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* Implementing the rosout logging feature. * fixup for PR * Fixup for PR. * Fixing broken unit tests. * Minor fixup for PR. * Fixing bug in rosout teardown. * Fixing unit test that broke because the rosout node wasn't getting counted. * Fixing warnings on Windows.
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| // Copyright 2018-2019 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. | ||
|
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| #ifndef RCL__LOGGING_ROSOUT_H_ | ||
| #define RCL__LOGGING_ROSOUT_H_ | ||
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| #include "rcl/allocator.h" | ||
| #include "rcl/error_handling.h" | ||
| #include "rcl/node.h" | ||
| #include "rcl/types.h" | ||
| #include "rcl/visibility_control.h" | ||
|
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| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
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| /// Initializes the rcl_logging_rosout features | ||
| /** | ||
| * Calling this will initialize the rcl_logging_rosout features. This function must be called | ||
| * before any other rcl_logging_rosout_* functions can be called. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] allocator The allocator used for metadata related to the rcl_logging_rosout features | ||
| * \return `RCL_RET_OK` if the rcl_logging_rosout features are successfully initialized, or | ||
| * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or | ||
| * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or | ||
| * \return `RCL_RET_ERROR` if an unspecified error occurs. | ||
| */ | ||
| RCL_LOCAL | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_logging_rosout_init( | ||
| const rcl_allocator_t * allocator); | ||
|
|
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| /// Uninitializes the rcl_logging_rosout features | ||
| /** | ||
| * Calling this will set the rcl_logging_rosout features into the an unitialized state that is | ||
| * functionally the same as before rcl_logging_rosout_init was called. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \return `RCL_RET_OK` if the rcl_logging_rosout feature was successfully unitialized, or | ||
| * \return `RCL_RET_ERROR` if an unspecified error occurs. | ||
| */ | ||
| RCL_LOCAL | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_logging_rosout_fini(); | ||
|
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| /// Creates a rosout publisher for a node and registers it to be used by the logging system | ||
| /** | ||
| * Calling this for an rcl_node_t will create a new publisher on that node that will be | ||
| * used by the logging system to publish all log messages from that Node's logger. | ||
| * | ||
| * If a publisher already exists for this node then a new publisher will NOT be created. | ||
| * | ||
| * It is expected that after creating a rosout publisher with this function | ||
| * rcl_logging_destroy_rosout_publisher_for_node() will be called for the node to cleanup | ||
| * the publisher while the Node is still valid. | ||
| * | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] node a valid rcl_node_t that the publisher will be created on | ||
| * \return `RCL_RET_OK` if the publisher was created successfully, or | ||
| * \return `RCL_RET_ALREADY_INIT` if the publisher has already exists, or | ||
| * \return `RCL_RET_NODE_INVALID` if any arguments are invalid, or | ||
| * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or | ||
| * \return `RCL_RET_ERROR` if an unspecified error occurs. | ||
| */ | ||
| RCL_LOCAL | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_logging_rosout_init_publisher_for_node( | ||
| rcl_node_t * node); | ||
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| /// Deregisters a rosout publisher for a node and cleans up allocated resources | ||
| /** | ||
| * Calling this for an rcl_node_t will destroy the rosout publisher on that node and remove it from | ||
| * the logging system so that no more Log messages are published to this function. | ||
| * | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] node a valid rcl_node_t that the publisher will be created on | ||
| * \return `RCL_RET_OK` if the publisher was created successfully, or | ||
| * \return `RCL_RET_NODE_INVALID` if any arguments are invalid, or | ||
| * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or | ||
| * \return `RCL_RET_ERROR` if an unspecified error occurs. | ||
| */ | ||
| RCL_LOCAL | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_logging_rosout_fini_publisher_for_node( | ||
| rcl_node_t * node); | ||
|
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| /// The output handler outputs log messages to rosout topics. | ||
| /** | ||
| * When called with a logger name and log message this function will attempt to | ||
| * find a rosout publisher correlated with the logger name and publish a Log | ||
| * message out via that publisher. If there is no publisher directly correlated | ||
| * with the logger then nothing will be done. | ||
| * | ||
| * This function is meant to be registered with the logging functions for rcutils | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] location The pointer to the location struct or NULL | ||
| * \param[in] severity The severity level | ||
| * \param[in] name The name of the logger, must be null terminated c string | ||
| * \param[in] timestamp The timestamp for when the log message was made | ||
| * \param[in] log_str The string to be logged | ||
| */ | ||
| RCL_PUBLIC | ||
| void rcl_logging_rosout_output_handler( | ||
| const rcutils_log_location_t * location, | ||
| int severity, | ||
| const char * name, | ||
| rcutils_time_point_value_t timestamp, | ||
| const char * format, | ||
| va_list * args); | ||
|
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
|
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| #endif // RCL__LOGGING_ROSOUT_H_ |
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