Introduce Logger and LogParams

rclrs/build.rs

@@ -35,6 +35,7 @@ fn main() {
         }
     };
 
+    println!("cargo:rustc-check-cfg=cfg(ros_distro, values(\"humble\", \"iron\", \"jazzy\", \"rolling\"))");
     println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");
 
     let mut builder = bindgen::Builder::default()

rclrs/src/logging/log_params.rs

@@ -0,0 +1,246 @@
+use crate::rcl_bindings::RCUTILS_LOG_SEVERITY;
+use std::{borrow::Borrow, ffi::CString, time::Duration};
+
+/// These parameters determine the behavior of an instance of logging.
+#[derive(Debug, Clone, Copy)]
+pub struct LogParams<'a> {
+    /// The name of the logger
+    logger_name: LoggerName<'a>,
+    /// The severity of the logging instance.
+    severity: LogSeverity,
+    /// Specify when a log message should be published (See[`LoggingOccurrence`] above)
+    occurs: LogOccurrence,
+    /// Specify the publication interval of the message.  A value of ZERO (0) indicates that the
+    /// message should be published every time, otherwise, the message will only be published once
+    /// the specified interval has elapsed.
+    /// This field is typically used to limit the output from high-frequency messages, e.g. instead
+    /// of publishing a log message every 10 milliseconds, the `publish_interval` can be configured
+    /// such that the message is published every 10 seconds.
+    interval: Duration,
+    /// The log message will only published if the specified expression evaluates to true
+    only_if: bool,
+}
+
+impl<'a> LogParams<'a> {
+    /// Create a set of default log parameters, given the name of a logger
+    pub fn new(logger_name: LoggerName<'a>) -> Self {
+        Self {
+            logger_name,
+            severity: Default::default(),
+            occurs: Default::default(),
+            interval: Duration::new(0, 0),
+            only_if: true,
+        }
+    }
+
+    /// Get the logger name
+    pub fn get_logger_name(&self) -> &LoggerName {
+        &self.logger_name
+    }
+
+    /// Get the severity of the log
+    pub fn get_severity(&self) -> LogSeverity {
+        self.severity
+    }
+
+    /// Get the occurrence
+    pub fn get_occurence(&self) -> LogOccurrence {
+        self.occurs
+    }
+
+    /// Get the interval
+    pub fn get_interval(&self) -> Duration {
+        self.interval
+    }
+
+    /// Get the arbitrary filter set by the user
+    pub fn get_user_filter(&self) -> bool {
+        self.only_if
+    }
+}
+
+/// Methods for defining the behavior of a logging instance.
+///
+/// This trait is implemented by Logger, Node, and anything that a `&str` can be
+/// [borrowed][1] from, such as string literals (`"my_str"`), [`String`], or
+/// [`Cow<str>`][2].
+///
+/// [1]: Borrow
+/// [2]: std::borrow::Cow
+pub trait ToLogParams<'a>: Sized {
+    /// Convert the object into LogParams with default settings
+    fn to_log_params(self) -> LogParams<'a>;
+
+    /// The logging should only happen once
+    fn once(self) -> LogParams<'a> {
+        self.occurs(LogOccurrence::Once)
+    }
+
+    /// The first time the logging happens, we should skip it
+    fn skip_first(self) -> LogParams<'a> {
+        self.occurs(LogOccurrence::SkipFirst)
+    }
+
+    /// Set the occurrence behavior of the log instance
+    fn occurs(self, occurs: LogOccurrence) -> LogParams<'a> {
+        let mut params = self.to_log_params();
+        params.occurs = occurs;
+        params
+    }
+
+    /// Set an interval during which this log will not publish. A value of zero
+    /// will never block the message from being published, and this is the
+    /// default behavior.
+    ///
+    /// A negative duration is not valid, but will be treated as a zero duration.
+    fn interval(self, interval: Duration) -> LogParams<'a> {
+        let mut params = self.to_log_params();
+        params.interval = interval;
+        params
+    }
+
+    /// The log will not be published if a `false` expression is passed into
+    /// this function.
+    ///
+    /// Other factors may prevent the log from being published if a `true` is
+    /// passed in, such as `ToLogParams::interval` or `ToLogParams::once`
+    /// filtering the log.
+    fn only_if(self, only_if: bool) -> LogParams<'a> {
+        let mut params = self.to_log_params();
+        params.only_if = only_if;
+        params
+    }
+
+    /// Log as a debug message.
+    fn debug(self) -> LogParams<'a> {
+        self.severity(LogSeverity::Debug)
+    }
+
+    /// Log as an informative message. This is the default, so you don't
+    /// generally need to use this.
+    fn info(self) -> LogParams<'a> {
+        self.severity(LogSeverity::Info)
+    }
+
+    /// Log as a warning message.
+    fn warn(self) -> LogParams<'a> {
+        self.severity(LogSeverity::Warn)
+    }
+
+    /// Log as an error message.
+    fn error(self) -> LogParams<'a> {
+        self.severity(LogSeverity::Error)
+    }
+
+    /// Log as a fatal message.
+    fn fatal(self) -> LogParams<'a> {
+        self.severity(LogSeverity::Fatal)
+    }
+
+    /// Set the severity for this instance of logging. The default value will be
+    /// [`LogSeverity::Info`].
+    fn severity(self, severity: LogSeverity) -> LogParams<'a> {
+        let mut params = self.to_log_params();
+        params.severity = severity;
+        params
+    }
+}
+
+/// This is used to borrow a logger name which might be validated (e.g. came
+/// from a [`Logger`][1] struct) or not (e.g. a user-defined `&str`). If an
+/// unvalidated logger name is used with one of the logging macros, we will log
+/// an error about it, and the original log message will be logged with the
+/// default logger.
+///
+/// [1]: crate::Logger
+#[derive(Debug, Clone, Copy)]
+pub enum LoggerName<'a> {
+    /// The logger name is already available as a valid CString
+    Validated(&'a CString),
+    /// The logger name has not been validated yet
+    Unvalidated(&'a str),
+}
+
+/// Logging severity.
+#[doc(hidden)]
+#[derive(Debug, Clone, Copy)]
+pub enum LogSeverity {
+    /// Use the severity level of the parent logger (or the root logger if the
+    /// current logger has no parent)
+    Unset,
+    /// For messages that are not needed outside of debugging.
+    Debug,
+    /// For messages that provide useful information about the state of the
+    /// application.
+    Info,
+    /// For messages that indicate something unusual or unintended might have happened.
+    Warn,
+    /// For messages that indicate an error has occurred which may cause the application
+    /// to misbehave.
+    Error,
+    /// For messages that indicate an error has occurred which is so severe that the
+    /// application should terminate because it cannot recover.
+    ///
+    /// Using this severity level will not automatically cause the application to
+    /// terminate, the application developer must decide how to do that on a
+    /// case-by-case basis.
+    Fatal,
+}
+
+impl LogSeverity {
+    pub(super) fn as_native(&self) -> RCUTILS_LOG_SEVERITY {
+        use crate::rcl_bindings::rcl_log_severity_t::*;
+        match self {
+            LogSeverity::Unset => RCUTILS_LOG_SEVERITY_UNSET,
+            LogSeverity::Debug => RCUTILS_LOG_SEVERITY_DEBUG,
+            LogSeverity::Info => RCUTILS_LOG_SEVERITY_INFO,
+            LogSeverity::Warn => RCUTILS_LOG_SEVERITY_WARN,
+            LogSeverity::Error => RCUTILS_LOG_SEVERITY_ERROR,
+            LogSeverity::Fatal => RCUTILS_LOG_SEVERITY_FATAL,
+        }
+    }
+}
+
+impl Default for LogSeverity {
+    fn default() -> Self {
+        Self::Info
+    }
+}
+
+/// Specify when a log message should be published
+#[derive(Debug, Clone, Copy)]
+pub enum LogOccurrence {
+    /// Every message will be published if all other conditions are met
+    All,
+    /// The message will only be published on the first occurrence (Note: no other conditions apply)
+    Once,
+    /// The log message will not be published on the first occurrence, but will be published on
+    /// each subsequent occurrence (assuming all other conditions are met)
+    SkipFirst,
+}
+
+impl Default for LogOccurrence {
+    fn default() -> Self {
+        Self::All
+    }
+}
+
+// Anything that we can borrow a string from can be used as if it's a logger and
+// turned into LogParams
+impl<'a, T: Borrow<str>> ToLogParams<'a> for &'a T {
+    fn to_log_params(self) -> LogParams<'a> {
+        LogParams::new(LoggerName::Unvalidated(self.borrow()))
+    }
+}
+
+impl<'a> ToLogParams<'a> for &'a str {
+    fn to_log_params(self) -> LogParams<'a> {
+        LogParams::new(LoggerName::Unvalidated(self))
+    }
+}
+
+impl<'a> ToLogParams<'a> for LogParams<'a> {
+    fn to_log_params(self) -> LogParams<'a> {
+        self
+    }
+}

rclrs/src/logging/logger.rs

@@ -0,0 +1,101 @@
+use std::{borrow::Borrow, ffi::CString};
+
+use crate::{
+    rcl_bindings::{rcutils_logging_set_default_logger_level, rcutils_logging_set_logger_level},
+    LogParams, LogSeverity, LoggerName, RclrsError, ToLogParams, ToResult, ENTITY_LIFECYCLE_MUTEX,
+};
+
+/// Logger can be passed in as the first argument into one of the [logging][1]
+/// macros provided by rclrs. When passing it into one of the logging macros,
+/// you can optionally apply any of the methods from [`ToLogParams`] to tweak
+/// the logging behavior.
+///
+/// You can obtain a Logger in the following ways:
+/// - Calling [`Node::logger`][2] to get the logger of a Node
+/// - Using [`Logger::create_child`] to create a child logger for an existing logger
+/// - Using [`Logger::new`] to create a new logger with any name that you'd like
+/// - Using [`Logger::default()`] to access the global default logger
+///
+/// Note that if you are passing the Logger of a Node into one of the logging macros,
+/// then you can choose to simply pass in `&node` instead of `node.logger()`.
+///
+/// [1]: crate::log
+/// [2]: crate::Node::logger
+pub struct Logger {
+    name: Box<str>,
+    c_name: CString,
+}
+
+impl Logger {
+    /// Create a new logger with the given name.
+    pub fn new(name: impl Borrow<str>) -> Result<Logger, RclrsError> {
+        let name: Box<str> = name.borrow().into();
+        let c_name = match CString::new(name.clone().into_string()) {
+            Ok(c_name) => c_name,
+            Err(err) => {
+                return Err(RclrsError::StringContainsNul {
+                    s: name.into_string(),
+                    err,
+                });
+            }
+        };
+
+        Ok(Self { name, c_name })
+    }
+
+    /// Create a new logger which will be a child of this logger.
+    ///
+    /// If the name of this logger is `parent_name`, then the name for the new
+    /// child will be '"parent_name.child_name"`.
+    ///
+    /// If this is the default logger (whose name is an empty string), then the
+    /// name for the new child will simply be the value in `child_name`.
+    pub fn create_child(&self, child_name: impl Borrow<str>) -> Result<Logger, RclrsError> {
+        if self.name.is_empty() {
+            Self::new(child_name)
+        } else {
+            Self::new(format!("{}.{}", &self.name, child_name.borrow()))
+        }
+    }
+
+    /// Get the name of this logger
+    pub fn name(&self) -> &str {
+        &self.name
+    }
+
+    /// Set the severity level of this logger
+    pub fn set_level(&self, severity: LogSeverity) -> Result<(), RclrsError> {
+        // SAFETY: The precondition are:
+        // - we are passing in a valid CString, which is already taken care of during construction of the Logger
+        // - the severity level is a valid value, which is guaranteed by the rigid enum definition
+        // - not thread-safe, so we lock the global mutex before calling this
+        let _lifecycle = ENTITY_LIFECYCLE_MUTEX.lock().unwrap();
+        unsafe {
+            rcutils_logging_set_logger_level(self.c_name.as_ptr(), severity.as_native() as i32).ok()
+        }
+    }
+
+    /// Set the severity level of the default logger which acts as the root ancestor
+    /// of all other loggers.
+    pub fn set_default_level(severity: LogSeverity) {
+        // SAFETY: The preconditions are:
+        // - the severity level is a valid value, which is guaranteed by the rigid enum definition
+        // - not thread-safe, so we lock the global mutex before calling this
+        let _lifecycle = ENTITY_LIFECYCLE_MUTEX.lock().unwrap();
+        unsafe {
+            rcutils_logging_set_default_logger_level(severity.as_native() as i32);
+        }
+    }
+}
+
+impl<'a> ToLogParams<'a> for &'a Logger {
+    fn to_log_params(self) -> LogParams<'a> {
+        LogParams::new(LoggerName::Validated(&self.c_name))
+    }
+}
+
+impl Default for Logger {
+    fn default() -> Self {
+        Self::new("").unwrap()
+    }
+}

rclrs/src/logging/logging_configuration.rs

@@ -1,4 +1,4 @@
-use std::sync::{Arc, LazyLock, Mutex, Weak};
+use std::sync::{Arc, Mutex, OnceLock, Weak};
 
 use crate::{
     rcl_bindings::{
@@ -32,12 +32,12 @@ impl LoggingLifecycle {
     pub(crate) unsafe fn configure(
         context: &rcl_context_t,
     ) -> Result<Arc<LoggingLifecycle>, RclrsError> {
-        static CONFIGURATION: LazyLock<LoggingConfiguration> =
-            LazyLock::new(|| LoggingConfiguration {
-                lifecycle: Mutex::new(Weak::new()),
-            });
+        static CONFIGURATION: OnceLock<LoggingConfiguration> = OnceLock::new();
+        let configuration = CONFIGURATION.get_or_init(|| LoggingConfiguration {
+            lifecycle: Mutex::new(Weak::new()),
+        });
 
-        let mut lifecycle = CONFIGURATION.lifecycle.lock().unwrap();
+        let mut lifecycle = configuration.lifecycle.lock().unwrap();
         if let Some(arc_lifecycle) = lifecycle.upgrade() {
             return Ok(arc_lifecycle);
         }