YTSession.hpp

Go to the documentation of this file.

// Copyright 2025 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
 
#ifndef EASYNAV_COMMON__YTSESSION_HPP_
#define EASYNAV_COMMON__YTSESSION_HPP_
 
#include <algorithm>
#include <string>
 
#include "easynav_common/Singleton.hpp"
 
#include "yaets/tracing.hpp"
 
namespace easynav
{

class YTSession : public yaets::TraceSession, public Singleton<YTSession>
{
public:
  explicit YTSession(const std::string & ros_namespace = "")
  : yaets::TraceSession(log_path(ros_namespace))
  {}
 
  ~YTSession()
  {
    stop();
  }
 
  SINGLETON_DEFINITIONS(YTSession)
 
private:
  static std::string log_path(const std::string & ros_namespace)
  {
    std::string ns = ros_namespace;
    while (!ns.empty() && ns.front() == '/') {
      ns.erase(ns.begin());
    }
    while (!ns.empty() && ns.back() == '/') {
      ns.pop_back();
    }
    std::replace(ns.begin(), ns.end(), '/', '_');
 
    if (ns.empty()) {
      return "/tmp/easynav.log";
    }
    return "/tmp/easynav_" + ns + ".log";
  }
};
 
}  // namespace easynav
 
#ifdef EASYNAV_DEBUG_WITH_YAETS
  #define EASYNAV_TRACE_EVENT TRACE_EVENT(easynav::YTSession::get())
  #define EASYNAV_TRACE_NAMED_EVENT(name) yaets::TraceGuard guard(easynav::YTSession::get(), name);
#else
  #define EASYNAV_TRACE_EVENT ((void)0)
  #define EASYNAV_TRACE_NAMED_EVENT(name) ((void)0)
#endif
 
 
#endif  // EASYNAV_COMMON__YTSESSION_HPP_