diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt index 4f0f5f1..06a6c6e 100644 --- a/rcl/CMakeLists.txt +++ b/rcl/CMakeLists.txt @@ -12,6 +12,9 @@ find_package(rosidl_generator_c REQUIRED) include_directories(include) +include(cmake/get_default_rcl_logging_implementation.cmake) +get_default_rcl_logging_implementation(RCL_LOGGING_IMPL) + # Default to C11 if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 11) @@ -38,6 +41,7 @@ set(${PROJECT_NAME}_sources src/rcl/init_options.c src/rcl/lexer.c src/rcl/lexer_lookahead.c + src/rcl/logging.c src/rcl/node.c src/rcl/publisher.c src/rcl/remap.c @@ -58,6 +62,7 @@ ament_target_dependencies(${PROJECT_NAME} "rmw" "rcutils" "rosidl_generator_c" + ${RCL_LOGGING_IMPL} ) # Causes the visibility macros to use dllexport rather than dllimport, @@ -86,6 +91,7 @@ ament_export_dependencies(rmw_implementation) ament_export_dependencies(rmw) ament_export_dependencies(rcutils) ament_export_dependencies(rosidl_generator_c) +ament_export_dependencies(${RCL_LOGGING_IMPL}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) diff --git a/rcl/cmake/get_default_rcl_logging_implementation.cmake b/rcl/cmake/get_default_rcl_logging_implementation.cmake new file mode 100644 index 0000000..e035ed3 --- /dev/null +++ b/rcl/cmake/get_default_rcl_logging_implementation.cmake @@ -0,0 +1,46 @@ +# Copyright 2018 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. + +# +# Get the package name of the default logging implementation. +# +# Either selecting it using the variable RCL_LOGGING_IMPLEMENTATION or +# choosing a default from the available implementations. +# +# :param var: the output variable name containing the package name +# :type var: string +# +macro(get_default_rcl_logging_implementation var) + + # if logging implementation already specified or RCL_LOGGING_IMPLEMENTATION environment variable + # is set then use that, otherwise default to using rcl_logging_noop + if(NOT "${RCL_LOGGING_IMPLEMENTATION}" STREQUAL "") + set(_logging_implementation "${RCL_LOGGING_IMPLEMENTATION}") + elseif(NOT "$ENV{RCL_LOGGING_IMPLEMENTATION}" STREQUAL "") + set(_logging_implementation "$ENV{RCL_LOGGING_IMPLEMENTATION}") + else() + set(_logging_implementation rcl_logging_noop) + endif() + + # persist implementation decision in cache + # if it was not determined dynamically + set( + RCL_LOGGING_IMPLEMENTATION "${_logging_implementation}" + CACHE STRING "select rcl logging implementation to use" FORCE + ) + + find_package("${_logging_implementation}" REQUIRED) + + set(${var} ${_logging_implementation}) +endmacro() diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h index 5d790bc..8abc301 100644 --- a/rcl/include/rcl/arguments.h +++ b/rcl/include/rcl/arguments.h @@ -35,6 +35,10 @@ typedef struct rcl_arguments_t } rcl_arguments_t; #define RCL_LOG_LEVEL_ARG_RULE "__log_level:=" +#define RCL_EXTERNAL_LOG_CONFIG_ARG_RULE "__log_config_file:=" +#define RCL_LOG_DISABLE_STDOUT_ARG_RULE "__log_disable_stdout:=" +#define RCL_LOG_DISABLE_ROSOUT_ARG_RULE "__log_disable_rosout:=" +#define RCL_LOG_DISABLE_EXT_LIB_ARG_RULE "__log_disable_external_lib:=" #define RCL_PARAM_FILE_ARG_RULE "__params:=" /// Return a rcl_node_t struct with members initialized to `NULL`. diff --git a/rcl/include/rcl/logging.h b/rcl/include/rcl/logging.h new file mode 100644 index 0000000..e648d5e --- /dev/null +++ b/rcl/include/rcl/logging.h @@ -0,0 +1,77 @@ +// Copyright 2018 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_H_ +#define RCL__LOGGING_H_ + +#include "rcl/allocator.h" +#include "rcl/arguments.h" +#include "rcl/macros.h" +#include "rcl/types.h" +#include "rcl/visibility_control.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + +/// Configure the logging system. +/** + * This function should be called during the ROS initialization process. + * It will add the enabled log output appenders to the root logger. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param global_args The global arguments for the 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_PUBLIC +RCL_WARN_UNUSED +rcl_ret_t +rcl_logging_configure( + const rcl_arguments_t * global_args, + const rcl_allocator_t * allocator); + +/** + * This function should be called to tear down the logging setup by the configure function. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \return `RCL_RET_OK` if successful. + * \return `RCL_RET_ERR` if a general error occurs + */ +RCL_PUBLIC +RCL_WARN_UNUSED +rcl_ret_t rcl_logging_fini(); + +#ifdef __cplusplus +} +#endif + +#endif // RCL__LOGGING_H_ diff --git a/rcl/include/rcl/logging_external_interface.h b/rcl/include/rcl/logging_external_interface.h new file mode 100644 index 0000000..ae68203 --- /dev/null +++ b/rcl/include/rcl/logging_external_interface.h @@ -0,0 +1,75 @@ +// Copyright 2018 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_EXTERNAL_INTERFACE_H_ +#define RCL__LOGGING_EXTERNAL_INTERFACE_H_ + +#include "rcl/macros.h" +#include "rcl/types.h" +#include "rcl/visibility_control.h" + +/// Initialize the external logging library. +/** + * \param[in] config_file The location of a config file that the external + * 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. + * \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); + +/// Free the resources allocated for the external logging system. +/** + * This puts the system into a state equivalent to being uninitialized. + * + * \return RCL_RET_OK if successfully shutdown, or + * \return RCL_RET_ERROR if an unspecified error occurs. + */ +RCL_PUBLIC +RCL_WARN_UNUSED +rcl_ret_t +rcl_logging_external_shutdown(); + +/// Log a message. +/** + * \param[in] severity The severity level of the message being logged. + * \param[in] name The name of the logger, must either be a null terminated + * c string or NULL. + * If NULL or empty the root logger will be used. + * \param[in] msg The message to be logged. Must be a null terminated c string. + */ +RCL_PUBLIC +void +rcl_logging_external_log(int severity, const char * name, const char * msg); + +/// Set the severity level for a logger. +/** + * This function sets the severity level for the specified logger. + * If the name provided is an empty string or NULL it will change the level of + * the root logger. + * + * \param[in] name The name of the logger. + * Must be a NULL terminated c string or NULL. + * \param[in] level The severity level to be used for the specified logger. + * \return RCL_RET_OK if set successfully, or + * \return RCL_RET_ERROR if an unspecified error occurs. + */ +RCL_PUBLIC +rcl_ret_t rcl_logging_external_set_logger_level(const char * name, int level); + +#endif // RCL__LOGGING_EXTERNAL_INTERFACE_H_ diff --git a/rcl/include/rcl/macros.h b/rcl/include/rcl/macros.h index 94ff59d..cbf5b89 100644 --- a/rcl/include/rcl/macros.h +++ b/rcl/include/rcl/macros.h @@ -27,6 +27,8 @@ extern "C" # define RCL_WARN_UNUSED _Check_return_ #endif +#define RCL_UNUSED(x) (void)(x) + #ifdef __cplusplus } #endif diff --git a/rcl/package.xml b/rcl/package.xml index 1c9de62..ad1735b 100644 --- a/rcl/package.xml +++ b/rcl/package.xml @@ -1,6 +1,6 @@ - - + + rcl 0.6.0 The ROS client library common implementation. @@ -37,6 +37,8 @@ osrf_testing_tools_cpp test_msgs + rcl_logging_packages + ament_cmake diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c index 030d1dc..67e08c8 100644 --- a/rcl/src/rcl/arguments.c +++ b/rcl/src/rcl/arguments.c @@ -25,6 +25,7 @@ #include "rcl/validate_topic_name.h" #include "rcutils/allocator.h" #include "rcutils/error_handling.h" +#include "rcutils/format_string.h" #include "rcutils/logging.h" #include "rcutils/logging_macros.h" #include "rcutils/strdup.h" @@ -131,6 +132,56 @@ _rcl_parse_log_level_rule( rcl_allocator_t allocator, int * log_level); +/// Parse an argument that may or may not be a log file rule. +/** + * \param[in] arg the argument to parse + * \param[in] allocator an allocator to use + * \param[in,out] log_config_file parsed log configuration file + * \return RCL_RET_OK if a valid log config file was parsed, or + * \return RCL_RET_BAD_ALLOC if an allocation failed, or + * \return RLC_RET_ERROR if an unspecified error occurred. + */ +RCL_LOCAL +rcl_ret_t +_rcl_parse_external_log_config_file( + const char * arg, + rcl_allocator_t allocator, + char ** log_config_file); + +/// Parse a bool argument that may or may not be for the provided key rule. +/** + * \param[in] arg the argument to parse + * \param[in] key the key for the argument to parse. Should be a null terminated string + * \param[in,out] value parsed boolean value + * \return RCL_RET_OK if the bool argument was parsed successfully, or + * \return RLC_RET_ERROR if an unspecified error occurred. + */ +RCL_LOCAL +rcl_ret_t +_rcl_parse_bool_arg( + const char * arg, + const char * key, + bool * value); + +/// Parse a null terminated string to a boolean value. +/** + * The case sensitive values: "T", "t", "True", "true", "Y", "y", "Yes", "yes", + * and "1" will all map to true. + * The case sensitive values: "F", "f", "False", "false", "N", "n", "No", "no", + * and "0" will all map to false. + * + * \param[in] str a null terminated string to be parsed into a boolean + * \param[in,out] val the boolean value parsed from the string. + * Left unchanged if string cannot be parsed to a valid bool. + * \return RCL_RET_OK if a valid boolean parsed, or + * \return RLC_RET_ERROR if an unspecified error occurred. + */ +RCL_LOCAL +rcl_ret_t +_atob( + const char * str, + bool * val); + rcl_ret_t rcl_parse_arguments( int argc, @@ -163,10 +214,14 @@ rcl_parse_arguments( args_impl->num_remap_rules = 0; args_impl->remap_rules = NULL; args_impl->log_level = -1; + args_impl->external_log_config_file = NULL; args_impl->unparsed_args = NULL; args_impl->num_unparsed_args = 0; args_impl->parameter_files = NULL; args_impl->num_param_files_args = 0; + args_impl->log_stdout_disabled = false; + args_impl->log_rosout_disabled = false; + args_impl->log_ext_lib_disabled = false; args_impl->allocator = allocator; if (argc == 0) { @@ -207,7 +262,7 @@ rcl_parse_arguments( } RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Couldn't parse arg %d (%s) as parameter file rule. Error: %s", i, argv[i], - rcl_get_error_string()); + rcl_get_error_string().str); rcl_reset_error(); // Attempt to parse argument as remap rule @@ -218,7 +273,8 @@ rcl_parse_arguments( continue; } RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, - "Couldn't parse arg %d (%s) as remap rule. Error: %s", i, argv[i], rcl_get_error_string()); + "Couldn't parse arg %d (%s) as remap rule. Error: %s", i, argv[i], + rcl_get_error_string().str); rcl_reset_error(); // Attempt to parse argument as log level configuration @@ -229,9 +285,54 @@ rcl_parse_arguments( } RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Couldn't parse arg %d (%s) as log level rule. Error: %s", i, argv[i], - rcl_get_error_string()); + rcl_get_error_string().str); rcl_reset_error(); + // Attempt to parse argument as log configuration file + rcl_ret_t ret = _rcl_parse_external_log_config_file( + argv[i], allocator, &args_impl->external_log_config_file); + if (RCL_RET_OK == ret) { + continue; + } + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, + "Couldn't parse arg %d (%s) as log config rule. Error: %s", i, argv[i], + rcl_get_error_string().str); + rcl_reset_error(); + + // Attempt to parse argument as log_stdout_disabled + ret = _rcl_parse_bool_arg( + argv[i], RCL_LOG_DISABLE_STDOUT_ARG_RULE, &args_impl->log_stdout_disabled); + if (RCL_RET_OK == ret) { + continue; + } + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, + "Couldn't parse arg %d (%s) as log_stdout_disabled rule. Error: %s", i, argv[i], + rcl_get_error_string().str); + rcl_reset_error(); + + // Attempt to parse argument as log_rosout_disabled + ret = _rcl_parse_bool_arg( + argv[i], RCL_LOG_DISABLE_ROSOUT_ARG_RULE, &args_impl->log_rosout_disabled); + if (RCL_RET_OK == ret) { + continue; + } + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, + "Couldn't parse arg %d (%s) as log_rosout_disabled rule. Error: %s", i, argv[i], + rcl_get_error_string().str); + rcl_reset_error(); + + // Attempt to parse argument as log_ext_lib_disabled + ret = _rcl_parse_bool_arg( + argv[i], RCL_LOG_DISABLE_EXT_LIB_ARG_RULE, &args_impl->log_ext_lib_disabled); + if (RCL_RET_OK == ret) { + continue; + } + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, + "Couldn't parse arg %d (%s) as log_ext_lib_disabled rule. Error: %s", i, argv[i], + rcl_get_error_string().str); + rcl_reset_error(); + + // Argument wasn't parsed by any rule args_impl->unparsed_args[args_impl->num_unparsed_args] = i; ++(args_impl->num_unparsed_args); @@ -1053,7 +1154,7 @@ _rcl_parse_param_file_rule( size_t outlen = strlen(arg) - param_prefix_len; *param_file = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state); if (NULL == *param_file) { - RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to allocate memory for parameters file path\n"); + RCL_SET_ERROR_MSG("Failed to allocate memory for parameters file path"); return RCL_RET_BAD_ALLOC; } snprintf(*param_file, outlen + 1, "%s", arg + param_prefix_len); @@ -1063,6 +1164,77 @@ _rcl_parse_param_file_rule( return RCL_RET_INVALID_PARAM_RULE; } +rcl_ret_t +_rcl_parse_external_log_config_file( + const char * arg, + rcl_allocator_t allocator, + char ** log_config_file) +{ + RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT); + RCL_CHECK_ARGUMENT_FOR_NULL(log_config_file, RCL_RET_INVALID_ARGUMENT); + + const size_t param_prefix_len = sizeof(RCL_EXTERNAL_LOG_CONFIG_ARG_RULE) - 1; + if (strncmp(RCL_EXTERNAL_LOG_CONFIG_ARG_RULE, arg, param_prefix_len) == 0) { + size_t outlen = strlen(arg) - param_prefix_len; + *log_config_file = rcutils_format_string_limit(allocator, outlen, "%s", arg + param_prefix_len); + if (NULL == *log_config_file) { + RCL_SET_ERROR_MSG("Failed to allocate memory for external log config file"); + return RCL_RET_BAD_ALLOC; + } + return RCL_RET_OK; + } + + RCL_SET_ERROR_MSG("Argument does not start with '" RCL_EXTERNAL_LOG_CONFIG_ARG_RULE "'"); + return RCL_RET_INVALID_PARAM_RULE; +} + +RCL_LOCAL +rcl_ret_t +_rcl_parse_bool_arg( + const char * arg, + const char * key, + bool * value) +{ + RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT); + RCL_CHECK_ARGUMENT_FOR_NULL(key, RCL_RET_INVALID_ARGUMENT); + + const size_t param_prefix_len = strlen(key); + if (strncmp(key, arg, param_prefix_len) == 0) { + return _atob(arg + param_prefix_len, value); + } + + RCL_SET_ERROR_MSG("Argument does not start with key"); + return RCL_RET_INVALID_PARAM_RULE; +} + +RCL_LOCAL +rcl_ret_t +_atob( + const char * str, + bool * val) +{ + RCL_CHECK_ARGUMENT_FOR_NULL(str, RCL_RET_INVALID_ARGUMENT); + RCL_CHECK_ARGUMENT_FOR_NULL(val, RCL_RET_INVALID_ARGUMENT); + const char * true_values[] = {"y", "Y", "yes", "Yes", "t", "T", "true", "True", "1"}; + const char * false_values[] = {"n", "N", "no", "No", "f", "F", "false", "False", "0"}; + + for (size_t idx = 0; idx < sizeof(true_values) / sizeof(char *); idx++) { + if (0 == strncmp(true_values[idx], str, strlen(true_values[idx]))) { + *val = true; + return RCL_RET_OK; + } + } + + for (size_t idx = 0; idx < sizeof(false_values) / sizeof(char *); idx++) { + if (0 == strncmp(false_values[idx], str, strlen(false_values[idx]))) { + *val = false; + return RCL_RET_OK; + } + } + + return RCL_RET_ERROR; +} + #ifdef __cplusplus } #endif diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h index bb0c049..43e2d00 100644 --- a/rcl/src/rcl/arguments_impl.h +++ b/rcl/src/rcl/arguments_impl.h @@ -44,6 +44,14 @@ typedef struct rcl_arguments_impl_t /// Default log level (represented by `RCUTILS_LOG_SEVERITY` enum) or -1 if not specified. int log_level; + /// A file used to configure the external logging library + char * external_log_config_file; + /// A boolean value indicating if the standard out handler should be used for log output + bool log_stdout_disabled; + /// A boolean value indicating if the rosout topic handler should be used for log output + bool log_rosout_disabled; + /// A boolean value indicating if the external lib handler should be used for log output + bool log_ext_lib_disabled; /// Allocator used to allocate objects in this struct rcl_allocator_t allocator; diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c index 1902f10..a915121 100644 --- a/rcl/src/rcl/init.c +++ b/rcl/src/rcl/init.c @@ -25,6 +25,7 @@ extern "C" #include "./init_options_impl.h" #include "rcl/arguments.h" #include "rcl/error_handling.h" +#include "rcl/logging.h" #include "rcutils/logging_macros.h" #include "rcutils/stdatomic_helper.h" #include "rmw/error_handling.h" @@ -110,9 +111,12 @@ rcl_init( RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to parse global arguments"); goto fail; } - // Update the default log level if specified in arguments. - if (context->global_arguments.impl->log_level >= 0) { - rcutils_logging_set_default_logger_level(context->global_arguments.impl->log_level); + + ret = rcl_logging_configure(&context->global_arguments, &allocator); + if (RCL_RET_OK != ret) { + fail_ret = ret; + RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to configure logging. %i", fail_ret); + goto fail; } // Set the instance id. diff --git a/rcl/src/rcl/logging.c b/rcl/src/rcl/logging.c new file mode 100644 index 0000000..6358be5 --- /dev/null +++ b/rcl/src/rcl/logging.c @@ -0,0 +1,206 @@ +// Copyright 2018 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. + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include +#include + +#include "./arguments_impl.h" +#include "rcl/allocator.h" +#include "rcl/error_handling.h" +#include "rcl/logging.h" +#include "rcl/logging_external_interface.h" +#include "rcl/macros.h" +#include "rcutils/logging.h" +#include "rcutils/time.h" + +#define RCL_LOGGING_MAX_OUTPUT_FUNCS (4) + +static rcutils_logging_output_handler_t + g_rcl_logging_out_handlers[RCL_LOGGING_MAX_OUTPUT_FUNCS] = {0}; + +static uint8_t g_rcl_logging_num_out_handlers = 0; +static rcl_allocator_t g_logging_allocator; + +/** + * 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. + */ +static +void +rcl_logging_ext_lib_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 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) +{ + RCL_CHECK_ARGUMENT_FOR_NULL(global_args, RCL_RET_INVALID_ARGUMENT); + RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT); + RCUTILS_LOGGING_AUTOINIT + 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; + 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) { + 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 (enable_ext_lib) { + status = rcl_logging_external_initialize(config_file); + 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++] = + rcl_logging_ext_lib_output_handler; + } + } + rcutils_logging_set_output_handler(rcl_logging_multiple_output_handler); + return status; +} + + +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) +{ + for (uint8_t i = 0; + i < g_rcl_logging_num_out_handlers && NULL != g_rcl_logging_out_handlers[i]; ++i) + { + g_rcl_logging_out_handlers[i](location, severity, name, timestamp, format, args); + } +} + +static +void +rcl_logging_ext_lib_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 status; + char msg_buf[1024] = ""; + rcutils_char_array_t msg_array = { + .buffer = msg_buf, + .owns_buffer = false, + .buffer_length = 0u, + .buffer_capacity = sizeof(msg_buf), + .allocator = g_logging_allocator + }; + + char output_buf[1024] = ""; + rcutils_char_array_t output_array = { + .buffer = output_buf, + .owns_buffer = false, + .buffer_length = 0u, + .buffer_capacity = sizeof(output_buf), + .allocator = g_logging_allocator + }; + + va_list args_clone; + va_copy(args_clone, *args); + status = rcutils_char_array_vsprintf(&msg_array, format, args_clone); + va_end(args_clone); + + if (RCL_RET_OK == status) { + status = rcutils_logging_format_message( + location, severity, name, timestamp, msg_array.buffer, &output_array); + if (RCL_RET_OK != status) { + RCUTILS_SAFE_FWRITE_TO_STDERR("failed to format log message: "); + RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str); + rcl_reset_error(); + RCUTILS_SAFE_FWRITE_TO_STDERR("\n"); + } + } else { + RCUTILS_SAFE_FWRITE_TO_STDERR("failed to format user log message: "); + RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str); + rcl_reset_error(); + RCUTILS_SAFE_FWRITE_TO_STDERR("\n"); + } + rcl_logging_external_log(severity, name, output_array.buffer); + status = rcutils_char_array_fini(&msg_array); + if (RCL_RET_OK != status) { + RCUTILS_SAFE_FWRITE_TO_STDERR("failed to finalize char array: "); + RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str); + rcl_reset_error(); + RCUTILS_SAFE_FWRITE_TO_STDERR("\n"); + } + status = rcutils_char_array_fini(&output_array); + if (RCL_RET_OK != status) { + RCUTILS_SAFE_FWRITE_TO_STDERR("failed to finalize char array: "); + RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str); + rcl_reset_error(); + RCUTILS_SAFE_FWRITE_TO_STDERR("\n"); + } +} + +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