Enable logging level manipulation from rmw_fastrtps (#156)

* Fastrtps supports rich logging facilities, which could be used on any ros2 development.

* To enable the same, enable setting log levels from rmw_fastrtps layers,
* Add generic logging level parameters to 'rmw.h' which would be used by other
  layers above like rcl/rclcpp.
* Hide DDS specific implementation inside rmw_fastrtps.

Signed-off-by: Sriram Raghunathan <sriram.max@gmail.com>

* The changes follow the discussions

ros2/rmw#124

* The API defined is used to set the logging level particular to the DDS
implementation.
* This change is specific to DDS type Fast-RTPS.
* The file is named as rmw_configure since we could write API's of type
  'system level config setting' types here.

Signed-off-by: Sriram Raghunathan <rsriram7@visteon.com>

* Rename file from rmw_fastrtps_configure to rmw_logging, which follows the patterns being used already.

like rmw_node, rmw_publisher..

Signed-off-by: Sriram Raghunathan <sriram.max@gmail.com>

* - Fix, coding errors.
- Renmae API to suite ros styles

Signed-off-by: Sriram Raghunathan <sriram.max@gmail.com>

* Fix ament_cpplint warnings

Signed-off-by: Sriram Raghunathan <sriram.max@gmail.com>

* Remove utility function to create a 'error' returnable API for setting logging

Signed-off-by: Sriram Raghunathan <rsriram7@visteon.com>

* Fix, logging msg bug.

* Modify logging mapping for type 'debug' from warning to info.

Signed-off-by: Sriram Raghunathan <rsriram7@visteon.com>

* order log levels, use different local variable name, include unknown severity in error message

* Fix error due to parameterized logging

* Fix code style issues from uncrustify

rmw_fastrtps_cpp/CMakeLists.txt

@@ -58,6 +58,7 @@ add_library(rmw_fastrtps_cpp
   src/identifier.cpp
   src/namespace_prefix.cpp
   src/qos.cpp
+  src/rmw_logging.cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
   src/rmw_count.cpp

rmw_fastrtps_cpp/src/rmw_logging.cpp

@@ -0,0 +1,54 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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.
+
+#include "rmw/rmw.h"
+#include "rmw/error_handling.h"
+
+#include "rcutils/logging_macros.h"
+
+#include "fastrtps/log/Log.h"
+
+extern "C"
+{
+using eprosima::fastrtps::Log;
+
+rmw_ret_t
+rmw_set_log_severity(rmw_log_severity_t severity)
+{
+  Log::Kind log_kind;
+
+  switch (severity) {
+    case RMW_LOG_SEVERITY_DEBUG:
+// fall through
+    case RMW_LOG_SEVERITY_INFO:
+      log_kind = Log::Kind::Info;
+      break;
+    case RMW_LOG_SEVERITY_WARN:
+      log_kind = Log::Kind::Warning;
+      break;
+    case RMW_LOG_SEVERITY_ERROR:
+// fall through
+    case RMW_LOG_SEVERITY_FATAL:
+      log_kind = Log::Kind::Error;
+      break;
+    default:
+      RCUTILS_LOG_ERROR("Unknown logging severity type %d", severity);
+      return RMW_RET_ERROR;
+  }
+
+  eprosima::fastrtps::Log::SetVerbosity(log_kind);
+
+  return RMW_RET_OK;
+}
+}  // extern "C"

rmw_fastrtps_cpp/src/rmw_node.cpp

@@ -64,8 +64,6 @@ create_node(
     return nullptr;
   }
 
-  eprosima::fastrtps::Log::SetVerbosity(eprosima::fastrtps::Log::Error);
-
   // Declare everything before beginning to create things.
   rmw_guard_condition_t * graph_guard_condition = nullptr;
   CustomParticipantInfo * node_impl = nullptr;