Adding new cli parameters for configuring the logging.

cr https://code.amazon.com/reviews/CR-3728503

rcl/include/rcl/arguments.h

@@ -34,8 +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_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/src/rcl/arguments.c

@@ -25,7 +25,6 @@
 #include "rcl/validate_topic_name.h"
 #include "rcutils/allocator.h"
 #include "rcutils/error_handling.h"
-#include "rcutils/logging.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/strdup.h"
 #include "rmw/validate_namespace.h"
@@ -134,6 +133,54 @@ _rcl_parse_log_level_rule(
  rcl_allocator_t allocator,
  int * log_level);
 
+/// Parse an argument that may or may not be a log file rule.
+/**
+ * \param[in] arg the argument to parse
+ * \param[in] allocator an allocator to use
+ * \param[in,out] log_config_file parsed log configuration file
+ * \return RCL_RET_OK if a valid log config file was parsed, or
+ * \return RCL_RET_BAD_ALLOC if an allocation failed, or
+ * \return RLC_RET_ERROR if an unspecified error occurred.
+ */
+RCL_LOCAL
+rcl_ret_t
+_rcl_parse_external_log_config_file(
+ const char * arg,
+ rcl_allocator_t allocator,
+ char ** log_config_file);
+
+/// Parse a bool argument that may or may not be for the provided key rule.
+/**
+ * \param[in] arg the argument to parse
+ * \param[in] key the key for the argument to parse. Should be a null terminated string
+ * \param[in] allocator an allocator to use
+ * \param[in,out] value parsed boolean value
+ * \return RCL_RET_OK if a valid log level was parsed, or
+ * \return RLC_RET_ERROR if an unspecified error occurred.
+ */
+RCL_LOCAL
+rcl_ret_t
+_rcl_parse_bool_arg(
+ const char * arg,
+ const char * key,
+ bool * value);
+
+/// Parse a null terminated string to a boolean value
+/**
+ * The case sensitive values "T", "t", "True", "true", "Y", "y", "Yes", "yes", and "1" will all map to true
+ * The case sensitive values "F", "f", "False", "false", "N", "n", "No", "no", and "0" will all map to false
+ * \param[in] str a null terminated string to be parsed into a boolean
+ * \param[in,out] val the boolean value parsed from the string. Left unchanged if string cannot be parsed to a valid bool
+ * \param[in] allocator an allocator to use
+ * \return RCL_RET_OK if a valid boolean parsed, or
+ * \return RLC_RET_ERROR if an unspecified error occurred.
+ */
+RCL_LOCAL
+rcl_ret_t
+_atob(
+ const char * str,
+ bool * val);
+
 rcl_ret_t
 rcl_parse_arguments(
  int argc,
@@ -166,10 +213,14 @@ rcl_parse_arguments(
  args_impl->num_remap_rules = 0;
  args_impl->remap_rules = NULL;
  args_impl->log_level = -1;
+ args_impl->external_log_config_file = NULL;
  args_impl->unparsed_args = NULL;
  args_impl->num_unparsed_args = 0;
  args_impl->parameter_files = NULL;
  args_impl->num_param_files_args = 0;
+ args_impl->log_stdout_disabled = false;
+ args_impl->log_rosout_disabled = false;
+ args_impl->log_ext_lib_disabled = false;
  args_impl->allocator = allocator;
 
  if (argc == 0) {
@@ -235,6 +286,43 @@ rcl_parse_arguments(
  rcl_get_error_string());
  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)) {
+ 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_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)) {
+ 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_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)) {
+ 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_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)) {
+ 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_reset_error();
+
+
  // Argument wasn't parsed by any rule
  args_impl->unparsed_args[args_impl->num_unparsed_args] = i;
  ++(args_impl->num_unparsed_args);
@@ -1074,6 +1162,77 @@ _rcl_parse_param_file_rule(
  return RCL_RET_INVALID_PARAM_RULE;
 }
 
+rcl_ret_t
+_rcl_parse_external_log_config_file(
+ const char * arg,
+ rcl_allocator_t allocator,
+ char ** 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);
+ 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);
+ if (NULL == log_config_file) {
+ RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to allocate memory for parameters file path\n");
+ return RCL_RET_BAD_ALLOC;
+ }
+ snprintf(*log_config_file, outlen + 1, "%s", arg + param_prefix_len);
+ return RCL_RET_OK;
+ }
+
+ RCL_SET_ERROR_MSG("Argument does not start with '" RCL_EXTERNAL_LOG_CONFIG_ARG_RULE "'");
+ return RCL_RET_INVALID_PARAM_RULE;
+}
+
+RCL_LOCAL
+rcl_ret_t
+_rcl_parse_bool_arg(
+ const char * arg,
+ const char * key,
+ bool * value)
+{
+ RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT);
+ RCL_CHECK_ARGUMENT_FOR_NULL(key, RCL_RET_INVALID_ARGUMENT);
+
+ const size_t param_prefix_len = strlen(key);
+ if (strncmp(key, arg, param_prefix_len) == 0) {
+ return _atob(arg + param_prefix_len, value);
+ }
+
+ RCL_SET_ERROR_MSG("Argument does not start with key");
+ return RCL_RET_INVALID_PARAM_RULE;
+}
+
+RCL_LOCAL
+rcl_ret_t
+_atob(
+ const char * str,
+ bool * val)
+{
+ 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" };
+
+ for (size_t idx = 0; idx < sizeof(true_values) / sizeof(char *); idx++) {
+ if (0 == strncmp(true_values[idx], str, strlen(true_values[idx]))) {
+ *val = true;
+ return RCL_RET_OK;
+ }
+ }
+
+ for (size_t idx = 0; idx < sizeof(false_values) / sizeof(char *); idx++) {
+ if (0 == strncmp(false_values[idx], str, strlen(false_values[idx]))) {
+ *val = false;
+ return RCL_RET_OK;
+ }
+ }
+
+ return RCL_RET_ERROR;
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/arguments_impl.h

@@ -44,6 +44,11 @@ typedef struct rcl_arguments_impl_t
 
  /// Default log level (represented by `RCUTILS_LOG_SEVERITY` enum) or -1 if not specified.
  int log_level;
+ /// A file used to configure the external logging library
+ char * external_log_config_file;
+ bool log_stdout_disabled;
+ bool log_rosout_disabled;
+ bool log_ext_lib_disabled;
 
  /// Allocator used to allocate objects in this struct
  rcl_allocator_t allocator;

rcl/src/rcl/rcl.c

@@ -26,6 +26,7 @@ extern "C"
 #include "rcl/error_handling.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/stdatomic_helper.h"
+#include "rcutils/logging.h"
 #include "rmw/error_handling.h"
 
 static atomic_bool __rcl_is_initialized = ATOMIC_VAR_INIT(false);
@@ -118,10 +119,16 @@ rcl_init(int argc, char const * const * argv, rcl_allocator_t allocator)
  goto fail;
  }
 
- // Update the default log level if specified in arguments.
- if (global_args->impl->log_level >= 0) {
- rcutils_logging_set_default_logger_level(global_args->impl->log_level);
+ fail_ret = rcutils_logging_configure(global_args->impl->log_level,
+ global_args->impl->external_log_config_file,
+ !global_args->impl->log_stdout_disabled,
+ !global_args->impl->log_rosout_disabled,
+ !global_args->impl->log_ext_lib_disabled);
+ if (RCL_RET_OK != fail_ret) {
+ RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to configure logging. %i", fail_ret);
+ goto fail;
  }
+ fail_ret = RCL_RET_ERROR;
 
  rcutils_atomic_store(&__rcl_instance_id, ++__rcl_next_unique_id);
  if (rcutils_atomic_load_uint64_t(&__rcl_instance_id) == 0) {