use macros

rcl/include/rcl/expand_topic_name.h

@@ -64,7 +64,7 @@ extern "C"
  * if (ret != RCL_RET_OK) {
  *   // ... error handling
  * } else {
- *   printf("Expanded topic name: %s\n", expanded_topic_name);
+ *   RCUTILS_LOG_INFO("Expanded topic name: %s", expanded_topic_name)
  *   // ... when done the output topic name needs to be deallocated:
  *   allocator.deallocate(expanded_topic_name, allocator.state);
  * }

rcl/src/rcl/client.c

@@ -23,6 +23,7 @@ extern "C"
 #include <string.h>
 
 #include "rcl/expand_topic_name.h"
+#include "rcutils/logging_macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 #include "rmw/validate_full_topic_name.h"
@@ -91,11 +92,11 @@ rcl_client_init(
   if (ret != RCL_RET_OK) {
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
-      fprintf(stderr,
+      RCUTILS_LOG_ERROR_NAMED(
-        "[" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
+        "rcl",
         "failed to fini string_map (%d) during error handling: %s\n",
         rcutils_ret,
-        rcutils_get_error_string_safe());
+        rcutils_get_error_string_safe())
     }
     if (ret == RCL_RET_BAD_ALLOC) {
       return ret;

rcl/src/rcl/node.c

@@ -27,6 +27,7 @@ extern "C"
 #include "rcl/rcl.h"
 #include "rcutils/filesystem.h"
 #include "rcutils/get_env.h"
+#include "rcutils/logging_macros.h"
 #include "rcutils/macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/node_security_options.h"
@@ -295,17 +296,19 @@ fail:
     if (node->impl->rmw_node_handle) {
       ret = rmw_destroy_node(node->impl->rmw_node_handle);
       if (ret != RMW_RET_OK) {
-        fprintf(stderr,
+        RCUTILS_LOG_ERROR_NAMED(
-          "failed to fini rmw node in error recovery: %s\n", rmw_get_error_string_safe()
+          "rcl",
-        );
+          "failed to fini rmw node in error recovery: %s", rmw_get_error_string_safe()
+        )
       }
     }
     if (node->impl->graph_guard_condition) {
       ret = rcl_guard_condition_fini(node->impl->graph_guard_condition);
       if (ret != RCL_RET_OK) {
-        fprintf(stderr,
+        RCUTILS_LOG_ERROR_NAMED(
-          "failed to fini guard condition in error recovery: %s\n", rcl_get_error_string_safe()
+          "rcl",
-        );
+          "failed to fini guard condition in error recovery: %s", rcl_get_error_string_safe()
+        )
       }
       allocator->deallocate(node->impl->graph_guard_condition, allocator->state);
     }

rcl/src/rcl/publisher.c

@@ -24,6 +24,7 @@ extern "C"
 
 #include "./common.h"
 #include "rcl/expand_topic_name.h"
+#include "rcutils/logging_macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 #include "rmw/validate_full_topic_name.h"
@@ -89,11 +90,11 @@ rcl_publisher_init(
   if (ret != RCL_RET_OK) {
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
-      fprintf(stderr,
+      RCUTILS_LOG_ERROR_NAMED(
-        "[" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
+        "rcl",
-        "failed to fini string_map (%d) during error handling: %s\n",
+        "failed to fini string_map (%d) during error handling: %s",
         rcutils_ret,
-        rcutils_get_error_string_safe());
+        rcutils_get_error_string_safe())
     }
     if (ret == RCL_RET_BAD_ALLOC) {
       return ret;

rcl/src/rcl/rmw_implementation_identifier_check.c

@@ -21,6 +21,7 @@ extern "C"
 #include <stdlib.h>
 #include <string.h>
 
+#include <rcutils/logging_macros.h>
 #include <rmw/rmw.h>
 
 #include "rcl/types.h"
@@ -54,20 +55,22 @@ INITIALIZER(initialize) {
   const char * expected = NULL;
   rcl_ret_t ret = rcl_impl_getenv("RCL_ASSERT_RMW_ID_MATCHES", &expected);
   if (ret != RCL_RET_OK) {
-    fprintf(stderr,
+    RCUTILS_LOG_ERROR_NAMED(
-      "Error getting environement variable 'RCL_ASSERT_RMW_ID_MATCHES': %s\n",
+      "rcl",
+      "Error getting environement variable 'RCL_ASSERT_RMW_ID_MATCHES': %s",
       rcl_get_error_string_safe()
-    );
+    )
     exit(ret);
   }
   // If the environment variable is set, and it does not match, print a warning and exit.
   if (strlen(expected) > 0 && strcmp(rmw_get_implementation_identifier(), expected) != 0) {
-    fprintf(stderr,
+    RCUTILS_LOG_ERROR_NAMED(
-      "Expected RMW implementation identifier of '%s' but instead found '%s', exiting with %d.\n",
+      "rcl",
+      "Expected RMW implementation identifier of '%s' but instead found '%s', exiting with %d.",
       expected,
       rmw_get_implementation_identifier(),
       RCL_RET_MISMATCHED_RMW_ID
-    );
+    )
     exit(RCL_RET_MISMATCHED_RMW_ID);
   }
 }

rcl/src/rcl/service.c

@@ -24,6 +24,7 @@ extern "C"
 
 #include "./common.h"
 #include "rcl/expand_topic_name.h"
+#include "rcutils/logging_macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 #include "rmw/validate_full_topic_name.h"
@@ -88,11 +89,11 @@ rcl_service_init(
   if (ret != RCL_RET_OK) {
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
-      fprintf(stderr,
+      RCUTILS_LOG_ERROR_NAMED(
-        "[" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
+        "rcl",
-        "failed to fini string_map (%d) during error handling: %s\n",
+        "failed to fini string_map (%d) during error handling: %s",
         rcutils_ret,
-        rcutils_get_error_string_safe());
+        rcutils_get_error_string_safe())
     }
     if (ret == RCL_RET_BAD_ALLOC) {
       return ret;
@@ -140,8 +141,10 @@ rcl_service_init(
     service->impl, "allocating memory failed", return RCL_RET_BAD_ALLOC, *allocator);
 
   if (RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL == options->qos.durability) {
-    fprintf(stderr, "Warning: Setting QoS durability to 'transient local' for service servers "
+    RCUTILS_LOG_WARN_NAMED(
-      "can cause them to receive requests from clients that have since terminated.\n");
+      "rcl",
+      "Warning: Setting QoS durability to 'transient local' for service servers "
+      "can cause them to receive requests from clients that have since terminated.")
   }
   // Fill out implementation struct.
   // rmw handle (create rmw service)

rcl/src/rcl/stdatomic_helper/win32/stdatomic.h

@@ -69,6 +69,8 @@
 #include <stdint.h>
 #include <stdio.h>
 
+#include <rcutils/logging_macros.h>
+
 // In MSVC, correct alignment of each type is already ensured.
 #define _Atomic(T) struct { T __val; }
 
@@ -206,7 +208,8 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         out = _InterlockedCompareExchange8((char *) object, desired, *expected); \
         break; \
       default: \
-        fprintf(stderr, "Unsupported integer type in atomic_compare_exchange_strong"); \
+        RCUTILS_LOG_ERROR_NAMED( \
+          "rcl", "Unsupported integer type in atomic_compare_exchange_strong") \
         exit(-1); \
         break; \
     } \
@@ -234,7 +237,8 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         out = _InterlockedExchange8((char *) object, desired); \
         break; \
       default: \
-        fprintf(stderr, "Unsupported integer type in atomic_exchange_strong"); \
+        RCUTILS_LOG_ERROR_NAMED( \
+          "rcl", "Unsupported integer type in atomic_exchange_strong") \
         exit(-1); \
         break; \
     } \
@@ -259,7 +263,8 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         out = _InterlockedExchangeAdd8((char *) object, operand); \
         break; \
       default: \
-        fprintf(stderr, "Unsupported integer type in atomic_fetch_add"); \
+        RCUTILS_LOG_ERROR_NAMED( \
+          "rcl", "Unsupported integer type in atomic_fetch_add") \
         exit(-1); \
         break; \
     } \
@@ -284,7 +289,8 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         out = _InterlockedAnd8((char *) object, operand); \
         break; \
       default: \
-        fprintf(stderr, "Unsupported integer type in atomic_fetch_and"); \
+        RCUTILS_LOG_ERROR_NAMED( \
+          "rcl", "Unsupported integer type in atomic_fetch_and") \
         exit(-1); \
         break; \
     } \
@@ -309,7 +315,8 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         out = _InterlockedOr8((char *) object, operand); \
         break; \
       default: \
-        fprintf(stderr, "Unsupported integer type in atomic_fetch_or"); \
+        RCUTILS_LOG_ERROR_NAMED( \
+          "rcl", "Unsupported integer type in atomic_fetch_or") \
         exit(-1); \
         break; \
     } \
@@ -337,7 +344,8 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         out = _InterlockedXor8((char *) object, operand); \
         break; \
       default: \
-        fprintf(stderr, "Unsupported integer type in atomic_fetch_xor"); \
+        RCUTILS_LOG_ERROR_NAMED( \
+          "rcl", "Unsupported integer type in atomic_fetch_xor") \
         exit(-1); \
         break; \
     } \
@@ -362,7 +370,8 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         out = _InterlockedExchangeAdd8((char *) object, 0); \
         break; \
       default: \
-        fprintf(stderr, "Unsupported integer type in atomic_load"); \
+        RCUTILS_LOG_ERROR_NAMED( \
+          "rcl", "Unsupported integer type in atomic_load") \
         exit(-1); \
         break; \
     } \

rcl/src/rcl/subscription.c

@@ -23,6 +23,7 @@ extern "C"
 
 #include "./common.h"
 #include "rcl/expand_topic_name.h"
+#include "rcutils/logging_macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 #include "rmw/validate_full_topic_name.h"
@@ -83,11 +84,11 @@ rcl_subscription_init(
   if (ret != RCL_RET_OK) {
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
-      fprintf(stderr,
+      RCUTILS_LOG_ERROR_NAMED(
-        "[" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
+        "rcl",
-        "failed to fini string_map (%d) during error handling: %s\n",
+        "failed to fini string_map (%d) during error handling: %s",
         rcutils_ret,
-        rcutils_get_error_string_safe());
+        rcutils_get_error_string_safe())
     }
     if (ret == RCL_RET_BAD_ALLOC) {
       return ret;

rcl/test/rcl/client_fixture.cpp

@@ -16,6 +16,8 @@
 #include <string>
 #include <thread>
 
+#include "rcutils/logging_macros.h"
+
 #include "rcl/client.h"
 #include "rcl/rcl.h"
 
@@ -39,9 +41,9 @@ wait_for_server_to_be_available(
     bool is_ready;
     rcl_ret_t ret = rcl_service_server_is_available(node, client, &is_ready);
     if (ret != RCL_RET_OK) {
-      fprintf(
+      RCUTILS_LOG_ERROR(
-        stderr, "Error in rcl_service_server_is_available: %s\n",
+        "Error in rcl_service_server_is_available: %s",
-        rcl_get_error_string_safe());
+        rcl_get_error_string_safe())
       return false;
     }
     if (is_ready) {
@@ -61,12 +63,12 @@ wait_for_client_to_be_ready(
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 1, 0, rcl_get_default_allocator());
   if (ret != RCL_RET_OK) {
-    fprintf(stderr, "Error in wait set init: %s\n", rcl_get_error_string_safe());
+    RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
   auto wait_set_exit = make_scope_exit([&wait_set]() {
     if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
-      fprintf(stderr, "Error in wait set fini: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
       throw std::runtime_error("error while waiting for client");
     }
   });
@@ -74,11 +76,11 @@ wait_for_client_to_be_ready(
   do {
     ++iteration;
     if (rcl_wait_set_clear_clients(&wait_set) != RCL_RET_OK) {
-      fprintf(stderr, "Error in wait_set_clear_clients: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in wait_set_clear_clients: %s", rcl_get_error_string_safe())
       return false;
     }
     if (rcl_wait_set_add_client(&wait_set, client) != RCL_RET_OK) {
-      fprintf(stderr, "Error in wait_set_add_client: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in wait_set_add_client: %s", rcl_get_error_string_safe())
       return false;
     }
     ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
@@ -86,7 +88,7 @@ wait_for_client_to_be_ready(
       continue;
     }
     if (ret != RCL_RET_OK) {
-      fprintf(stderr, "Error in wait: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in wait: %s", rcl_get_error_string_safe())
       return false;
     }
     for (size_t i = 0; i < wait_set.size_of_clients; ++i) {
@@ -103,19 +105,19 @@ int main(int argc, char ** argv)
   int main_ret = 0;
   {
     if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
-      fprintf(stderr, "Error in rcl init: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in rcl init: %s", rcl_get_error_string_safe())
       return -1;
     }
     rcl_node_t node = rcl_get_zero_initialized_node();
     const char * name = "client_fixture_node";
     rcl_node_options_t node_options = rcl_node_get_default_options();
     if (rcl_node_init(&node, name, "", &node_options) != RCL_RET_OK) {
-      fprintf(stderr, "Error in node init: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
     auto node_exit = make_scope_exit([&main_ret, &node]() {
       if (rcl_node_fini(&node) != RCL_RET_OK) {
-        fprintf(stderr, "Error in node fini: %s\n", rcl_get_error_string_safe());
+        RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
         main_ret = -1;
       }
     });
@@ -128,20 +130,20 @@ int main(int argc, char ** argv)
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, topic, &client_options);
     if (ret != RCL_RET_OK) {
-      fprintf(stderr, "Error in client init: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in client init: %s", rcl_get_error_string_safe())
       return -1;
     }
 
     auto client_exit = make_scope_exit([&client, &main_ret, &node]() {
       if (rcl_client_fini(&client, &node)) {
-        fprintf(stderr, "Error in client fini: %s\n", rcl_get_error_string_safe());
+        RCUTILS_LOG_ERROR("Error in client fini: %s", rcl_get_error_string_safe())
         main_ret = -1;
       }
     });
 
     // Wait until server is available
     if (!wait_for_server_to_be_available(&node, &client, 1000, 100)) {
-      fprintf(stderr, "Server never became available\n");
+      RCUTILS_LOG_ERROR("Server never became available")
       return -1;
     }
 
@@ -153,12 +155,12 @@ int main(int argc, char ** argv)
     int64_t sequence_number;
 
     if (rcl_send_request(&client, &client_request, &sequence_number)) {
-      fprintf(stderr, "Error in send request: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in send request: %s", rcl_get_error_string_safe())
       return -1;
     }
 
     if (sequence_number != 1) {
-      fprintf(stderr, "Got invalid sequence number\n");
+      RCUTILS_LOG_ERROR("Got invalid sequence number")
       return -1;
     }
 
@@ -169,12 +171,12 @@ int main(int argc, char ** argv)
     example_interfaces__srv__AddTwoInts_Response__init(&client_response);
 
     if (!wait_for_client_to_be_ready(&client, 1000, 100)) {
-      fprintf(stderr, "Client never became ready\n");
+      RCUTILS_LOG_ERROR("Client never became ready")
       return -1;
     }
     rmw_request_id_t header;
     if (rcl_take_response(&client, &header, &client_response) != RCL_RET_OK) {
-      fprintf(stderr, "Error in send response: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in send response: %s", rcl_get_error_string_safe())
       return -1;
     }
 

rcl/test/rcl/service_fixture.cpp

@@ -16,6 +16,8 @@
 #include <string>
 #include <thread>
 
+#include "rcutils/logging_macros.h"
+
 #include "rcl/service.h"
 
 #include "rcl/rcl.h"
@@ -35,12 +37,12 @@ wait_for_service_to_be_ready(
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator());
   if (ret != RCL_RET_OK) {
-    fprintf(stderr, "Error in wait set init: %s\n", rcl_get_error_string_safe());
+    RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
   auto wait_set_exit = make_scope_exit([&wait_set]() {
     if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
-      fprintf(stderr, "Error in wait set fini: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
       throw std::runtime_error("error waiting for service to be ready");
     }
   });
@@ -48,11 +50,11 @@ wait_for_service_to_be_ready(
   do {
     ++iteration;
     if (rcl_wait_set_clear_services(&wait_set) != RCL_RET_OK) {
-      fprintf(stderr, "Error in wait_set_clear_services: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in wait_set_clear_services: %s", rcl_get_error_string_safe())
       return false;
     }
     if (rcl_wait_set_add_service(&wait_set, service) != RCL_RET_OK) {
-      fprintf(stderr, "Error in wait_set_add_service: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in wait_set_add_service: %s", rcl_get_error_string_safe())
       return false;
     }
     ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
@@ -60,7 +62,7 @@ wait_for_service_to_be_ready(
       continue;
     }
     if (ret != RCL_RET_OK) {
-      fprintf(stderr, "Error in wait: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in wait: %s", rcl_get_error_string_safe())
       return false;
     }
     for (size_t i = 0; i < wait_set.size_of_services; ++i) {
@@ -77,19 +79,19 @@ int main(int argc, char ** argv)
   int main_ret = 0;
   {
     if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
-      fprintf(stderr, "Error in rcl init: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in rcl init: %s", rcl_get_error_string_safe())
       return -1;
     }
     rcl_node_t node = rcl_get_zero_initialized_node();
     const char * name = "service_fixture_node";
     rcl_node_options_t node_options = rcl_node_get_default_options();
     if (rcl_node_init(&node, name, "", &node_options) != RCL_RET_OK) {
-      fprintf(stderr, "Error in node init: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
     auto node_exit = make_scope_exit([&main_ret, &node]() {
       if (rcl_node_fini(&node) != RCL_RET_OK) {
-        fprintf(stderr, "Error in node fini: %s\n", rcl_get_error_string_safe());
+        RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
         main_ret = -1;
       }
     });
@@ -102,13 +104,13 @@ int main(int argc, char ** argv)
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, topic, &service_options);
     if (ret != RCL_RET_OK) {
-      fprintf(stderr, "Error in service init: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in service init: %s", rcl_get_error_string_safe())
       return -1;
     }
 
     auto service_exit = make_scope_exit([&main_ret, &service, &node]() {
       if (rcl_service_fini(&service, &node)) {
-        fprintf(stderr, "Error in service fini: %s\n", rcl_get_error_string_safe());
+        RCUTILS_LOG_ERROR("Error in service fini: %s", rcl_get_error_string_safe())
         main_ret = -1;
       }
     });
@@ -123,7 +125,7 @@ int main(int argc, char ** argv)
     // Block until a client request comes in.
 
     if (!wait_for_service_to_be_ready(&service, 1000, 100)) {
-      fprintf(stderr, "Service never became ready\n");
+      RCUTILS_LOG_ERROR("Service never became ready")
       return -1;
     }
 
@@ -136,14 +138,14 @@ int main(int argc, char ** argv)
     rmw_request_id_t header;
     // TODO(jacquelinekay) May have to check for timeout error codes
     if (rcl_take_request(&service, &header, &service_request) != RCL_RET_OK) {
-      fprintf(stderr, "Error in take_request: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in take_request: %s", rcl_get_error_string_safe())
       return -1;
     }
 
     // Sum the request and send the response.
     service_response.sum = service_request.a + service_request.b;
     if (rcl_send_response(&service, &header, &service_response) != RCL_RET_OK) {
-      fprintf(stderr, "Error in send_response: %s\n", rcl_get_error_string_safe());
+      RCUTILS_LOG_ERROR("Error in send_response: %s", rcl_get_error_string_safe())
       return -1;
     }
     // Our scope exits should take care of fini for everything

rcl/test/rcl/test_graph.cpp

@@ -30,6 +30,8 @@
 #include "rcl/rcl.h"
 #include "rcl/graph.h"
 
+#include "rcutils/logging_macros.h"
+
 #include "std_msgs/msg/string.h"
 #include "example_interfaces/srv/add_two_ints.h"
 
@@ -242,12 +244,12 @@ check_graph_state(
   bool expected_in_tnat,
   size_t number_of_tries)
 {
-  printf(
+  RCUTILS_LOG_INFO(
-    "Expecting %zu publishers, %zu subscribers, and that the topic is%s in the graph.\n",
+    "Expecting %zu publishers, %zu subscribers, and that the topic is%s in the graph.",
     expected_publisher_count,
     expected_subscriber_count,
     expected_in_tnat ? "" : " not"
-  );
+  )
   size_t publisher_count = 0;
   size_t subscriber_count = 0;
   bool is_in_tnat = false;
@@ -280,19 +282,19 @@ check_graph_state(
       rcl_reset_error();
     }
 
-    printf(
+    RCUTILS_LOG_INFO(
-      " Try %zu: %zu publishers, %zu subscribers, and that the topic is%s in the graph.\n",
+      " Try %zu: %zu publishers, %zu subscribers, and that the topic is%s in the graph.",
       i + 1,
       publisher_count,
       subscriber_count,
       is_in_tnat ? "" : " not"
-    );
+    )
     if (
       expected_publisher_count == publisher_count &&
       expected_subscriber_count == subscriber_count &&
       expected_in_tnat == is_in_tnat)
     {
-      printf("  state correct!\n");
+      RCUTILS_LOG_INFO("  state correct!")
       break;
     }
     // Wait for graph change before trying again.
@@ -305,15 +307,15 @@ check_graph_state(
     ret = rcl_wait_set_add_guard_condition(wait_set_ptr, graph_guard_condition);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
-    printf(
+    RCUTILS_LOG_INFO(
       "  state wrong, waiting up to '%s' nanoseconds for graph changes... ",
-      std::to_string(time_to_sleep.count()).c_str());
+      std::to_string(time_to_sleep.count()).c_str())
     ret = rcl_wait(wait_set_ptr, time_to_sleep.count());
     if (ret == RCL_RET_TIMEOUT) {
-      printf("timeout\n");
+      RCUTILS_LOG_INFO("timeout")
       continue;
     }
-    printf("change occurred\n");
+    RCUTILS_LOG_INFO("change occurred")
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   }
   EXPECT_EQ(expected_publisher_count, publisher_count);
@@ -332,7 +334,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
   std::string topic_name("/test_graph_query_functions__");
   std::chrono::nanoseconds now = std::chrono::system_clock::now().time_since_epoch();
   topic_name += std::to_string(now.count());
-  printf("Using topic name: %s\n", topic_name.c_str());
+  RCUTILS_LOG_INFO("Using topic name: %s", topic_name.c_str())
   rcl_ret_t ret;
   const rcl_guard_condition_t * graph_guard_condition =
     rcl_node_get_graph_guard_condition(this->node_ptr);
@@ -465,9 +467,9 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
     ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
-    printf(
+    RCUTILS_LOG_INFO(
-      "waiting up to '%s' nanoseconds for graph changes\n",
+      "waiting up to '%s' nanoseconds for graph changes",
-      std::to_string(time_to_sleep.count()).c_str());
+      std::to_string(time_to_sleep.count()).c_str())
     ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
     if (ret == RCL_RET_TIMEOUT) {
       continue;
@@ -524,9 +526,9 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
         ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
         ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition);
         ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-        printf(
+        RCUTILS_LOG_INFO(
-          "waiting up to '%s' nanoseconds for graph changes\n",
+          "waiting up to '%s' nanoseconds for graph changes",
-          std::to_string(time_to_sleep.count()).c_str());
+          std::to_string(time_to_sleep.count()).c_str())
         ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
         if (ret == RCL_RET_TIMEOUT) {
           if (!is_connext) {

rcl/test/rcl/test_wait.cpp

@@ -27,6 +27,8 @@
 #include "rcl/error_handling.h"
 #include "rcl/wait.h"
 
+#include "rcutils/logging_macros.h"
+
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
 # define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
@@ -258,7 +260,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
           } else {
             std::stringstream ss;
             ss << "[thread " << test_set.thread_id << "] Timeout (try #" << wake_try_count << ")";
-            printf("%s\n", ss.str().c_str());
+            // TODO(mikaelarguedas) replace this with stream logging once they exist
+            RCUTILS_LOG_INFO("%s", ss.str().c_str())
           }
         }
         if (!change_detected) {

rcl_lifecycle/src/rcl_lifecycle.c

@@ -150,7 +150,9 @@ rcl_lifecycle_is_valid_transition(
       return &current_state->valid_transitions[i];
     }
   }
-  RCUTILS_LOG_WARN("No callback transition matching %d found for current state %s",
+  RCUTILS_LOG_WARN_NAMED(
+    "rcl_lifecycle",
+    "No callback transition matching %d found for current state %s",
     key, state_machine->current_state->label)
   return NULL;
 }
@@ -165,14 +167,17 @@ rcl_lifecycle_trigger_transition(
 
   // If we have a faulty transition pointer
   if (!transition) {
-    RCUTILS_LOG_ERROR("No transition found for node %s with key %d",
+    RCUTILS_LOG_ERROR_NAMED(
+      "rcl_lifecycle",
+      "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) {
-    RCUTILS_LOG_ERROR("No valid goal is set")
+    RCUTILS_LOG_ERROR_NAMED(
+      "rcl_lifecycle", "No valid goal is set")
   }
   state_machine->current_state = transition->goal;
   if (publish_notification) {
@@ -193,13 +198,17 @@ rcl_print_state_machine(const rcl_lifecycle_state_machine_t * state_machine)
 {
   const rcl_lifecycle_transition_map_t * map = &state_machine->transition_map;
   for (size_t i = 0; i < map->states_size; ++i) {
-    printf("Primary State: %s(%u)\n", map->states[i].label, map->states[i].id);
+    RCUTILS_LOG_INFO_NAMED(
-    printf("# of valid transitions: %u\n", map->states[i].valid_transition_size);
+      "rcl_lifecycle",
+      "Primary State: %s(%u)\n# of valid transitions: %u",
+      map->states[i].label, map->states[i].id,
+      map->states[i].valid_transition_size
+    )
     for (size_t j = 0; j < map->states[i].valid_transition_size; ++j) {
-      printf("\tNode %s: Key %d: Transition: %s\n",
+      RCUTILS_LOG_INFO("\tNode %s: Key %d: Transition: %s",
         map->states[i].label,
         map->states[i].valid_transition_keys[j],
-        map->states[i].valid_transitions[j].label);
+        map->states[i].valid_transitions[j].label)
     }
   }
 }