Logging service support (#1102)

* Implement logging service

* Add the lock for get/set logger

* Add static for global lock variable

Signed-off-by: Barry Xu <barry.xu@sony.com>

rclpy/CMakeLists.txt

@@ -181,6 +181,7 @@ if(BUILD_TESTING)
       test/test_init_shutdown.py
       test/test_logging.py
       test/test_logging_rosout.py
+      test/test_logging_service.py
       test/test_messages.py
       test/test_node.py
       test/test_parameter.py

rclpy/rclpy/__init__.py

@@ -143,7 +143,8 @@ def create_node(
     start_parameter_services: bool = True,
     parameter_overrides: List[Parameter] = None,
     allow_undeclared_parameters: bool = False,
-    automatically_declare_parameters_from_overrides: bool = False
+    automatically_declare_parameters_from_overrides: bool = False,
+    enable_logger_service: bool = False
 ) -> 'Node':
     """
     Create an instance of :class:`.Node`.
@@ -165,6 +166,9 @@ def create_node(
         This option doesn't affect `parameter_overrides`.
     :param automatically_declare_parameters_from_overrides: If True, the "parameter overrides" will
         be used to implicitly declare parameters on the node during creation, default False.
+    :param enable_logger_service: ``True`` if ROS2 services are created to allow external nodes
+        to get and set logger levels of this node. Otherwise, logger levels are only managed
+        locally. That is, logger levels cannot be changed remotely.
     :return: An instance of the newly created node.
     """
     # imported locally to avoid loading extensions on module import
@@ -178,7 +182,9 @@ def create_node(
         allow_undeclared_parameters=allow_undeclared_parameters,
         automatically_declare_parameters_from_overrides=(
             automatically_declare_parameters_from_overrides
-        ))
+        ),
+        enable_logger_service=enable_logger_service
+        )
 
 
 def spin_once(node: 'Node', *, executor: 'Executor' = None, timeout_sec: float = None) -> None:

rclpy/rclpy/logging.py

@@ -43,16 +43,21 @@ def clear_config():
     initialize()
 
 
-def set_logger_level(name, level):
+def set_logger_level(name, level, detailed_error=False):
     level = LoggingSeverity(level)
-    return _rclpy.rclpy_logging_set_logger_level(name, level)
+    return _rclpy.rclpy_logging_set_logger_level(name, level, detailed_error)
 
 
 def get_logger_effective_level(name):
     logger_level = _rclpy.rclpy_logging_get_logger_effective_level(name)
     return LoggingSeverity(logger_level)
 
 
+def get_logger_level(name):
+    logger_level = _rclpy.rclpy_logging_get_logger_level(name)
+    return LoggingSeverity(logger_level)
+
+
 def get_logging_severity_from_string(log_severity):
     return LoggingSeverity(
         _rclpy.rclpy_logging_severity_level_from_string(log_severity))

rclpy/rclpy/logging_service.py

@@ -0,0 +1,66 @@
+# Copyright 2023 Sony Group Corporation.
+#
+# 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.
+
+from rcl_interfaces.msg import LoggerLevel, SetLoggerLevelsResult
+from rcl_interfaces.srv import GetLoggerLevels
+from rcl_interfaces.srv import SetLoggerLevels
+import rclpy
+from rclpy.qos import qos_profile_services_default
+from rclpy.validate_topic_name import TOPIC_SEPARATOR_STRING
+
+
+class LoggingService:
+
+    def __init__(self, node):
+        node_name = node.get_name()
+
+        get_logger_name_service_name = \
+            TOPIC_SEPARATOR_STRING.join((node_name, 'get_logger_levels'))
+        node.create_service(
+            GetLoggerLevels, get_logger_name_service_name,
+            self._get_logger_levels, qos_profile=qos_profile_services_default
+        )
+
+        set_logger_name_service_name = \
+            TOPIC_SEPARATOR_STRING.join((node_name, 'set_logger_levels'))
+        node.create_service(
+            SetLoggerLevels, set_logger_name_service_name,
+            self._set_logger_levels, qos_profile=qos_profile_services_default
+        )
+
+    def _get_logger_levels(self, request, response):
+        for name in request.names:
+            logger_level = LoggerLevel()
+            logger_level.name = name
+            try:
+                ret_level = rclpy.logging.get_logger_level(name)
+            except RuntimeError:
+                ret_level = 0
+            logger_level.level = ret_level
+            response.levels.append(logger_level)
+        return response
+
+    def _set_logger_levels(self, request, response):
+        for level in request.levels:
+            result = SetLoggerLevelsResult()
+            result.successful = False
+            try:
+                rclpy.logging.set_logger_level(level.name, level.level, detailed_error=True)
+                result.successful = True
+            except ValueError:
+                result.reason = 'Failed reason: Invaild logger level.'
+            except RuntimeError as e:
+                result.reason = str(e)
+            response.results.append(result)
+        return response

rclpy/rclpy/node.py

@@ -63,6 +63,7 @@
 from rclpy.guard_condition import GuardCondition
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.logging import get_logger
+from rclpy.logging_service import LoggingService
 from rclpy.parameter import Parameter, PARAMETER_SEPARATOR_STRING
 from rclpy.parameter_service import ParameterService
 from rclpy.publisher import Publisher
@@ -126,7 +127,8 @@ def __init__(
         start_parameter_services: bool = True,
         parameter_overrides: List[Parameter] = None,
         allow_undeclared_parameters: bool = False,
-        automatically_declare_parameters_from_overrides: bool = False
+        automatically_declare_parameters_from_overrides: bool = False,
+        enable_logger_service: bool = False
     ) -> None:
         """
         Create a Node.
@@ -150,6 +152,9 @@ def __init__(
             This flag affects the behavior of parameter-related operations.
         :param automatically_declare_parameters_from_overrides: If True, the "parameter overrides"
             will be used to implicitly declare parameters on the node during creation.
+        :param enable_logger_service: ``True`` if ROS2 services are created to allow external nodes
+            to get and set logger levels of this node. Otherwise, logger levels are only managed
+            locally. That is, logger levels cannot be changed remotely.
         """
         self.__handle = None
         self._context = get_default_context() if context is None else context
@@ -231,6 +236,9 @@ def __init__(
         if start_parameter_services:
             self._parameter_service = ParameterService(self)
 
+        if enable_logger_service:
+            self._logger_service = LoggingService(self)
+
     @property
     def publishers(self) -> Iterator[Publisher]:
         """Get publishers that have been created on this node."""

rclpy/src/rclpy/_rclpy_logging.cpp

@@ -23,12 +23,16 @@ namespace py = pybind11;
 #include <rcl_logging_interface/rcl_logging_interface.h>
 #include <rcl/logging_rosout.h>
 
+#include <mutex>
 #include <stdexcept>
 #include <string>
 
+#include "exceptions.hpp"
 #include "logging.hpp"
 #include "logging_api.hpp"
 
+static std::mutex g_logging_lock;
+
 /// Initialize the logging system.
 /**
  * \return None
@@ -63,15 +67,21 @@ rclpy_logging_shutdown()
  *
  * \param[in] name Fully-qualified name of logger.
  * \param[in] level to set
+ * \param[in] detailed_error True for reporting detailed rcutils error.
  * \return None
  */
 void
-rclpy_logging_set_logger_level(const char * name, int level)
+rclpy_logging_set_logger_level(const char * name, int level, bool detailed_error = false)
 {
+  std::lock_guard<std::mutex> lock(g_logging_lock);
   rcutils_ret_t ret = rcutils_logging_set_logger_level(name, level);
   if (ret != RCUTILS_RET_OK) {
-    rcutils_reset_error();
-    throw std::runtime_error("Failed to set level for logger");
+    if (detailed_error) {
+      throw std::runtime_error(rclpy::append_rcutils_error("Failed reason"));
+    } else {
+      rcutils_reset_error();
+      throw std::runtime_error("Failed to set level for logger");
+    }
   }
 }
 
@@ -87,6 +97,7 @@ rclpy_logging_set_logger_level(const char * name, int level)
 int
 rclpy_logging_get_logger_effective_level(const char * name)
 {
+  std::lock_guard<std::mutex> lock(g_logging_lock);
   int logger_level = rcutils_logging_get_logger_effective_level(name);
 
   if (logger_level < 0) {
@@ -96,6 +107,26 @@ rclpy_logging_get_logger_effective_level(const char * name)
   return logger_level;
 }
 
+/// Get the level of a logger
+/**
+ * This considers the severity level of the specifed logger only.
+ *
+ * \param[in] name Fully-qualified name of logger.
+ * \return The level of the logger
+ */
+int
+rclpy_logging_get_logger_level(const char * name)
+{
+  std::lock_guard<std::mutex> lock(g_logging_lock);
+  int logger_level = rcutils_logging_get_logger_level(name);
+
+  if (logger_level < 0) {
+    rcutils_reset_error();
+    throw std::runtime_error("Failed to get level for logger");
+  }
+  return logger_level;
+}
+
 /// Determine if the logger is enabled for a severity.
 /**
  *
@@ -214,13 +245,16 @@ define_logging_api(py::module m)
   m.def("rclpy_logging_get_separator_string", []() {return RCUTILS_LOGGING_SEPARATOR_STRING;});
   m.def("rclpy_logging_initialize", &rclpy_logging_initialize);
   m.def("rclpy_logging_shutdown", &rclpy_logging_shutdown);
-  m.def("rclpy_logging_set_logger_level", &rclpy_logging_set_logger_level);
+  m.def(
+    "rclpy_logging_set_logger_level", &rclpy_logging_set_logger_level,
+    py::arg("name"), py::arg("level"), py::arg("detailed_error") = false);
   m.def("rclpy_logging_get_logger_effective_level", &rclpy_logging_get_logger_effective_level);
   m.def("rclpy_logging_logger_is_enabled_for", &rclpy_logging_logger_is_enabled_for);
   m.def("rclpy_logging_rcutils_log", &rclpy_logging_rcutils_log);
   m.def("rclpy_logging_severity_level_from_string", &rclpy_logging_severity_level_from_string);
   m.def("rclpy_logging_get_logging_directory", &rclpy_logging_get_logging_directory);
   m.def("rclpy_logging_rosout_add_sublogger", &rclpy_logging_rosout_add_sublogger);
   m.def("rclpy_logging_rosout_remove_sublogger", &rclpy_logging_rosout_remove_sublogger);
+  m.def("rclpy_logging_get_logger_level", &rclpy_logging_get_logger_level);
 }
 }  // namespace rclpy