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refactor(motion_utils): supress log message with rclcpp logging #6955

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merged 3 commits into from
May 17, 2024
Merged

refactor(motion_utils): supress log message with rclcpp logging #6955

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dda8913
refactor(motion_utils): supress log message with rclcpp logging
zulfaqar-azmi-t4 May 9, 2024
0bd6a66
remove std string
zulfaqar-azmi-t4 May 9, 2024
3206763
Remove std::cerr getter in unit test
zulfaqar-azmi-t4 May 14, 2024
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26 changes: 15 additions & 11 deletions common/motion_utils/include/motion_utils/resample/resample_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,11 @@ namespace resample_utils
{
constexpr double close_s_threshold = 1e-6;

#define log_error(message) std::cerr << "\033[31m " << message << " \033[0m" << std::endl;
static inline rclcpp::Logger get_logger()
{
constexpr const char * logger{"motion_utils.resample_utils"};
return rclcpp::get_logger(logger);
}

template <class T>
bool validate_size(const T & points)
Expand Down Expand Up @@ -62,27 +66,27 @@ bool validate_arguments(const T & input_points, const std::vector<double> & resa
{
// Check size of the arguments
if (!validate_size(input_points)) {
log_error("[resample_utils] invalid argument: The number of input points is less than 2");
RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
tier4_autoware_utils::print_backtrace();
return false;
}
if (!validate_size(resampling_intervals)) {
log_error(
"[resample_utils] invalid argument: The number of resampling intervals is less than 2");
RCLCPP_DEBUG(
get_logger(), "invalid argument: The number of resampling intervals is less than 2");
tier4_autoware_utils::print_backtrace();
return false;
}

// Check resampling range
if (!validate_resampling_range(input_points, resampling_intervals)) {
log_error("[resample_utils] invalid argument: resampling interval is longer than input points");
RCLCPP_DEBUG(get_logger(), "invalid argument: resampling interval is longer than input points");
tier4_autoware_utils::print_backtrace();
return false;
}

// Check duplication
if (!validate_points_duplication(input_points)) {
log_error("[resample_utils] invalid argument: input points has some duplicated points");
RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
tier4_autoware_utils::print_backtrace();
return false;
}
Expand All @@ -95,23 +99,23 @@ bool validate_arguments(const T & input_points, const double resampling_interval
{
// Check size of the arguments
if (!validate_size(input_points)) {
log_error("[resample_utils] invalid argument: The number of input points is less than 2");
RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
tier4_autoware_utils::print_backtrace();
return false;
}

// check resampling interval
if (resampling_interval < motion_utils::overlap_threshold) {
log_error(
"[resample_utils] invalid argument: resampling interval is less than " +
std::to_string(motion_utils::overlap_threshold));
RCLCPP_DEBUG(
get_logger(), "invalid argument: resampling interval is less than %f",
motion_utils::overlap_threshold);
tier4_autoware_utils::print_backtrace();
return false;
}

// Check duplication
if (!validate_points_duplication(input_points)) {
log_error("[resample_utils] invalid argument: input points has some duplicated points");
RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
tier4_autoware_utils::print_backtrace();
return false;
}
Expand Down
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