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feat: redefine ros_info_stream in am_super to print blue #159

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Merged
danhennage merged 2 commits into from
Jun 9, 2023
Merged

feat: redefine ros_info_stream in am_super to print blue #159

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062edf6
feat: redefine ros_info_stream in am_super to print blue
ianfmx Jun 8, 2023
55f5aa0
feat: add am_ll2f to manifest, print when super configures self
ianfmx Jun 9, 2023
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1 change: 1 addition & 0 deletions launch/am_super.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,3 +2,4 @@ am_super:
ros__parameters:
platform:
actual: farm-ng_amiga_mockup
manifest: am_latlong2frame
22 changes: 22 additions & 0 deletions src/am_super/am_super.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,27 @@
#include <cuda/cuda_utility_class.h>
#endif

#ifdef WIN32
#define COLOR_NORMAL ""
#define COLOR_RED ""
#define COLOR_GREEN ""
#define COLOR_YELLOW ""
#else
#define COLOR_NORMAL "\033[0m"
#define COLOR_RED "\033[31m"
#define COLOR_BLUE "\033[34m"
#define COLOR_GREEN "\033[32m"
#define COLOR_YELLOW "\033[33m"
#endif

#undef ROS_INFO_STREAM
#undef ROS_INFO_STREAM_THROTTLE

// Differentiate system state messages from others by blue console logs
#define ROS_INFO_STREAM(stream) RCLCPP_INFO_STREAM(am::Node::node->get_logger(), COLOR_BLUE << stream << COLOR_NORMAL)
#define ROS_INFO_STREAM_THROTTLE(duration, stream) RCLCPP_INFO_STREAM_THROTTLE(am::Node::node->get_logger(), *am::Node::node->get_clock(), (long)((duration) * 1000.0), COLOR_BLUE << stream << COLOR_NORMAL)


using namespace std;

namespace am
Expand Down Expand Up @@ -492,6 +513,7 @@ class AMSuper
{
if(life_cycle_node_->getState() == LifeCycleState::INACTIVE && supervisor_.system_state == SuperState::READY) //if super lifecycle is currently inactive
{
ROS_INFO_STREAM("Automatically activating am_super");
sendLifeCycleCommand(node_mediator_.getNodeName(), LifeCycleCommand::ACTIVATE);
}
else
Expand Down