FC_9095_462B_B900_048DD967629F
+
+#include <console_bridge/console.h>
+
+#ifdef logError
+
+#define CUCKOO_TIME_TRANSLATOR_logError(fmt, ...)  logError(fmt, ##__VA_ARGS__) 
+#define CUCKOO_TIME_TRANSLATOR_logWarn(fmt, ...)   logWarn(fmt, ##__VA_ARGS__)
+#define CUCKOO_TIME_TRANSLATOR_logInform(fmt, ...) logInform(fmt, ##__VA_ARGS__)
+#define CUCKOO_TIME_TRANSLATOR_logDebug(fmt, ...)  logDebug(fmt, ##__VA_ARGS__)
+
+#else
+
+#define CUCKOO_TIME_TRANSLATOR_logError(fmt, ...)  CONSOLE_BRIDGE_logError(fmt, ##__VA_ARGS__) 
+#define CUCKOO_TIME_TRANSLATOR_logWarn(fmt, ...)   CONSOLE_BRIDGE_logWarn(fmt, ##__VA_ARGS__)
+#define CUCKOO_TIME_TRANSLATOR_logInform(fmt, ...) CONSOLE_BRIDGE_logInform(fmt, ##__VA_ARGS__)
+#define CUCKOO_TIME_TRANSLATOR_logDebug(fmt, ...)  CONSOLE_BRIDGE_logDebug(fmt, ##__VA_ARGS__)
+
+#endif
+
+#endif /* HCEF9D5FC_9095_462B_B900_048DD967629F */

cuckoo_time_translator_algorithms/src/KalmanOwt.cpp

@@ -3,7 +3,6 @@
 #include <iostream>
 #include <stdexcept>
 
-#include <console_bridge/console.h>
 #include <cuckoo_time_translator/AbstractAssert.h>
 
 namespace cuckoo_time_translator {
@@ -78,7 +77,7 @@ LocalTime KalmanOwt::updateAndTranslateToLocalTimestamp(const RemoteTime remoteT
     const double mahalDistance = sqrt(measurementResidual*measurementResidual*(1.0/S));
 
     if(config.outlierThreshold && mahalDistance > config.outlierThreshold){
-      logWarn("KalmanOwt: local_time=%f, remote_time=%f -> measurement_residual=%g, mahal_distance=%g!", localTimeSecs, remoteTimeTics, measurementResidual, mahalDistance);
+      CUCKOO_TIME_TRANSLATOR_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

@@ -1,6 +1,5 @@
 #include <cuckoo_time_translator/TimestampUnwrapper.h>
-
-#include <console_bridge/console.h>
+#include <cuckoo_time_translator/Logging.h>
 
 namespace cuckoo_time_translator {
 
@@ -28,11 +27,11 @@ void WrappingClockParameters::checkNewDeviceStamp(uint64_t wrapsCounter, uint64_
   maxStamp_ = std::max(newDeviceStamp, maxStamp_);
   if (newDeviceStamp >= wrapAroundNumber_){
     const uint64_t newWrapAroundNumber = newDeviceStamp + 1;
-    logError("newDeviceStamp=%u is larger than wrapAroundNumber=%lu -> adapting wrapAroundNumber to %lu!", newDeviceStamp, wrapAroundNumber_, newWrapAroundNumber);
+    CUCKOO_TIME_TRANSLATOR_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){
-    logWarn("Last maxStamp=%u, suspiciously small! Maybe it wraps in fact earlier? (wrapAroundNumber=%lu)",  maxStamp_, wrapAroundNumber_);
+    CUCKOO_TIME_TRANSLATOR_logWarn("Last maxStamp=%u, suspiciously small! Maybe it wraps in fact earlier? (wrapAroundNumber=%lu)",  maxStamp_, wrapAroundNumber_);
   }
 }