From 787de6ebf1a8748cd36802f8c1e6a41fc0f85fed Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Mon, 26 Feb 2018 14:36:10 -0800
Subject: [PATCH] Get node's logger name from rcl (#433)

* Get logger name from rcl [direct]

* Get logger name from rcl [indirect]

* Update tests

* fixup on variable usage

* Move get_logger_name to NodeLogging interface
---
 .../rclcpp/node_interfaces/node_logging.hpp       |  5 +++++
 .../node_interfaces/node_logging_interface.hpp    |  7 +++++++
 .../src/rclcpp/node_interfaces/node_logging.cpp   |  9 +++++++--
 rclcpp/test/test_node.cpp                         | 15 +++++++++++++--
 4 files changed, 32 insertions(+), 4 deletions(-)

diff --git a/rclcpp/include/rclcpp/node_interfaces/node_logging.hpp b/rclcpp/include/rclcpp/node_interfaces/node_logging.hpp
index 0cffed1..9694bf3 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_logging.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_logging.hpp
@@ -46,6 +46,11 @@ public:
   rclcpp::Logger
   get_logger() const;
 
+  RCLCPP_PUBLIC
+  virtual
+  const char *
+  get_logger_name() const;
+
 private:
   RCLCPP_DISABLE_COPY(NodeLogging)
 
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp b/rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp
index c549ca2..16790db 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp
@@ -39,6 +39,13 @@ public:
   virtual
   rclcpp::Logger
   get_logger() const = 0;
+
+  /// Return the logger name associated with the node.
+  /** \return The logger name associated with the node. */
+  RCLCPP_PUBLIC
+  virtual
+  const char *
+  get_logger_name() const = 0;
 };
 
 }  // namespace node_interfaces
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_logging.cpp b/rclcpp/src/rclcpp/node_interfaces/node_logging.cpp
index bba4d49..269f14d 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_logging.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_logging.cpp
@@ -19,8 +19,7 @@ using rclcpp::node_interfaces::NodeLogging;
 NodeLogging::NodeLogging(rclcpp::node_interfaces::NodeBaseInterface * node_base)
 : node_base_(node_base)
 {
-  // TODO(dhood): use the namespace (slashes converted to dots)
-  logger_ = rclcpp::get_logger(node_base_->get_name());
+  logger_ = rclcpp::get_logger(this->get_logger_name());
 }
 
 NodeLogging::~NodeLogging()
@@ -32,3 +31,9 @@ NodeLogging::get_logger() const
 {
   return logger_;
 }
+
+const char *
+NodeLogging::get_logger_name() const
+{
+  return rcl_node_get_logger_name(node_base_->get_rcl_node_handle());
+}
diff --git a/rclcpp/test/test_node.cpp b/rclcpp/test/test_node.cpp
index 2346250..656c35b 100644
--- a/rclcpp/test/test_node.cpp
+++ b/rclcpp/test/test_node.cpp
@@ -75,14 +75,25 @@ TEST_F(TestNode, get_name_and_namespace) {
 }
 
 TEST_F(TestNode, get_logger) {
-  // Currently the namespace is not taken into account with the node logger name
   {
     auto node = std::make_shared<rclcpp::Node>("my_node");
     EXPECT_STREQ("my_node", node->get_logger().get_name());
   }
   {
     auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-    EXPECT_STREQ("my_node", node->get_logger().get_name());
+    EXPECT_STREQ("ns.my_node", node->get_logger().get_name());
+  }
+  {
+    auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
+    EXPECT_STREQ("ns.my_node", node->get_logger().get_name());
+  }
+  {
+    auto node = std::make_shared<rclcpp::Node>("my_node", "/my/ns");
+    EXPECT_STREQ("my.ns.my_node", node->get_logger().get_name());
+  }
+  {
+    auto node = std::make_shared<rclcpp::Node>("my_node", "my/ns");
+    EXPECT_STREQ("my.ns.my_node", node->get_logger().get_name());
   }
 }