remove fprintf, use logging macros (#152)

* remove fprintf, use logging macros

* consistent includes

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 <rcl/rcl.h>
+#include "rcl/rcl.h"
+
 #include "rcl_lifecycle/visibility_control.h"
 
 #if __cplusplus

rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h

@@ -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

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 <rcl/macros.h>
+#include "rcl/macros.h"
-#include <rcl_lifecycle/data_types.h>
+
+#include "rcl_lifecycle/data_types.h"
 
 #if __cplusplus
 extern "C"

rcl_lifecycle/src/com_interface.c

@@ -22,17 +22,20 @@ extern "C"
 #include <stdio.h>
 #include <string.h>
 
-#include <rcl/error_handling.h>
+#include "lifecycle_msgs/msg/transition_event.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 "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",
+    RCUTILS_LOG_ERROR("Failed to destroy transition_event publisher")
-      __FILE__, __LINE__);
   }
   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",
+    RCUTILS_LOG_ERROR("Failed to destroy change_state service")
-      __FILE__, __LINE__);
   }
   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",
+    RCUTILS_LOG_ERROR("Failed to destroy get_state service")
-      __FILE__, __LINE__);
   }
   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",
+    RCUTILS_LOG_ERROR("Failed to destroy get_available_states service")
-      __FILE__, __LINE__);
   }
   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",
+    RCUTILS_LOG_ERROR("Failed to destroy get_available_transitions service")
-      __FILE__, __LINE__);
   }
 
   if (topic_name) {

rcl_lifecycle/src/com_interface.h

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

rcl_lifecycle/src/default_state_machine.c

@@ -16,12 +16,13 @@
 #include <stdio.h>
 #include <string.h>
 
-#include <lifecycle_msgs/msg/state.h>
+#include "lifecycle_msgs/msg/state.h"
-#include <lifecycle_msgs/msg/transition.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

rcl_lifecycle/src/default_state_machine.h

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

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 &current_state->valid_transitions[i];
     }
   }
-  fprintf(stderr, "%s:%u, No callback transition matching %d found for current state %s\n",
+  RCUTILS_LOG_WARN("No callback transition matching %d found for current state %s",
-    __FILE__, __LINE__, key, state_machine->current_state->label);
+    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",
+    RCUTILS_LOG_ERROR("No transition found for node %s with key %d",
-      state_machine->current_state->label, key);
+      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) {

rcl_lifecycle/src/states.h

@@ -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"

rcl_lifecycle/src/transition_map.c

@@ -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()
 {

rcl_lifecycle/test/test_default_state_machine.cpp

@@ -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();

rcl_lifecycle/test/test_multiple_instances.cpp

@@ -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

rcl_lifecycle/test/test_transition_map.cpp

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