Publish logs to Rosout

rcl/CMakeLists.txt

@@ -41,6 +41,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/init_options.c
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
+  src/rcl/logging_rosout.c
   src/rcl/logging.c
   src/rcl/node.c
   src/rcl/publisher.c

rcl/include/rcl/logging.h

@@ -41,6 +41,7 @@ extern "C"
  * Lock-Free          | Yes
  *
  * \param global_args The global arguments for the system
+ * \param allocator Used to allocate memory used by the logging system
  * \return `RCL_RET_OK` if successful, or
  * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RCL_RET_ERR` if a general error occurs

rcl/include/rcl/logging_rosout.h

@@ -0,0 +1,170 @@
+// 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.
+
+#ifndef RCL__LOGGING_ROSOUT_H_
+#define RCL__LOGGING_ROSOUT_H_
+
+#include "rcl/allocator.h"
+#include "rcl/error_handling.h"
+#include "rcl/node.h"
+#include "rcl/types.h"
+#include "rcl/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// 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);
+
+/// 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();
+
+/// 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);
+
+/// 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);
+
+/// 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);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL__LOGGING_ROSOUT_H_

rcl/package.xml

@@ -21,6 +21,7 @@
   <build_export_depend>rcutils</build_export_depend>
   <build_export_depend>rosidl_generator_c</build_export_depend>
 
+  <exec_depend>rcl_interfaces</exec_depend>
   <exec_depend>ament_cmake</exec_depend>
   <exec_depend>rcutils</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>

rcl/src/rcl/init.c

@@ -174,6 +174,12 @@ rcl_shutdown(rcl_context_t * context)
     return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
   }
 
+  rcl_ret_t rcl_ret = rcl_logging_fini();
+  RCUTILS_LOG_ERROR_EXPRESSION_NAMED(RCL_RET_OK != rcl_ret, ROS_PACKAGE_NAME,
+    "Failed to fini logging, rcl_ret_t: %i, rcl_error_str: %s", rcl_ret,
+    rcl_get_error_string().str);
+  rcl_reset_error();
+
   return RCL_RET_OK;
 }
 

rcl/src/rcl/logging.c

@@ -27,6 +27,7 @@ extern "C"
 #include "rcl/error_handling.h"
 #include "rcl/logging.h"
 #include "rcl/logging_external_interface.h"
+#include "rcl/logging_rosout.h"
 #include "rcl/macros.h"
 #include "rcutils/logging.h"
 #include "rcutils/time.h"
@@ -38,6 +39,9 @@ static rcutils_logging_output_handler_t
 
 static uint8_t g_rcl_logging_num_out_handlers = 0;
 static rcl_allocator_t g_logging_allocator;
+static bool g_rcl_logging_stdout_enabled = false;
+static bool g_rcl_logging_rosout_enabled = false;
+static bool g_rcl_logging_ext_lib_enabled = false;
 
 /**
  * An output function that sends to multiple output appenders.
@@ -59,16 +63,6 @@ rcl_logging_ext_lib_output_handler(
   int severity, const char * name, rcutils_time_point_value_t timestamp,
   const char * format, va_list * args);
 
-/**
- * An output function that sends to the rosout topic.
- */
-static
-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);
-
 rcl_ret_t
 rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t * allocator)
 {
@@ -78,24 +72,27 @@ rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t
     g_logging_allocator = *allocator;
   int default_level = global_args->impl->log_level;
   const char * config_file = global_args->impl->external_log_config_file;
-  bool enable_stdout = !global_args->impl->log_stdout_disabled;
-  bool enable_rosout = !global_args->impl->log_rosout_disabled;
-  bool enable_ext_lib = !global_args->impl->log_ext_lib_disabled;
+  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled;
+  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled;
+  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled;
   rcl_ret_t status = RCL_RET_OK;
   g_rcl_logging_num_out_handlers = 0;
 
   if (default_level >= 0) {
     rcutils_logging_set_default_logger_level(default_level);
   }
-  if (enable_stdout) {
+  if (g_rcl_logging_stdout_enabled) {
     g_rcl_logging_out_handlers[g_rcl_logging_num_out_handlers++] =
       rcutils_logging_console_output_handler;
   }
-  if (enable_rosout) {
-    g_rcl_logging_out_handlers[g_rcl_logging_num_out_handlers++] =
-      rcl_logging_rosout_output_handler;
+  if (g_rcl_logging_rosout_enabled) {
+    status = rcl_logging_rosout_init(allocator);
+    if (RCL_RET_OK == status) {
+      g_rcl_logging_out_handlers[g_rcl_logging_num_out_handlers++] =
+        rcl_logging_rosout_output_handler;
+    }
   }
-  if (enable_ext_lib) {
+  if (g_rcl_logging_ext_lib_enabled) {
     status = rcl_logging_external_initialize(config_file);
     if (RCL_RET_OK == status) {
       rcl_logging_external_set_logger_level(NULL, default_level);
@@ -107,6 +104,20 @@ rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t
   return status;
 }
 
+rcl_ret_t rcl_logging_fini()
+{
+  rcl_ret_t status = RCL_RET_OK;
+  rcutils_logging_set_output_handler(rcutils_logging_console_output_handler);
+
+  if (g_rcl_logging_rosout_enabled) {
+    status = rcl_logging_rosout_fini();
+  }
+  if (RCL_RET_OK == status && g_rcl_logging_ext_lib_enabled) {
+    status = rcl_logging_external_shutdown();
+  }
+
+  return status;
+}
 
 static
 void
@@ -185,22 +196,6 @@ rcl_logging_ext_lib_output_handler(
   }
 }
 
-static
-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)
-{
-  // TODO(nburek): Placeholder for rosout topic feature
-  RCL_UNUSED(location);
-  RCL_UNUSED(severity);
-  RCL_UNUSED(name);
-  RCL_UNUSED(timestamp);
-  RCL_UNUSED(format);
-  RCL_UNUSED(args);
-}
-
 #ifdef __cplusplus
 }
 #endif