/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
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 *
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 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 */

#ifndef ROSCPP_ROSOUT_APPENDER_H
#define ROSCPP_ROSOUT_APPENDER_H

#include <ros/message_forward.h>
#include "common.h"

#include <boost/shared_ptr.hpp>
#include <boost/thread/condition_variable.hpp>
#include <boost/weak_ptr.hpp>

#include <boost/thread.hpp>

namespace rosgraph_msgs
{
ROS_DECLARE_MESSAGE(Log);
}

namespace ros
{

class Publication;
typedef boost::shared_ptr<Publication> PublicationPtr;
typedef boost::weak_ptr<Publication> PublicationWPtr;

class ROSCPP_DECL ROSOutAppender : public ros::console::LogAppender
{
public:
  ROSOutAppender();
  ~ROSOutAppender();

  const std::string& getLastError() const;

  virtual void log(::ros::console::Level level, const char* str, const char* file, const char* function, int line);

protected:
  void logThread();

  std::string last_error_;

  typedef std::vector<rosgraph_msgs::LogPtr> V_Log;
  V_Log log_queue_;
  boost::mutex queue_mutex_;
  boost::condition_variable queue_condition_;
  bool shutting_down_;
  bool disable_topics_;

  boost::thread publish_thread_;
};

} // namespace ros

#endif
