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issue a warning if publishing on a not active publisher (#574)

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* 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
This commit is contained in:
Francisco Martín Rico 2018-10-28 02:35:17 +02:00 • committed by Karsten Knese
parent b600c18121
commit e30f31551e
2 changed files with 29 additions and 3 deletions
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3
rclcpp/resource/logging.hpp.em
View file

@ -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()}@

29
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
View file

@ -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