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remove fprintf, use logging macros (#152)

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* remove fprintf, use logging macros

* consistent includes
This commit is contained in:
Karsten Knese 2017-07-27 07:55:26 -07:00 • committed by GitHub
parent 2d961fb501
commit 5cdef527de
13 changed files with 53 additions and 46 deletions
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3
rcl_lifecycle/include/rcl_lifecycle/data_types.h
View file

@ -15,7 +15,8 @@
#ifndef RCL_LIFECYCLE__DATA_TYPES_H_
#define RCL_LIFECYCLE__DATA_TYPES_H_
#include <rcl/rcl.h>
#include "rcl/rcl.h"
#include "rcl_lifecycle/visibility_control.h"
#if __cplusplus

4
rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
View file

@ -22,8 +22,8 @@ extern "C"
#include <stdbool.h>
#include <rcl_lifecycle/visibility_control.h>
#include <rcl_lifecycle/data_types.h>
#include "rcl_lifecycle/data_types.h"
#include "rcl_lifecycle/visibility_control.h"
RCL_LIFECYCLE_PUBLIC
rcl_lifecycle_state_machine_t

5
rcl_lifecycle/include/rcl_lifecycle/transition_map.h
View file

@ -16,8 +16,9 @@
#ifndef RCL_LIFECYCLE__TRANSITION_MAP_H_
#define RCL_LIFECYCLE__TRANSITION_MAP_H_
#include <rcl/macros.h>
#include <rcl_lifecycle/data_types.h>
#include "rcl/macros.h"
#include "rcl_lifecycle/data_types.h"
#if __cplusplus
extern "C"

32
rcl_lifecycle/src/com_interface.c
View file

@ -22,17 +22,20 @@ extern "C"
#include <stdio.h>
#include <string.h>
#include <rcl/error_handling.h>
#include <rcutils/format_string.h>
#include <rmw/validate_full_topic_name.h>
#include <rosidl_generator_c/message_type_support_struct.h>
#include <rosidl_generator_c/string_functions.h>
#include "lifecycle_msgs/msg/transition_event.h"
#include <lifecycle_msgs/msg/transition_event.h>
#include "rcl/error_handling.h"
#include "rcutils/format_string.h"
#include "rcutils/logging_macros.h"
#include "rmw/validate_full_topic_name.h"
#include "rosidl_generator_c/message_type_support_struct.h"
#include "rosidl_generator_c/string_functions.h"
#include "rcl_lifecycle/data_types.h"
static lifecycle_msgs__msg__TransitionEvent msg;
static const char * pub_transition_event_suffix = "transition_event";
static const char * srv_change_state_suffix = "change_state";
@ -224,24 +227,19 @@ rcl_lifecycle_com_interface_init(
fail:
if (RCL_RET_OK != rcl_publisher_fini(&com_interface->pub_transition_event, node_handle)) {
fprintf(stderr, "%s:%u, Failed to destroy transition_event publisher\n",
__FILE__, __LINE__);
RCUTILS_LOG_ERROR("Failed to destroy transition_event publisher")
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_change_state, node_handle)) {
fprintf(stderr, "%s:%u, Failed to destroy change_state service\n",
__FILE__, __LINE__);
RCUTILS_LOG_ERROR("Failed to destroy change_state service")
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_state, node_handle)) {
fprintf(stderr, "%s:%u, Failed to destroy get_state service\n",
__FILE__, __LINE__);
RCUTILS_LOG_ERROR("Failed to destroy get_state service")
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_states, node_handle)) {
fprintf(stderr, "%s:%u, Failed to destroy get_available_states service\n",
__FILE__, __LINE__);
RCUTILS_LOG_ERROR("Failed to destroy get_available_states service")
}
if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_transitions, node_handle)) {
fprintf(stderr, "%s:%u, Failed to destroy get_available_transitions service\n",
__FILE__, __LINE__);
RCUTILS_LOG_ERROR("Failed to destroy get_available_transitions service")
}
if (topic_name) {

2
rcl_lifecycle/src/com_interface.h
View file

@ -20,7 +20,7 @@ extern "C"
{
#endif
#include <rcl/macros.h>
#include "rcl/macros.h"
#include "rcl_lifecycle/data_types.h"

9
rcl_lifecycle/src/default_state_machine.c
View file

@ -16,12 +16,13 @@
#include <stdio.h>
#include <string.h>
#include <lifecycle_msgs/msg/state.h>
#include <lifecycle_msgs/msg/transition.h>
#include "lifecycle_msgs/msg/state.h"
#include "lifecycle_msgs/msg/transition.h"
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcl_lifecycle/transition_map.h"
#include "rcl/rcl.h"
#include "rcl/error_handling.h"
#include "default_state_machine.h" // NOLINT
#include "states.h" // NOLINT

4
rcl_lifecycle/src/default_state_machine.h
View file

@ -15,8 +15,8 @@
#ifndef DEFAULT_STATE_MACHINE_H_
#define DEFAULT_STATE_MACHINE_H_
#include <rcl/macros.h>
#include <rcl/types.h>
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl_lifecycle/data_types.h"
#include "rcl_lifecycle/visibility_control.h"

12
rcl_lifecycle/src/rcl_lifecycle.c
View file

@ -24,6 +24,8 @@ extern "C"
#include "rcl/rcl.h"
#include "rcl/error_handling.h"
#include "rcutils/logging_macros.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_lifecycle/transition_map.h"
@ -148,8 +150,8 @@ rcl_lifecycle_is_valid_transition(
return &current_state->valid_transitions[i];
}
}
fprintf(stderr, "%s:%u, No callback transition matching %d found for current state %s\n",
__FILE__, __LINE__, key, state_machine->current_state->label);
RCUTILS_LOG_WARN("No callback transition matching %d found for current state %s",
key, state_machine->current_state->label)
return NULL;
}
@ -163,14 +165,14 @@ rcl_lifecycle_trigger_transition(
// If we have a faulty transition pointer
if (!transition) {
fprintf(stderr, "No transition found for node %s with key %d\n",
state_machine->current_state->label, key);
RCUTILS_LOG_ERROR("No transition found for node %s with key %d",
state_machine->current_state->label, key)
RCL_SET_ERROR_MSG("Transition is not registered.", rcl_get_default_allocator());
return RCL_RET_ERROR;
}
if (!transition->goal) {
fprintf(stderr, "No valid goal is set\n");
RCUTILS_LOG_ERROR("No valid goal is set")
}
state_machine->current_state = transition->goal;
if (publish_notification) {

4
rcl_lifecycle/src/states.h
View file

@ -15,8 +15,8 @@
#ifndef STATES_H_
#define STATES_H_
#include <rcl_lifecycle/visibility_control.h>
#include <rcl_lifecycle/data_types.h>
#include "rcl_lifecycle/data_types.h"
#include "rcl_lifecycle/visibility_control.h"
#if __cplusplus
extern "C"

3
rcl_lifecycle/src/transition_map.c
View file

@ -21,10 +21,11 @@ extern "C"
#include <stdlib.h>
#include <string.h>
#include "rcl_lifecycle/transition_map.h"
#include "rcl/error_handling.h"
#include "rcutils/format_string.h"
#include "rcl_lifecycle/transition_map.h"
rcl_lifecycle_transition_map_t
rcl_lifecycle_get_zero_initialized_transition_map()
{

12
rcl_lifecycle/test/test_default_state_machine.cpp
View file

@ -17,16 +17,18 @@
// as depicted in design.ros2.org
#include <gtest/gtest.h>
#include <lifecycle_msgs/msg/state.h>
#include <lifecycle_msgs/msg/transition.h>
#include <vector>
#include "lifecycle_msgs/msg/state.h"
#include "lifecycle_msgs/msg/transition.h"
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcutils/logging_macros.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "../src/default_state_machine.h"
class TestDefaultStateMachine : public ::testing::Test
@ -226,7 +228,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
*it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN) {continue;}
fprintf(stderr, "applying key %u\n", *it);
RCUTILS_LOG_INFO("applying key %u", *it)
EXPECT_EQ(
RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();

8
rcl_lifecycle/test/test_multiple_instances.cpp
View file

@ -17,16 +17,16 @@
// as depicted in design.ros2.org
#include <gtest/gtest.h>
#include <lifecycle_msgs/msg/state.h>
#include <lifecycle_msgs/msg/transition.h>
#include <vector>
#include "lifecycle_msgs/msg/state.h"
#include "lifecycle_msgs/msg/transition.h"
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "../src/default_state_machine.h"
class TestMultipleInstances : public ::testing::Test

1
rcl_lifecycle/test/test_transition_map.cpp
View file

@ -19,6 +19,7 @@
#include <gtest/gtest.h>
#include "rcl/error_handling.h"
#include "rcl_lifecycle/transition_map.h"
class TestTransitionMap : public ::testing::Test