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Add an allocator to the external logging initialization. #430

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May 3, 2019
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Add an allocator to the external logging initialization. #430

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3b9475b
Add an allocator to the external logging initialization.
clalancette May 3, 2019
31640d3
Add in a TODO comment to deduplicate headers.
clalancette May 3, 2019
4229bee
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clalancette May 3, 2019
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10 changes: 9 additions & 1 deletion rcl/include/rcl/logging_external_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,13 +25,21 @@
* logging library should use to configure itself.
* If no config file is provided this will be set to an empty string.
* Must be a NULL terminated c string.
* \param[in] allocator The allocator to use for memory allocation. This is
* an rcutils_allocator_t rather than an rcl_allocator_t to ensure that the
* rcl_logging_* packages don't have a circular dependency back to rcl.
* \todo TODO(clalancette) This API is marked RCL_PUBLIC, but is not built or
* exported from librcl. Instead, these headers should be split into a
* separate package which is then depended on by both rcl and the
* rcl_logging_* implementations. The duplicated headers from the
* implementations could then be removed.
* \return RCL_RET_OK if initialized successfully, or
* \return RCL_RET_ERROR if an unspecified error occurs.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_external_initialize(const char * config_file);
rcl_logging_external_initialize(const char * config_file, rcutils_allocator_t allocator);
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For semantics shouldn't this be an rcl_allocator_t?

That's what's used internallly currently:

rcl/rcl/src/rcl/logging.c

Line 41 in eabe426

static rcl_allocator_t g_logging_allocator;

Of course it's the same via typedef:

rcl/rcl/include/rcl/allocator.h

Line 25 in 3b9475b

typedef rcutils_allocator_t rcl_allocator_t;

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The problem is that these packages shouldn't depend on rcl, as it creates a circular dependency. Also, all of the functions I'm going to eventually call are in rcutils, so I think it makes more sense as an rcutils_allocator_t.

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👍 That actually is a good idea. Though they are just a typedef to one another right now.

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We discussed offline about the fact that this needs to be deduplicated, but @clalancette is just going to make a TODO for now.


/// Free the resources allocated for the external logging system.
/**
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2 changes: 1 addition & 1 deletion rcl/src/rcl/logging.c
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Expand Up @@ -93,7 +93,7 @@ rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t
}
}
if (g_rcl_logging_ext_lib_enabled) {
status = rcl_logging_external_initialize(config_file);
status = rcl_logging_external_initialize(config_file, g_logging_allocator);
if (RCL_RET_OK == status) {
rcl_logging_external_set_logger_level(NULL, default_level);
g_rcl_logging_out_handlers[g_rcl_logging_num_out_handlers++] =
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