Add Logger class and give one to nodes #411
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| // Copyright 2017 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 RCLCPP__LOGGER_HPP_ | ||
| #define RCLCPP__LOGGER_HPP_ | ||
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| #include <memory> | ||
| #include <string> | ||
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| #include "rclcpp/visibility_control.hpp" | ||
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| /** | ||
| * \def RCLCPP_LOGGING_ENABLED | ||
| * When this define evaluates to true (default), logger factory functions will | ||
| * behave normally. | ||
| * When false, logger factory functions will create dummy loggers to avoid | ||
| * computational expense in manipulating objects. | ||
| * This should be used in combination with `RCLCPP_LOG_MIN_SEVERITY` to compile | ||
| * out logging macros. | ||
| */ | ||
| // TODO(dhood): determine this automatically from `RCLCPP_LOG_MIN_SEVERITY` | ||
| #ifndef RCLCPP_LOGGING_ENABLED | ||
| #define RCLCPP_LOGGING_ENABLED 1 | ||
| #endif | ||
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| namespace rclcpp | ||
| { | ||
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| // Forward declaration is used for friend statement. | ||
| namespace node_interfaces | ||
| { | ||
| class NodeLogging; | ||
| } | ||
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| class Logger; | ||
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| /// Return a named logger. | ||
| /** | ||
| * The returned logger's name will include any naming conventions, such as a | ||
| * name prefix. | ||
| * Currently there are no such naming conventions but they may be introduced in | ||
| * the future. | ||
| * | ||
| * \param[in] name the name of the logger | ||
| * \return a logger with the fully-qualified name including naming conventions, or | ||
| * \return a dummy logger if logging is disabled. | ||
| */ | ||
| RCLCPP_PUBLIC | ||
| Logger | ||
| get_logger(const std::string & name); | ||
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| class Logger | ||
| { | ||
| private: | ||
| friend Logger rclcpp::get_logger(const std::string & name); | ||
| friend ::rclcpp::node_interfaces::NodeLogging; | ||
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| /// Constructor of a dummy logger. | ||
| /** | ||
| * This is used when logging is disabled: see `RCLCPP_LOGGING_ENABLED`. | ||
| * This cannot be called directly, see `rclcpp::get_logger` instead. | ||
| */ | ||
| Logger() | ||
| : name_(nullptr) {} | ||
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| /// Constructor of a named logger. | ||
| /** | ||
| * This cannot be called directly, see `rclcpp::get_logger` instead. | ||
| */ | ||
| explicit Logger(const std::string & name) | ||
| : name_(new std::string(name)) {} | ||
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| std::shared_ptr<const std::string> name_; | ||
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| public: | ||
| RCLCPP_PUBLIC | ||
| Logger(const Logger &) = default; | ||
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| /// Get the name of this logger. | ||
| /** | ||
| * \return the full name of the logger including any prefixes, or | ||
| * \return `nullptr` if this logger is invalid (e.g. because logging is | ||
| * disabled). | ||
| */ | ||
| RCLCPP_PUBLIC | ||
| const char * | ||
| get_name() const | ||
| { | ||
| if (!name_) { | ||
| return nullptr; | ||
| } | ||
| return name_->c_str(); | ||
| } | ||
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| /// Return a logger that is a descendant of this logger. | ||
| /** | ||
| * The child logger's full name will include any hierarchy conventions that | ||
| * indicate it is a descendant of this logger. | ||
| * For example, ```get_logger('abc').get_child('def')``` will return a logger | ||
|
Member
There was a problem hiding this comment. nitpick: which use triple back tick here but single elsewhere?
Member
Author
There was a problem hiding this comment. it wasn't rendering the full expression without the triple (the others are simpler) |
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| * with name `abc.def`. | ||
| * | ||
| * \param[in] suffix the child logger's suffix | ||
| * \return a logger with the fully-qualified name including the suffix, or | ||
| * \return a dummy logger if this logger is invalid (e.g. because logging is | ||
| * disabled). | ||
| */ | ||
| RCLCPP_PUBLIC | ||
| Logger | ||
| get_child(const std::string & suffix) | ||
| { | ||
| if (!name_) { | ||
| return Logger(); | ||
| } | ||
| return Logger(*name_ + "." + suffix); | ||
| } | ||
| }; | ||
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| } // namespace rclcpp | ||
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| #endif // RCLCPP__LOGGER_HPP_ | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| // Copyright 2017 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 RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_ | ||
| #define RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_ | ||
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| #include <memory> | ||
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| #include "rclcpp/logger.hpp" | ||
| #include "rclcpp/macros.hpp" | ||
| #include "rclcpp/node_interfaces/node_base_interface.hpp" | ||
| #include "rclcpp/node_interfaces/node_logging_interface.hpp" | ||
| #include "rclcpp/visibility_control.hpp" | ||
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| namespace rclcpp | ||
| { | ||
| namespace node_interfaces | ||
| { | ||
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| /// Implementation of the NodeLogging part of the Node API. | ||
| class NodeLogging : public NodeLoggingInterface | ||
| { | ||
| public: | ||
| RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface) | ||
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| RCLCPP_PUBLIC | ||
| explicit NodeLogging(rclcpp::node_interfaces::NodeBaseInterface * node_base); | ||
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| RCLCPP_PUBLIC | ||
| virtual | ||
| ~NodeLogging(); | ||
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| RCLCPP_PUBLIC | ||
| virtual | ||
| rclcpp::Logger | ||
| get_logger() const; | ||
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| private: | ||
| RCLCPP_DISABLE_COPY(NodeLogging) | ||
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| /// Handle to the NodeBaseInterface given in the constructor. | ||
| rclcpp::node_interfaces::NodeBaseInterface * node_base_; | ||
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| rclcpp::Logger logger_; | ||
| }; | ||
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| } // namespace node_interfaces | ||
| } // namespace rclcpp | ||
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| #endif // RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| // Copyright 2017 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 RCLCPP__NODE_INTERFACES__NODE_LOGGING_INTERFACE_HPP_ | ||
| #define RCLCPP__NODE_INTERFACES__NODE_LOGGING_INTERFACE_HPP_ | ||
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| #include <memory> | ||
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| #include "rclcpp/logger.hpp" | ||
| #include "rclcpp/macros.hpp" | ||
| #include "rclcpp/node_interfaces/node_base_interface.hpp" | ||
| #include "rclcpp/visibility_control.hpp" | ||
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| namespace rclcpp | ||
| { | ||
| namespace node_interfaces | ||
| { | ||
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| /// Pure virtual interface class for the NodeLogging part of the Node API. | ||
| class NodeLoggingInterface | ||
| { | ||
| public: | ||
| RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface) | ||
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| /// Return the logger of the node. | ||
| /** \return The logger of the node. */ | ||
| RCLCPP_PUBLIC | ||
| virtual | ||
| rclcpp::Logger | ||
| get_logger() const = 0; | ||
| }; | ||
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| } // namespace node_interfaces | ||
| } // namespace rclcpp | ||
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| #endif // RCLCPP__NODE_INTERFACES__NODE_LOGGING_INTERFACE_HPP_ |
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do we think this should return a shared ptr as log4cxx does or leave it up to callers to call
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In our discussion it sounded like it might make sense to return a shared_ptr here. In particular this would allow us to implement the actual Logger with a specialized subclass that potentially overrides the get_name or other capabilities and keeps a weak backlink to the node and can output a warning if node goes out of scope and the backlink is broken. And although the current logger is trivially copyable right now we wouldn't need to keep it that way looking forward if we return the pointer instead of an instance.
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We talked about this off-line (@dhood and I) and I pointed out that if we want to do what you describe @tfoote we don't have swap the return type to a shared pointer, instead we could have the Logger class store a shared pointer and forward all methods calls to the shared pointer. Basically we could accomplish the same thing without inheritance.
That being said, if @dhood wanted to switch this to a pointer, that's fine by me too.
Also, if we really want to return a shared pointer we can do that in the future with an API break.