Merge pull request #385 from dic-iit/feature/set_verbosity

Allow changing the log verbosity

CHANGELOG.md

@@ -12,6 +12,7 @@ All notable changes to this project are documented in this file.
 - Implement FeasibleContactWrenchTask for TSID component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/369).
 - Implement python bindings for QPInverseKinematics class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/303)
 - Implement `ControlTask` in for System component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/373).
+- Allow changing the log verbosity (https://github.com/dic-iit/bipedal-locomotion-framework/pull/385)
 
 ### Changed
 - Add common Python files to gitignore (https://github.com/dic-iit/bipedal-locomotion-framework/pull/338)

bindings/python/CMakeLists.txt

@@ -10,6 +10,7 @@ add_subdirectory(RobotInterface)
 add_subdirectory(Math)
 add_subdirectory(FloatingBaseEstimators)
 add_subdirectory(IK)
+add_subdirectory(TextLogging)
 
 include(ConfigureFileWithCMakeIf)
 

bindings/python/TextLogging/CMakeLists.txt

@@ -0,0 +1,17 @@
+# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+set(H_PREFIX include/BipedalLocomotion/bindings/TextLogging)
+
+add_bipedal_locomotion_python_module(
+  NAME TextLogging
+  SOURCES
+  src/Module.cpp
+  src/TextLogging.cpp
+  HEADERS
+  ${H_PREFIX}/Module.h
+  ${H_PREFIX}/TextLogging.h
+  LINK_LIBRARIES
+  BipedalLocomotion::TextLogging
+  )

bindings/python/TextLogging/include/BipedalLocomotion/bindings/TextLogging/Module.h

@@ -0,0 +1,18 @@
+/**
+ * @file Module.h
+ * @authors Diego Ferigo
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_TEXT_LOGGING_MODULE_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_TEXT_LOGGING_MODULE_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion::bindings::TextLogging
+{
+void CreateModule(pybind11::module& module);
+} // namespace BipedalLocomotion::bindings::TextLogging
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_TEXT_LOGGING_MODULE_H

bindings/python/TextLogging/include/BipedalLocomotion/bindings/TextLogging/TextLogging.h

@@ -0,0 +1,18 @@
+/**
+ * @file TextLogging.h
+ * @authors Diego Ferigo
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_TEXT_LOGGING_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_TEXT_LOGGING_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion::bindings::TextLogging
+{
+void CreateTextLogging(pybind11::module& module);
+} // namespace BipedalLocomotion::bindings::TextLogging
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_TEXT_LOGGING_H

bindings/python/TextLogging/src/Module.cpp

@@ -0,0 +1,20 @@
+/**
+ * @file Module.cpp
+ * @authors Diego Ferigo
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#include <pybind11/pybind11.h>
+
+#include "BipedalLocomotion/bindings/TextLogging/Module.h"
+#include "BipedalLocomotion/bindings/TextLogging/TextLogging.h"
+
+namespace BipedalLocomotion::bindings::TextLogging
+{
+void CreateModule(pybind11::module& module)
+{
+    module.doc() = "Text logging module";
+    CreateTextLogging(module);
+}
+} // namespace BipedalLocomotion::bindings::TextLogging

bindings/python/TextLogging/src/TextLogging.cpp

@@ -0,0 +1,29 @@
+/**
+ * @file TextLogging.cpp
+ * @authors Diego Ferigo
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#include "BipedalLocomotion/bindings/TextLogging/TextLogging.h"
+#include "BipedalLocomotion/TextLogging/Logger.h"
+
+namespace BipedalLocomotion::bindings::TextLogging
+{
+void CreateTextLogging(pybind11::module& module)
+{
+    namespace py = ::pybind11;
+    using namespace BipedalLocomotion::TextLogging;
+
+    py::enum_<Verbosity>(module, "Verbosity", py::arithmetic())
+        .value("Trace", Verbosity::Trace)
+        .value("Debug", Verbosity::Debug)
+        .value("Info", Verbosity::Info)
+        .value("Warn", Verbosity::Warn)
+        .value("Err", Verbosity::Err)
+        .value("Critical", Verbosity::Critical)
+        .value("Off", Verbosity::Off);
+
+    module.def("set_verbosity", &setVerbosity, py::arg("verbosity"));
+}
+} // namespace BipedalLocomotion::bindings::TextLogging

bindings/python/bipedal_locomotion_framework.cpp.in

@@ -5,10 +5,12 @@
  * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
  */
 
+// clang-format off
 #include <pybind11/pybind11.h>
 
 #include <BipedalLocomotion/bindings/Math/Module.h>
 #include <BipedalLocomotion/bindings/ParametersHandler/Module.h>
+#include <BipedalLocomotion/bindings/TextLogging/Module.h>
 
 @cmakeif FRAMEWORK_COMPILE_YarpImplementation
 #include <BipedalLocomotion/bindings/ParametersHandler/YarpModule.h>
@@ -51,6 +53,9 @@ PYBIND11_MODULE(bindings, m)
 
     m.doc() = "BipedalLocomotionFramework bindings";
 
+    py::module textLoggingModule = m.def_submodule("logging");
+    bindings::TextLogging::CreateModule(textLoggingModule);
+
     py::module parametersHandlerModule = m.def_submodule("parameters_handler");
     bindings::ParametersHandler::CreateModule(parametersHandlerModule);
 

src/TextLogging/include/BipedalLocomotion/TextLogging/Logger.h

@@ -20,6 +20,24 @@ namespace TextLogging
 
 using Logger = spdlog::logger;
 
+enum class Verbosity
+{
+    Trace,
+    Debug,
+    Info,
+    Warn,
+    Err,
+    Critical,
+    Off,
+};
+
+/**
+ * Set the logger verbosity.
+ *
+ * @param verbosity The desired verbosity level.
+ */
+void setVerbosity(const TextLogging::Verbosity verbosity);
+
 } // namespace TextLogging
 
 /**

src/TextLogging/src/Logger.cpp

@@ -47,4 +47,25 @@ TextLogging::Logger* const log()
     return logger.get();
 }
 
+void TextLogging::setVerbosity(const Verbosity verbosity)
+{
+    const std::unordered_map<TextLogging::Verbosity, spdlog::level::level_enum> map{
+        {TextLogging::Verbosity::Trace, spdlog::level::level_enum::trace},
+        {TextLogging::Verbosity::Debug, spdlog::level::level_enum::debug},
+        {TextLogging::Verbosity::Info, spdlog::level::level_enum::info},
+        {TextLogging::Verbosity::Warn, spdlog::level::level_enum::warn},
+        {TextLogging::Verbosity::Err, spdlog::level::level_enum::err},
+        {TextLogging::Verbosity::Critical, spdlog::level::level_enum::critical},
+        {TextLogging::Verbosity::Off, spdlog::level::level_enum::off},
+    };
+
+    if (map.find(verbosity) == map.end())
+    {
+        log()->error("Failed to change verbosity to level {}", verbosity);
+        return;
+    }
+
+    log()->set_level(map.at(verbosity));
+}
+
 } // namespace BipedalLocomotion