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Expose rcl default logging output handler #660

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May 22, 2020
Merged

Expose rcl default logging output handler #660

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c5fd695
Expose rcl default logging output handler, so it can be wrapped in la…
ivanpauno May 21, 2020
c219b82
Cleanup docblock
ivanpauno May 21, 2020
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53 changes: 53 additions & 0 deletions rcl/include/rcl/logging.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,11 +21,14 @@
#include "rcl/types.h"
#include "rcl/visibility_control.h"

#include "rcutils/logging.h"

#ifdef __cplusplus
extern "C"
{
#endif

typedef rcutils_logging_output_handler_t rcl_logging_output_handler_t;

/// Configure the logging system.
/**
Expand Down Expand Up @@ -53,6 +56,34 @@ rcl_logging_configure(
const rcl_arguments_t * global_args,
const rcl_allocator_t * allocator);

/// Configure the logging system with the provided output handler.
/**
* Similar to rcl_logging_configure, but it uses the provided output handler.
* \sa rcl_logging_configure
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param global_args The global arguments for the system
* \param allocator Used to allocate memory used by the logging system
* \param output_handler Output handler to be installed
* \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_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_configure_with_output_handler(
const rcl_arguments_t * global_args,
const rcl_allocator_t * allocator,
rcl_logging_output_handler_t output_handler);

/**
* This function should be called to tear down the logging setup by the configure function.
*
Expand Down Expand Up @@ -90,6 +121,28 @@ RCL_PUBLIC
RCL_WARN_UNUSED
bool rcl_logging_rosout_enabled();

/// Default output handler used by rcl.
/**
* This function can be wrapped in a language specific client library,
* adding the necessary mutual exclusion protection there, and then use
* `rcl_logging_configure_with_output_handler` instead of
* `rcl_logging_configure`.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*/
RCL_PUBLIC
void
rcl_logging_multiple_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
Expand Down
25 changes: 12 additions & 13 deletions rcl/src/rcl/logging.c
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Original file line number Diff line number Diff line change
Expand Up @@ -43,16 +43,6 @@ 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.
*/
static
void
rcl_logging_multiple_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);

/**
* An output function that sends to the external logger library.
*/
Expand All @@ -64,7 +54,10 @@ rcl_logging_ext_lib_output_handler(
const char * format, va_list * args);

rcl_ret_t
rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t * allocator)
rcl_logging_configure_with_output_handler(
const rcl_arguments_t * global_args,
const rcl_allocator_t * allocator,
rcl_logging_output_handler_t output_handler)
{
RCL_CHECK_ARGUMENT_FOR_NULL(global_args, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
Expand Down Expand Up @@ -106,10 +99,17 @@ rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t
rcl_logging_ext_lib_output_handler;
}
}
rcutils_logging_set_output_handler(rcl_logging_multiple_output_handler);
rcutils_logging_set_output_handler(output_handler);
return status;
}

rcl_ret_t
rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t * allocator)
{
return rcl_logging_configure_with_output_handler(
global_args, allocator, &rcl_logging_multiple_output_handler);
}

rcl_ret_t rcl_logging_fini()
{
rcl_ret_t status = RCL_RET_OK;
Expand All @@ -130,7 +130,6 @@ bool rcl_logging_rosout_enabled()
return g_rcl_logging_rosout_enabled;
}

static
void
rcl_logging_multiple_output_handler(
const rcutils_log_location_t * location,
Expand Down