From e30f31551e2f4731835deca51c043ae5cf099c8d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= <fmrico@gmail.com>
Date: Sun, 28 Oct 2018 02:35:17 +0200
Subject: [PATCH] issue a warning if publishing on a not active publisher
 (#574)

* issue a warning if publishing on a not active publisher

* Adding a logger private member in LifecyclePublisher for avoiding creating a new one echa call
---
 rclcpp/resource/logging.hpp.em                |  3 +-
 .../rclcpp_lifecycle/lifecycle_publisher.hpp  | 29 +++++++++++++++++--
 2 files changed, 29 insertions(+), 3 deletions(-)

diff --git a/rclcpp/resource/logging.hpp.em b/rclcpp/resource/logging.hpp.em
index b6a869f..89a22d7 100644
--- a/rclcpp/resource/logging.hpp.em
+++ b/rclcpp/resource/logging.hpp.em
@@ -91,7 +91,8 @@ def is_supported_feature_combination(feature_combination):
  */
 #define RCLCPP_@(severity)@(suffix)(logger, @(''.join([p + ', ' for p in get_macro_parameters(feature_combination).keys()]))...) \
   static_assert( \
-    ::std::is_same<std::remove_reference<decltype(logger)>::type, ::rclcpp::Logger>::value, \
+    ::std::is_same<typename std::remove_reference<decltype(logger)>::type, \
+    typename ::rclcpp::Logger>::value, \
     "First argument to logging macros must be an rclcpp::Logger"); \
   RCUTILS_LOG_@(severity)@(suffix)_NAMED( \
 @{params = get_macro_parameters(feature_combination).keys()}@
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
index 526cd62..867714e 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
@@ -20,6 +20,8 @@
 
 #include "rclcpp/publisher.hpp"
 
+#include "rclcpp/logging.hpp"
+
 namespace rclcpp_lifecycle
 {
 /// base class with only
@@ -62,8 +64,10 @@ public:
     std::shared_ptr<MessageAlloc> allocator)
   : rclcpp::Publisher<MessageT, Alloc>(
       node_base, topic, publisher_options, allocator),
-    enabled_(false)
-  {}
+    enabled_(false),
+    logger_(rclcpp::get_logger("LifecyclePublisher"))
+  {
+  }
 
   ~LifecyclePublisher() {}
 
@@ -77,6 +81,10 @@ public:
   publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
   {
     if (!enabled_) {
+      RCLCPP_WARN(logger_,
+        "Trying to publish message on the topic '%s', but the publisher is not activated",
+        this->get_topic_name());
+
       return;
     }
     rclcpp::Publisher<MessageT, Alloc>::publish(msg);
@@ -92,6 +100,10 @@ public:
   publish(const std::shared_ptr<MessageT> & msg)
   {
     if (!enabled_) {
+      RCLCPP_WARN(logger_,
+        "Trying to publish message on the topic '%s', but the publisher is not activated",
+        this->get_topic_name());
+
       return;
     }
     rclcpp::Publisher<MessageT, Alloc>::publish(msg);
@@ -107,6 +119,10 @@ public:
   publish(std::shared_ptr<const MessageT> msg)
   {
     if (!enabled_) {
+      RCLCPP_WARN(logger_,
+        "Trying to publish message on the topic '%s', but the publisher is not activated",
+        this->get_topic_name());
+
       return;
     }
     rclcpp::Publisher<MessageT, Alloc>::publish(msg);
@@ -122,6 +138,10 @@ public:
   publish(const MessageT & msg)
   {
     if (!enabled_) {
+      RCLCPP_WARN(logger_,
+        "Trying to publish message on the topic '%s', but the publisher is not activated",
+        this->get_topic_name());
+
       return;
     }
     rclcpp::Publisher<MessageT, Alloc>::publish(msg);
@@ -146,6 +166,10 @@ public:
   publish(std::shared_ptr<const MessageT> & msg)
   {
     if (!enabled_) {
+      RCLCPP_WARN(logger_,
+        "Trying to publish message on the topic '%s', but the publisher is not activated",
+        this->get_topic_name());
+
       return;
     }
     rclcpp::Publisher<MessageT, Alloc>::publish(msg);
@@ -171,6 +195,7 @@ public:
 
 private:
   bool enabled_ = false;
+  rclcpp::Logger logger_;
 };
 
 }  // namespace rclcpp_lifecycle