From 5cdef527de5f1f2dd0985e15b13064e210dec2a0 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Thu, 27 Jul 2017 07:55:26 -0700 Subject: [PATCH] remove fprintf, use logging macros (#152) * remove fprintf, use logging macros * consistent includes --- .../include/rcl_lifecycle/data_types.h | 3 +- .../include/rcl_lifecycle/rcl_lifecycle.h | 4 +-- .../include/rcl_lifecycle/transition_map.h | 5 +-- rcl_lifecycle/src/com_interface.c | 32 +++++++++---------- rcl_lifecycle/src/com_interface.h | 2 +- rcl_lifecycle/src/default_state_machine.c | 9 +++--- rcl_lifecycle/src/default_state_machine.h | 4 +-- rcl_lifecycle/src/rcl_lifecycle.c | 12 ++++--- rcl_lifecycle/src/states.h | 4 +-- rcl_lifecycle/src/transition_map.c | 3 +- .../test/test_default_state_machine.cpp | 12 ++++--- .../test/test_multiple_instances.cpp | 8 ++--- rcl_lifecycle/test/test_transition_map.cpp | 1 + 13 files changed, 53 insertions(+), 46 deletions(-) diff --git a/rcl_lifecycle/include/rcl_lifecycle/data_types.h b/rcl_lifecycle/include/rcl_lifecycle/data_types.h index 8ae192e..62516ac 100644 --- a/rcl_lifecycle/include/rcl_lifecycle/data_types.h +++ b/rcl_lifecycle/include/rcl_lifecycle/data_types.h @@ -15,7 +15,8 @@ #ifndef RCL_LIFECYCLE__DATA_TYPES_H_ #define RCL_LIFECYCLE__DATA_TYPES_H_ -#include +#include "rcl/rcl.h" + #include "rcl_lifecycle/visibility_control.h" #if __cplusplus diff --git a/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h b/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h index a1134f8..92167a9 100644 --- a/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h +++ b/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h @@ -22,8 +22,8 @@ extern "C" #include -#include -#include +#include "rcl_lifecycle/data_types.h" +#include "rcl_lifecycle/visibility_control.h" RCL_LIFECYCLE_PUBLIC rcl_lifecycle_state_machine_t diff --git a/rcl_lifecycle/include/rcl_lifecycle/transition_map.h b/rcl_lifecycle/include/rcl_lifecycle/transition_map.h index 47543f8..17203cd 100644 --- a/rcl_lifecycle/include/rcl_lifecycle/transition_map.h +++ b/rcl_lifecycle/include/rcl_lifecycle/transition_map.h @@ -16,8 +16,9 @@ #ifndef RCL_LIFECYCLE__TRANSITION_MAP_H_ #define RCL_LIFECYCLE__TRANSITION_MAP_H_ -#include -#include +#include "rcl/macros.h" + +#include "rcl_lifecycle/data_types.h" #if __cplusplus extern "C" diff --git a/rcl_lifecycle/src/com_interface.c b/rcl_lifecycle/src/com_interface.c index 7053019..dc75d00 100644 --- a/rcl_lifecycle/src/com_interface.c +++ b/rcl_lifecycle/src/com_interface.c @@ -22,17 +22,20 @@ extern "C" #include #include -#include -#include -#include -#include -#include +#include "lifecycle_msgs/msg/transition_event.h" -#include +#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) { diff --git a/rcl_lifecycle/src/com_interface.h b/rcl_lifecycle/src/com_interface.h index f8287c5..944ab83 100644 --- a/rcl_lifecycle/src/com_interface.h +++ b/rcl_lifecycle/src/com_interface.h @@ -20,7 +20,7 @@ extern "C" { #endif -#include +#include "rcl/macros.h" #include "rcl_lifecycle/data_types.h" diff --git a/rcl_lifecycle/src/default_state_machine.c b/rcl_lifecycle/src/default_state_machine.c index 568468f..95421f3 100644 --- a/rcl_lifecycle/src/default_state_machine.c +++ b/rcl_lifecycle/src/default_state_machine.c @@ -16,12 +16,13 @@ #include #include -#include -#include +#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 diff --git a/rcl_lifecycle/src/default_state_machine.h b/rcl_lifecycle/src/default_state_machine.h index a401afb..0bcfa77 100644 --- a/rcl_lifecycle/src/default_state_machine.h +++ b/rcl_lifecycle/src/default_state_machine.h @@ -15,8 +15,8 @@ #ifndef DEFAULT_STATE_MACHINE_H_ #define DEFAULT_STATE_MACHINE_H_ -#include -#include +#include "rcl/macros.h" +#include "rcl/types.h" #include "rcl_lifecycle/data_types.h" #include "rcl_lifecycle/visibility_control.h" diff --git a/rcl_lifecycle/src/rcl_lifecycle.c b/rcl_lifecycle/src/rcl_lifecycle.c index 9a9c98a..97545e6 100644 --- a/rcl_lifecycle/src/rcl_lifecycle.c +++ b/rcl_lifecycle/src/rcl_lifecycle.c @@ -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 ¤t_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) { diff --git a/rcl_lifecycle/src/states.h b/rcl_lifecycle/src/states.h index ac82863..c0b6250 100644 --- a/rcl_lifecycle/src/states.h +++ b/rcl_lifecycle/src/states.h @@ -15,8 +15,8 @@ #ifndef STATES_H_ #define STATES_H_ -#include -#include +#include "rcl_lifecycle/data_types.h" +#include "rcl_lifecycle/visibility_control.h" #if __cplusplus extern "C" diff --git a/rcl_lifecycle/src/transition_map.c b/rcl_lifecycle/src/transition_map.c index 7c2a5ba..2a05e02 100644 --- a/rcl_lifecycle/src/transition_map.c +++ b/rcl_lifecycle/src/transition_map.c @@ -21,10 +21,11 @@ extern "C" #include #include -#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() { diff --git a/rcl_lifecycle/test/test_default_state_machine.cpp b/rcl_lifecycle/test/test_default_state_machine.cpp index d5b1356..e00a732 100644 --- a/rcl_lifecycle/test/test_default_state_machine.cpp +++ b/rcl_lifecycle/test/test_default_state_machine.cpp @@ -17,16 +17,18 @@ // as depicted in design.ros2.org #include - -#include -#include - #include +#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(); diff --git a/rcl_lifecycle/test/test_multiple_instances.cpp b/rcl_lifecycle/test/test_multiple_instances.cpp index da55aa5..f5cfdca 100644 --- a/rcl_lifecycle/test/test_multiple_instances.cpp +++ b/rcl_lifecycle/test/test_multiple_instances.cpp @@ -17,16 +17,16 @@ // as depicted in design.ros2.org #include - -#include -#include - #include +#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 diff --git a/rcl_lifecycle/test/test_transition_map.cpp b/rcl_lifecycle/test/test_transition_map.cpp index e4363e2..bb7efe5 100644 --- a/rcl_lifecycle/test/test_transition_map.cpp +++ b/rcl_lifecycle/test/test_transition_map.cpp @@ -19,6 +19,7 @@ #include #include "rcl/error_handling.h" + #include "rcl_lifecycle/transition_map.h" class TestTransitionMap : public ::testing::Test