Commit 9a3d5514 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Add dynamic-graph real time logger

parent c0c4fc9f
......@@ -8,6 +8,9 @@
#include<ros/console.h>
#define ENABLE_RT_LOG
#include<dynamic-graph/real-time-logger.h>
#if DEBUG
#define ODEBUG(x) std::cout << x << std::endl
#else
......@@ -35,6 +38,14 @@
#define ODEBUG4FULL(x)
#define ODEBUG4(x)
class LoggerROSStream : public ::dynamicgraph::LoggerStream
{
public:
void write (const char* c) {
ROS_ERROR (c);
}
};
/// lhi: nickname for local_hardware_interface
/// Depends if we are on the real robot or not.
......@@ -995,6 +1006,9 @@ namespace sot_controller
void RCSotController::
starting(const ros::Time &)
{
using namespace ::dynamicgraph;
RealTimeLogger::instance().addOutputStream(LoggerStreamPtr_t(new LoggerROSStream()));
fillSensors();
}
......@@ -1005,6 +1019,9 @@ namespace sot_controller
RcSotLog.save(afilename);
SotLoaderBasic::CleanUp();
using namespace ::dynamicgraph;
RealTimeLogger::destroy();
}
std::string RCSotController::
......
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