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rclcpp logging still uses fprintf all over the place. (#439)

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* rclcpp logging still uses fprintf all over the place.

Remove all printf log lines and replace with RCLUTILS_LOG_XXX macros.

Issue: #438

* fixup include order
This commit is contained in:
Guillaume Autran 2018-02-23 20:24:37 -05:00 • committed by dhood
parent f88ade7a2a
commit 0e79842b6b
9 changed files with 88 additions and 44 deletions
Download patch file Download diff file Expand all files Collapse all files

6
rclcpp/include/rclcpp/client.hpp
View file

@ -36,6 +36,8 @@
#include "rclcpp/expand_topic_or_service_name.hpp" #include "rclcpp/expand_topic_or_service_name.hpp"
#include "rclcpp/visibility_control.hpp" #include "rclcpp/visibility_control.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/error_handling.h" #include "rmw/error_handling.h"
#include "rmw/rmw.h" #include "rmw/rmw.h"
@ -199,7 +201,9 @@ public:
int64_t sequence_number = request_header->sequence_number; int64_t sequence_number = request_header->sequence_number;
// TODO(esteve) this should throw instead since it is not expected to happen in the first place // TODO(esteve) this should throw instead since it is not expected to happen in the first place
if (this->pending_requests_.count(sequence_number) == 0) { if (this->pending_requests_.count(sequence_number) == 0) {
fprintf(stderr, "Received invalid sequence number. Ignoring...\n"); RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Received invalid sequence number. Ignoring...");
return; return;
} }
auto tuple = this->pending_requests_[sequence_number]; auto tuple = this->pending_requests_[sequence_number];

22
rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
View file

@ -25,6 +25,8 @@
#include "rclcpp/node.hpp" #include "rclcpp/node.hpp"
#include "rclcpp/visibility_control.hpp" #include "rclcpp/visibility_control.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/types.h" #include "rmw/types.h"
namespace rclcpp namespace rclcpp
@ -187,35 +189,45 @@ public:
{ {
for (auto subscription : subscription_handles_) { for (auto subscription : subscription_handles_) {
if (rcl_wait_set_add_subscription(wait_set, subscription) != RCL_RET_OK) { if (rcl_wait_set_add_subscription(wait_set, subscription) != RCL_RET_OK) {
fprintf(stderr, "Couldn't add subscription to wait set: %s\n", rcl_get_error_string_safe()); RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Couldn't add subscription to wait set: %s", rcl_get_error_string_safe());
return false; return false;
} }
} }
for (auto client : client_handles_) { for (auto client : client_handles_) {
if (rcl_wait_set_add_client(wait_set, client) != RCL_RET_OK) { if (rcl_wait_set_add_client(wait_set, client) != RCL_RET_OK) {
fprintf(stderr, "Couldn't add client to wait set: %s\n", rcl_get_error_string_safe()); RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Couldn't add client to wait set: %s", rcl_get_error_string_safe());
return false; return false;
} }
} }
for (auto service : service_handles_) { for (auto service : service_handles_) {
if (rcl_wait_set_add_service(wait_set, service) != RCL_RET_OK) { if (rcl_wait_set_add_service(wait_set, service) != RCL_RET_OK) {
fprintf(stderr, "Couldn't add service to wait set: %s\n", rcl_get_error_string_safe()); RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Couldn't add service to wait set: %s", rcl_get_error_string_safe());
return false; return false;
} }
} }
for (auto timer : timer_handles_) { for (auto timer : timer_handles_) {
if (rcl_wait_set_add_timer(wait_set, timer) != RCL_RET_OK) { if (rcl_wait_set_add_timer(wait_set, timer) != RCL_RET_OK) {
fprintf(stderr, "Couldn't add timer to wait set: %s\n", rcl_get_error_string_safe()); RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Couldn't add timer to wait set: %s", rcl_get_error_string_safe());
return false; return false;
} }
} }
for (auto guard_condition : guard_conditions_) { for (auto guard_condition : guard_conditions_) {
if (rcl_wait_set_add_guard_condition(wait_set, guard_condition) != RCL_RET_OK) { if (rcl_wait_set_add_guard_condition(wait_set, guard_condition) != RCL_RET_OK) {
fprintf(stderr, "Couldn't add guard_condition to wait set: %s\n", RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Couldn't add guard_condition to wait set: %s",
rcl_get_error_string_safe()); rcl_get_error_string_safe());
return false; return false;
} }

46
rclcpp/src/rclcpp/executor.cpp
View file

@ -28,6 +28,8 @@
#include "rcl_interfaces/msg/intra_process_message.hpp" #include "rcl_interfaces/msg/intra_process_message.hpp"
#include "rcutils/logging_macros.h"
using rclcpp::executor::AnyExecutable; using rclcpp::executor::AnyExecutable;
using rclcpp::executor::Executor; using rclcpp::executor::Executor;
using rclcpp::executor::ExecutorArgs; using rclcpp::executor::ExecutorArgs;
@ -59,12 +61,14 @@ Executor::Executor(const ExecutorArgs & args)
if (rcl_wait_set_init( if (rcl_wait_set_init(
&wait_set_, 0, 2, 0, 0, 0, allocator) != RCL_RET_OK) &wait_set_, 0, 2, 0, 0, 0, allocator) != RCL_RET_OK)
{ {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] failed to create wait set: %s\n", rcl_get_error_string_safe()); "rclcpp",
"failed to create wait set: %s", rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) { if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe()); "rclcpp",
"failed to destroy guard condition: %s", rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
throw std::runtime_error("Failed to create wait set in Executor constructor"); throw std::runtime_error("Failed to create wait set in Executor constructor");
@ -85,14 +89,16 @@ Executor::~Executor()
// Finalize the wait set. // Finalize the wait set.
if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) { if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] failed to destroy wait set: %s\n", rcl_get_error_string_safe()); "rclcpp",
"failed to destroy wait set: %s", rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
// Finalize the interrupt guard condition. // Finalize the interrupt guard condition.
if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) { if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe()); "rclcpp",
"failed to destroy guard condition: %s", rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
// Remove and release the sigint guard condition // Remove and release the sigint guard condition
@ -280,8 +286,9 @@ Executor::execute_subscription(
message_info.from_intra_process = false; message_info.from_intra_process = false;
subscription->handle_message(message, message_info); subscription->handle_message(message, message_info);
} else if (ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) { } else if (ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] take failed for subscription on topic '%s': %s\n", "rclcpp",
"take failed for subscription on topic '%s': %s",
subscription->get_topic_name(), rcl_get_error_string_safe()); subscription->get_topic_name(), rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
@ -303,8 +310,9 @@ Executor::execute_intra_process_subscription(
message_info.from_intra_process = true; message_info.from_intra_process = true;
subscription->handle_intra_process_message(ipm, message_info); subscription->handle_intra_process_message(ipm, message_info);
} else if (status != RCL_RET_SUBSCRIPTION_TAKE_FAILED) { } else if (status != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] take failed for intra process subscription on topic '%s': %s\n", "rclcpp",
"take failed for intra process subscription on topic '%s': %s",
subscription->get_topic_name(), rcl_get_error_string_safe()); subscription->get_topic_name(), rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
@ -330,8 +338,9 @@ Executor::execute_service(
if (status == RCL_RET_OK) { if (status == RCL_RET_OK) {
service->handle_request(request_header, request); service->handle_request(request_header, request);
} else if (status != RCL_RET_SERVICE_TAKE_FAILED) { } else if (status != RCL_RET_SERVICE_TAKE_FAILED) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] take request failed for server of service '%s': %s\n", "rclcpp",
"take request failed for server of service '%s': %s",
service->get_service_name().c_str(), rcl_get_error_string_safe()); service->get_service_name().c_str(), rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
@ -350,8 +359,9 @@ Executor::execute_client(
if (status == RCL_RET_OK) { if (status == RCL_RET_OK) {
client->handle_response(request_header, response); client->handle_response(request_header, response);
} else if (status != RCL_RET_CLIENT_TAKE_FAILED) { } else if (status != RCL_RET_CLIENT_TAKE_FAILED) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] take response failed for client of service '%s': %s\n", "rclcpp",
"take response failed for client of service '%s': %s",
client->get_service_name().c_str(), rcl_get_error_string_safe()); client->get_service_name().c_str(), rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
@ -439,7 +449,9 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
rcl_ret_t status = rcl_ret_t status =
rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count()); rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());
if (status == RCL_RET_WAIT_SET_EMPTY) { if (status == RCL_RET_WAIT_SET_EMPTY) {
fprintf(stderr, "Warning: empty wait set received in rcl_wait(). This should never happen.\n"); RCUTILS_LOG_WARN_NAMED(
"rclcpp",
"empty wait set received in rcl_wait(). This should never happen.");
} else if (status != RCL_RET_OK && status != RCL_RET_TIMEOUT) { } else if (status != RCL_RET_OK && status != RCL_RET_TIMEOUT) {
using rclcpp::exceptions::throw_from_rcl_error; using rclcpp::exceptions::throw_from_rcl_error;
throw_from_rcl_error(status, "rcl_wait() failed"); throw_from_rcl_error(status, "rcl_wait() failed");

7
rclcpp/src/rclcpp/expand_topic_or_service_name.cpp
View file

@ -20,6 +20,7 @@
#include "rcl/validate_topic_name.h" #include "rcl/validate_topic_name.h"
#include "rclcpp/exceptions.hpp" #include "rclcpp/exceptions.hpp"
#include "rclcpp/scope_exit.hpp" #include "rclcpp/scope_exit.hpp"
#include "rcutils/logging_macros.h"
#include "rcutils/types/string_map.h" #include "rcutils/types/string_map.h"
#include "rmw/error_handling.h" #include "rmw/error_handling.h"
#include "rmw/validate_namespace.h" #include "rmw/validate_namespace.h"
@ -61,9 +62,9 @@ rclcpp::expand_topic_or_service_name(
// finalize the string map before throwing // finalize the string map before throwing
rcutils_ret = rcutils_string_map_fini(&substitutions_map); rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) { if (rcutils_ret != RCUTILS_RET_OK) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp|" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: " "rclcpp",
"failed to fini string_map (%d) during error handling: %s\n", "failed to fini string_map (%d) during error handling: %s",
rcutils_ret, rcutils_ret,
rcutils_get_error_string_safe()); rcutils_get_error_string_safe());
rcutils_reset_error(); rcutils_reset_error();

11
rclcpp/src/rclcpp/graph_listener.cpp
View file

@ -26,6 +26,8 @@
#include "rclcpp/node.hpp" #include "rclcpp/node.hpp"
#include "rmw/impl/cpp/demangle.hpp" #include "rmw/impl/cpp/demangle.hpp"
#include "rcutils/logging_macros.h"
using rclcpp::exceptions::throw_from_rcl_error; using rclcpp::exceptions::throw_from_rcl_error;
namespace rclcpp namespace rclcpp
@ -94,13 +96,16 @@ GraphListener::run()
try { try {
run_loop(); run_loop();
} catch (const std::exception & exc) { } catch (const std::exception & exc) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp] caught %s exception in GraphListener thread: %s\n", "rclcpp",
"caught %s exception in GraphListener thread: %s",
rmw::impl::cpp::demangle(exc).c_str(), rmw::impl::cpp::demangle(exc).c_str(),
exc.what()); exc.what());
std::rethrow_exception(std::current_exception()); std::rethrow_exception(std::current_exception());
} catch (...) { } catch (...) {
fprintf(stderr, "[rclcpp] unknown error in GraphListener thread\n"); RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"unknown error in GraphListener thread");
std::rethrow_exception(std::current_exception()); std::rethrow_exception(std::current_exception());
} }
} }

16
rclcpp/src/rclcpp/node_interfaces/node_base.cpp
View file

@ -20,6 +20,7 @@
#include "rclcpp/node_interfaces/node_base.hpp" #include "rclcpp/node_interfaces/node_base.hpp"
#include "rclcpp/exceptions.hpp" #include "rclcpp/exceptions.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/validate_node_name.h" #include "rmw/validate_node_name.h"
#include "rmw/validate_namespace.h" #include "rmw/validate_namespace.h"
@ -48,8 +49,9 @@ NodeBase::NodeBase(
auto finalize_notify_guard_condition = [this]() { auto finalize_notify_guard_condition = [this]() {
// Finalize the interrupt guard condition. // Finalize the interrupt guard condition.
if (rcl_guard_condition_fini(&notify_guard_condition_) != RCL_RET_OK) { if (rcl_guard_condition_fini(&notify_guard_condition_) != RCL_RET_OK) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe()); "rclcpp",
"failed to destroy guard condition: %s", rcl_get_error_string_safe());
} }
}; };
@ -146,8 +148,9 @@ NodeBase::NodeBase(
rcl_node, rcl_node,
[](rcl_node_t * node) -> void { [](rcl_node_t * node) -> void {
if (rcl_node_fini(node) != RCL_RET_OK) { if (rcl_node_fini(node) != RCL_RET_OK) {
fprintf( RCUTILS_LOG_ERROR_NAMED(
stderr, "Error in destruction of rcl node handle: %s\n", rcl_get_error_string_safe()); "rclcpp",
"Error in destruction of rcl node handle: %s", rcl_get_error_string_safe());
} }
delete node; delete node;
}); });
@ -167,8 +170,9 @@ NodeBase::~NodeBase()
std::lock_guard<std::recursive_mutex> notify_condition_lock(notify_guard_condition_mutex_); std::lock_guard<std::recursive_mutex> notify_condition_lock(notify_guard_condition_mutex_);
notify_guard_condition_is_valid_ = false; notify_guard_condition_is_valid_ = false;
if (rcl_guard_condition_fini(&notify_guard_condition_) != RCL_RET_OK) { if (rcl_guard_condition_fini(&notify_guard_condition_) != RCL_RET_OK) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe()); "rclcpp",
"failed to destroy guard condition: %s", rcl_get_error_string_safe());
} }
} }
} }

13
rclcpp/src/rclcpp/publisher.cpp
View file

@ -24,6 +24,7 @@
#include <string> #include <string>
#include "rcl_interfaces/msg/intra_process_message.hpp" #include "rcl_interfaces/msg/intra_process_message.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/impl/cpp/demangle.hpp" #include "rmw/impl/cpp/demangle.hpp"
#include "rclcpp/allocator/allocator_common.hpp" #include "rclcpp/allocator/allocator_common.hpp"
@ -79,17 +80,17 @@ PublisherBase::PublisherBase(
PublisherBase::~PublisherBase() PublisherBase::~PublisherBase()
{ {
if (rcl_publisher_fini(&intra_process_publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) { if (rcl_publisher_fini(&intra_process_publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) {
fprintf( RCUTILS_LOG_ERROR_NAMED(
stderr, "rclcpp",
"Error in destruction of intra process rcl publisher handle: %s\n", "Error in destruction of intra process rcl publisher handle: %s",
rcl_get_error_string_safe()); rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
if (rcl_publisher_fini(&publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) { if (rcl_publisher_fini(&publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) {
fprintf( RCUTILS_LOG_ERROR_NAMED(
stderr, "rclcpp",
"Error in destruction of rcl publisher handle: %s\n", "Error in destruction of rcl publisher handle: %s",
rcl_get_error_string_safe()); rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }

7
rclcpp/src/rclcpp/utilities.cpp
View file

@ -30,6 +30,8 @@
#include "rmw/error_handling.h" #include "rmw/error_handling.h"
#include "rmw/rmw.h" #include "rmw/rmw.h"
#include "rcutils/logging_macros.h"
// Determine if sigaction is available // Determine if sigaction is available
#if __APPLE__ || _POSIX_C_SOURCE >= 1 || _XOPEN_SOURCE || _POSIX_SOURCE #if __APPLE__ || _POSIX_C_SOURCE >= 1 || _XOPEN_SOURCE || _POSIX_SOURCE
#define HAS_SIGACTION #define HAS_SIGACTION
@ -114,8 +116,9 @@ trigger_interrupt_guard_condition(int signal_value)
for (auto & kv : g_sigint_guard_cond_handles) { for (auto & kv : g_sigint_guard_cond_handles) {
rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second)); rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second));
if (status != RCL_RET_OK) { if (status != RCL_RET_OK) {
fprintf(stderr, RCUTILS_LOG_ERROR_NAMED(
"[rclcpp::error] failed to trigger guard condition: %s\n", rcl_get_error_string_safe()); "rclcpp",
"failed to trigger guard condition: %s", rcl_get_error_string_safe());
} }
} }
} }

4
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
View file

@ -68,7 +68,9 @@ public:
auto ret = rcl_lifecycle_state_machine_fini( auto ret = rcl_lifecycle_state_machine_fini(
&state_machine_, node_handle, &node_options->allocator); &state_machine_, node_handle, &node_options->allocator);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
fprintf(stderr, "FATAL: failed to destroy rcl_state_machine\n"); RCUTILS_LOG_FATAL_NAMED(
"rclcpp_lifecycle",
"failed to destroy rcl_state_machine");
} }
} }