Moving the external logger library from rcutils into rcl. Also automa…

…tic uncrustify.

rcl/CMakeLists.txt

@@ -12,6 +12,9 @@ find_package(rosidl_generator_c REQUIRED)
 
 include_directories(include)
 
+include(cmake/get_default_rc_logging_implementation.cmake)
+get_default_rc_logging_implementation(RC_LOGGING_IMPL)
+
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 11)
@@ -35,6 +38,7 @@ set(${PROJECT_NAME}_sources
  src/rcl/guard_condition.c
  src/rcl/lexer.c
  src/rcl/lexer_lookahead.c
+ src/rcl/logging.c
  src/rcl/node.c
  src/rcl/publisher.c
  src/rcl/rcl.c
@@ -56,6 +60,7 @@ ament_target_dependencies(${PROJECT_NAME}
  "rmw"
  "rcutils"
  "rosidl_generator_c"
+ ${RC_LOGGING_IMPL}
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -84,6 +89,7 @@ ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(${RC_LOGGING_IMPL})
 
 if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)

rcl/cmake/get_default_rc_logging_implementation.cmake

@@ -0,0 +1,46 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+#
+# Get the package name of the default logging implementation.
+#
+# Either selecting it using the variable RC_LOGGING_IMPLEMENTATION or
+# choosing a default from the available implementations.
+#
+# :param var: the output variable name containing the package name
+# :type var: string
+#
+macro(get_default_rc_logging_implementation var)
+
+ # if logging implementation already specified or RC_LOGGING_IMPLEMENTATION environment variable
+ # is set then use that, otherwise default to using rc_logging_log4cxx
+ if(NOT "${RC_LOGGING_IMPLEMENTATION}" STREQUAL "")
+ set(_logging_implementation "${RC_LOGGING_IMPLEMENTATION}")
+ elseif(NOT "$ENV{RC_LOGGING_IMPLEMENTATION}" STREQUAL "")
+ set(_logging_implementation "$ENV{RC_LOGGING_IMPLEMENTATION}")
+ else()
+ set(_logging_implementation rc_logging_log4cxx)
+ endif()
+
+ # persist implementation decision in cache
+ # if it was not determined dynamically
+ set(
+ RC_LOGGING_IMPLEMENTATION "${_logging_implementation}"
+ CACHE STRING "Select ROS middleware implementation to link against" FORCE
+ )
+
+ find_package("${_logging_implementation}" REQUIRED)
+
+ set(${var} ${_logging_implementation})
+endmacro()

rcl/include/rcl/arguments.h

@@ -34,12 +34,12 @@ typedef struct rcl_arguments_t
  struct rcl_arguments_impl_t * impl;
 } rcl_arguments_t;
 
-#define RCL_LOG_LEVEL_ARG_RULE  "__log_level:="
-#define RCL_EXTERNAL_LOG_CONFIG_ARG_RULE  "__log_config_file:="
-#define RCL_LOG_DISABLE_STDOUT_ARG_RULE  "__log_disable_stdout:="
-#define RCL_LOG_DISABLE_ROSOUT_ARG_RULE  "__log_disable_rosout:="
-#define RCL_LOG_DISABLE_EXT_LIB_ARG_RULE  "__log_disable_external_lib:="
-#define RCL_PARAM_FILE_ARG_RULE  "__params:="
+#define RCL_LOG_LEVEL_ARG_RULE "__log_level:="
+#define RCL_EXTERNAL_LOG_CONFIG_ARG_RULE "__log_config_file:="
+#define RCL_LOG_DISABLE_STDOUT_ARG_RULE "__log_disable_stdout:="
+#define RCL_LOG_DISABLE_ROSOUT_ARG_RULE "__log_disable_rosout:="
+#define RCL_LOG_DISABLE_EXT_LIB_ARG_RULE "__log_disable_external_lib:="
+#define RCL_PARAM_FILE_ARG_RULE "__params:="
 
 /// Return a rcl_node_t struct with members initialized to `NULL`.
 RCL_PUBLIC

rcl/include/rcl/logging.h

@@ -0,0 +1,58 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// 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 RCL__LOGGING_H_
+#define RCL__LOGGING_H_
+
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+#include "rcl/allocator.h"
+#include "rcl/arguments.h"
+#include "rcl/error_handling.h"
+#include "rcl/types.h"
+#include "rcl/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+/// Configures the logging system.
+/**
+ * This function should be called during the ROS initialization process. It will
+ * add the enabled log output appenders to the root logger.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | No
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * \param global_args The global arguments for the system
+ * \return `RCL_RET_OK` if successful.
+ * \return `RCL_RET_ERR` if a general error occurs
+ */
+RCL_PUBLIC
+rcl_ret_t rcl_logging_configure(const rcl_arguments_t * global_args);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // RCL__LOGGING_H_

rcl/include/rcl/logging_external_interface.h

@@ -0,0 +1,66 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// 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 RCL__LOGGING_EXTERNAL_INTERFACE_H_
+#define RCL__LOGGING_EXTERNAL_INTERFACE_H_
+
+#include <stdarg.h>
+#include "rcl/types.h"
+#include "rcl/visibility_control.h"
+
+
+/**
+ * \brief Initializes the external logging library.
+ *
+ * \param config_file The location of a config file that the external logging library should use to configure itself.
+ * If no config file is provided this will be set to an empty string. Must be a NULL terminated c string.
+ * \return RC_EXTERNAL_LOGGING_RET_OK if initialized successfully or an error code if not.
+ */
+RCL_PUBLIC
+rcl_ret_t rcl_logging_external_initialize(const char * config_file);
+
+/**
+ * \brief Free the resources allocated for the external logging system.
+ * This puts the system into a state equivalent to being uninitialized
+ *
+ * \return RC_EXTERNAL_LOGGING_RET_OK if successfully shutdown or an error code if not.
+ */
+RCL_PUBLIC
+rcl_ret_t rcl_logging_external_shutdown();
+
+/**
+ * \brief Logs a message
+ *
+ * \param severity The severity level of the message being logged
+ * \param name The name of the logger, must be a null terminated c string or NULL. If NULL or empty the root logger will
+ * be used.
+ * \param msg The message to be logged. Must be a null terminated c string.
+ */
+RCL_PUBLIC
+void rcl_logging_external_log(int severity, const char * name, const char * msg);
+
+
+/**
+ * \brief Set the severity level for a logger.
+ * Sets the severity level for the specified logger. If the name provided is an empty string or NULL it will change the
+ * level of the root logger.
+ *
+ * \param name The name of the logger. Must be a NULL terminated c string or NULL.
+ * \param level - The severity level to be used for the specified logger
+ * \return RC_EXTERNAL_LOGGING_RET_OK if set successfully or an error code if not.
+ */
+RCL_PUBLIC
+rcl_ret_t rcl_logging_external_set_logger_level(const char * name, int level);
+
+#endif // RCL__LOGGING_EXTERNAL_INTERFACE_H_

rcl/include/rcl/macros.h

@@ -27,6 +27,8 @@ extern "C"
 # define RCL_WARN_UNUSED _Check_return_
 #endif
 
+#define RCL_UNUSED(x) (void)(x)
+
 #ifdef __cplusplus
 }
 #endif

rcl/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<package format="3">
  <name>rcl</name>
  <version>0.6.0</version>
  <description>The ROS client library common implementation.
@@ -27,6 +27,8 @@
 
  <depend>rmw_implementation</depend>
 
+ <group_depend>rc_logging_packages</group_depend>
+
  <test_depend>ament_cmake_gtest</test_depend>
  <test_depend>ament_cmake_pytest</test_depend>
  <test_depend>ament_lint_auto</test_depend>

rcl/src/rcl/arguments.c

@@ -261,7 +261,7 @@ rcl_parse_arguments(
  }
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as parameter file rule. Error: %s", i, argv[i],
- rcl_get_error_string());
+ rcl_get_error_string().str);
  rcl_reset_error();
 
  // Attempt to parse argument as remap rule
@@ -272,7 +272,8 @@ rcl_parse_arguments(
  continue;
  }
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Couldn't parse arg %d (%s) as remap rule. Error: %s", i, argv[i], rcl_get_error_string());
+ "Couldn't parse arg %d (%s) as remap rule. Error: %s", i, argv[i],
+ rcl_get_error_string().str);
  rcl_reset_error();
 
  // Attempt to parse argument as log level configuration
@@ -283,43 +284,54 @@ rcl_parse_arguments(
  }
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as log level rule. Error: %s", i, argv[i],
- rcl_get_error_string());
+ rcl_get_error_string().str);
  rcl_reset_error();
 
  // Attempt to parse argument as log configuration file
- if (RCL_RET_OK == _rcl_parse_external_log_config_file(argv[i], allocator, &args_impl->external_log_config_file)) {
+ rcl_ret_t ret = _rcl_parse_external_log_config_file(argv[i], allocator,
+ &args_impl->external_log_config_file);
+ if (RCL_RET_OK == ret) {
  continue;
  }
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as log config rule. Error: %s", i, argv[i],
- rcl_get_error_string());
+ rcl_get_error_string().str);
  rcl_reset_error();
 
  // Attempt to parse argument as log_stdout_disabled
- if (RCL_RET_OK == _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_STDOUT_ARG_RULE, &args_impl->log_stdout_disabled)) {
+ if (RCL_RET_OK ==
+ _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_STDOUT_ARG_RULE,
+ &args_impl->log_stdout_disabled))
+ {
  continue;
  }
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as log_stdout_disabled rule. Error: %s", i, argv[i],
- rcl_get_error_string());
+ rcl_get_error_string().str);
  rcl_reset_error();
 
  // Attempt to parse argument as log_rosout_disabled
- if (RCL_RET_OK == _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_ROSOUT_ARG_RULE, &args_impl->log_rosout_disabled)) {
+ if (RCL_RET_OK ==
+ _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_ROSOUT_ARG_RULE,
+ &args_impl->log_rosout_disabled))
+ {
  continue;
  }
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as log_rosout_disabled rule. Error: %s", i, argv[i],
- rcl_get_error_string());
+ rcl_get_error_string().str);
  rcl_reset_error();
 
  // Attempt to parse argument as log_ext_lib_disabled
- if (RCL_RET_OK == _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_EXT_LIB_ARG_RULE, &args_impl->log_ext_lib_disabled)) {
+ if (RCL_RET_OK ==
+ _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_EXT_LIB_ARG_RULE,
+ &args_impl->log_ext_lib_disabled))
+ {
  continue;
  }
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as log_ext_lib_disabled rule. Error: %s", i, argv[i],
- rcl_get_error_string());
+ rcl_get_error_string().str);
  rcl_reset_error();
 
 
@@ -1170,10 +1182,10 @@ _rcl_parse_external_log_config_file(
 {
  RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT);
 
- const size_t param_prefix_len = sizeof(RCL_EXTERNAL_LOG_CONFIG_ARG_RULE);
+ const size_t param_prefix_len = sizeof(RCL_EXTERNAL_LOG_CONFIG_ARG_RULE) - 1;
  if (strncmp(RCL_EXTERNAL_LOG_CONFIG_ARG_RULE, arg, param_prefix_len) == 0) {
  size_t outlen = strlen(arg) - param_prefix_len;
- log_config_file = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
+ *log_config_file = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
  if (NULL == log_config_file) {
  RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to allocate memory for parameters file path\n");
  return RCL_RET_BAD_ALLOC;
@@ -1213,8 +1225,8 @@ _atob(
 {
  RCL_CHECK_ARGUMENT_FOR_NULL(str, RCL_RET_INVALID_ARGUMENT);
  RCL_CHECK_ARGUMENT_FOR_NULL(val, RCL_RET_INVALID_ARGUMENT);
- const char * true_values[] = {"y", "Y", "yes", "Yes", "t", "T", "true", "True", "1" };
- const char * false_values[] = {"n", "N", "no", "No", "f", "F", "false", "False", "0" };
+ const char * true_values[] = {"y", "Y", "yes", "Yes", "t", "T", "true", "True", "1"};
+ const char * false_values[] = {"n", "N", "no", "No", "f", "F", "false", "False", "0"};
 
  for (size_t idx = 0; idx < sizeof(true_values) / sizeof(char *); idx++) {
  if (0 == strncmp(true_values[idx], str, strlen(true_values[idx]))) {

rcl/src/rcl/arguments_impl.h

@@ -46,8 +46,11 @@ typedef struct rcl_arguments_impl_t
  int log_level;
  /// A file used to configure the external logging library
  char * external_log_config_file;
+ /// A boolean value indicating if the standard out handler should be used for log output
  bool log_stdout_disabled;
+ /// A boolean value indicating if the rosout topic handler should be used for log output
  bool log_rosout_disabled;
+ /// A boolean value indicating if the external lib handler should be used for log output
  bool log_ext_lib_disabled;
 
  /// Allocator used to allocate objects in this struct

rcl/src/rcl/graph.c

@@ -52,7 +52,7 @@ rcl_get_topic_names_and_types(
  &rcutils_allocator,
  no_demangle,
  topic_names_and_types
- );
+  );
  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
 }
 
@@ -76,7 +76,7 @@ rcl_get_service_names_and_types(
  rcl_node_get_rmw_handle(node),
  &rcutils_allocator,
  service_names_and_types
- );
+  );
  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
 }
 
@@ -172,7 +172,7 @@ rcl_service_server_is_available(
  rcl_node_get_rmw_handle(node),
  rcl_client_get_rmw_handle(client),
  is_available
- );
+  );
  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
 }