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Add Logger class and give one to nodes (#411)

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* Add Logger class and give one to nodes

* Try to improve compiler errors when non-Logger is passed to macros

* Add define for 'disabling' loggers

* Add/update tests

* Linter fix

* Documentation

* Windows fix

* Move free functions to source file (windows was upset)

* Fix windows by changing prototype ordering

* Store node logger in NodeBase

* Windows is not happy with this EXPECT_ANY_THROW

* Move get_logger to a NodeLogger interface

* Move Logger into 'logger' namespace

* Move helper function for macro errors into macro header

* Remove 'logger' namespace

* Return type on separate line

* Update copyright year

* Give lifecycle nodes a logger

* Add test for lifecycle node logger

Move the default_state_machine tests to another file because having
different test fixtures was causing init to be called twice.

* Switch to static_assert for logger check

* global ns scope in macro calls

just in case

* Revert "Add test for lifecycle node logger" (make diff smaller)

demos use the loggers and we don't test other node stuff in lifecycle_node

* Update for rcutils function name change

* Add reference to Node::get_logger() in doxygen

* Rename NodeLoggerInterface to NodeLoggingInterface
This commit is contained in:
dhood 2017-12-04 16:07:29 -08:00 • committed by GitHub
parent d989bd15c1
commit 2e4e85f141
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GPG key ID: 4AEE18F83AFDEB23
15 changed files with 424 additions and 39 deletions
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9
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -32,10 +32,12 @@
#include "rclcpp/client.hpp"
#include "rclcpp/context.hpp"
#include "rclcpp/event.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/message_memory_strategy.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
@ -108,6 +110,12 @@ public:
const char *
get_namespace() const;
/// Get the logger of the node.
/** \return The logger of the node. */
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::Logger
get_logger() const;
/// Create and return a callback group.
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::callback_group::CallbackGroup::SharedPtr
@ -467,6 +475,7 @@ private:
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;

9
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -25,9 +25,11 @@
#include "rclcpp/exceptions.hpp"
#include "rclcpp/graph_listener.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/node_interfaces/node_base.hpp"
#include "rclcpp/node_interfaces/node_graph.hpp"
#include "rclcpp/node_interfaces/node_logging.hpp"
#include "rclcpp/node_interfaces/node_parameters.hpp"
#include "rclcpp/node_interfaces/node_services.hpp"
#include "rclcpp/node_interfaces/node_timers.hpp"
@ -56,6 +58,7 @@ LifecycleNode::LifecycleNode(
bool use_intra_process_comms)
: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),
node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
@ -95,6 +98,12 @@ LifecycleNode::get_namespace() const
return node_base_->get_namespace();
}
rclcpp::Logger
LifecycleNode::get_logger() const
{
return node_logging_->get_logger();
}
rclcpp::callback_group::CallbackGroup::SharedPtr
LifecycleNode::create_callback_group(
rclcpp::callback_group::CallbackGroupType group_type)