Add demo for logging + logger config

logging_demo/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(logging_demo)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # we dont use add_compile_options with pedantic in packages generating python
+  # messages because the Python C extensions dont comply with it
+  # pedantic is not possible here also because of class_loader macros
+  add_compile_options(-Wall -Wextra)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(class_loader REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(std_msgs REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/ConfigLogger.srv"
+)
+
+include_directories(include)
+
+add_library(logger_config_component SHARED
+  src/logger_config_component.cpp)
+target_compile_definitions(logger_config_component
+  PRIVATE "LOGGING_DEMO_BUILDING_DLL")
+ament_target_dependencies(logger_config_component
+  "class_loader"
+  "rclcpp")
+rosidl_target_interfaces(logger_config_component
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rclcpp_register_node_plugins(logger_config_component "logging_demo::LoggerConfig")
+
+add_library(logger_usage_component SHARED
+  src/logger_usage_component.cpp)
+target_compile_definitions(logger_usage_component
+  PRIVATE "LOGGING_DEMO_BUILDING_DLL")
+ament_target_dependencies(logger_usage_component
+  "class_loader"
+  "rclcpp"
+  "std_msgs")
+rclcpp_register_node_plugins(logger_usage_component "logging_demo::LoggerUsage")
+
+add_executable(logging_demo_main
+  src/logging_demo_main.cpp)
+target_link_libraries(logging_demo_main
+  logger_config_component
+  logger_usage_component)
+ament_target_dependencies(logging_demo_main
+  "rclcpp")
+
+install(TARGETS
+  logger_config_component
+  logger_usage_component
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(TARGETS
+  logging_demo_main
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(rmw_implementation_cmake REQUIRED)
+
+  set(generated_python_files)
+  macro(tests)
+    set(LOGGING_DEMO_MAIN_EXECUTABLE $<TARGET_FILE:logging_demo_main>)
+    set(
+      EXPECTED_OUTPUT_LOGGING_DEMO_MAIN_DEFAULT_SEVERITY
+      "${CMAKE_CURRENT_SOURCE_DIR}/test/logging_demo_main_default_severity")
+    set(
+      EXPECTED_OUTPUT_LOGGING_DEMO_MAIN_DEBUG_SEVERITY
+      "${CMAKE_CURRENT_SOURCE_DIR}/test/logging_demo_main_debug_severity")
+
+    configure_file(
+      test/test_logging_demo.py.in
+      test_logging_demo${target_suffix}.py.genexp
+      @ONLY
+    )
+    file(GENERATE
+      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_logging_demo${target_suffix}_$<CONFIG>.py"
+      INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_logging_demo${target_suffix}.py.genexp"
+    )
+    ament_add_pytest_test(test_logging_demo${target_suffix}
+      "${CMAKE_CURRENT_BINARY_DIR}/test_logging_demo${target_suffix}_$<CONFIG>.py"
+      ENV RMW_IMPLEMENTATION=${rmw_implementation}
+      APPEND_LIBRARY_DIRS "${append_library_dirs}"
+      TIMEOUT 20)
+    list(
+      APPEND generated_python_files
+      "${CMAKE_CURRENT_BINARY_DIR}/test_logging_demo${target_suffix}_$<CONFIG>.py")
+  endmacro()
+
+  set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
+  if(WIN32)
+    set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
+  endif()
+
+  call_for_each_rmw_implementation(tests)
+
+  find_package(ament_cmake_flake8 REQUIRED)
+  ament_flake8(
+    TESTNAME "flake8_generated_launch"
+    # the generated code might contain longer lines if from a template
+    MAX_LINE_LENGTH 999
+    ${generated_python_files})
+endif()
+
+ament_package()

logging_demo/include/logging_demo/logger_config_component.hpp

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+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LOGGING_DEMO__LOGGER_CONFIG_COMPONENT_HPP_
+#define LOGGING_DEMO__LOGGER_CONFIG_COMPONENT_HPP_
+
+#include <memory>
+
+#include "logging_demo/srv/config_logger.hpp"
+#include "logging_demo/visibility_control.h"
+
+#include "rclcpp/rclcpp.hpp"
+
+namespace logging_demo
+{
+
+class LoggerConfig : public rclcpp::Node
+{
+public:
+  LOGGING_DEMO_PUBLIC
+  LoggerConfig();
+
+  LOGGING_DEMO_PUBLIC
+  void
+  handle_logger_config_request(
+    const std::shared_ptr<logging_demo::srv::ConfigLogger::Request> request,
+    std::shared_ptr<logging_demo::srv::ConfigLogger::Response> response);
+
+private:
+  rclcpp::Service<logging_demo::srv::ConfigLogger>::SharedPtr srv_;
+};
+
+}  // namespace logging_demo
+
+#endif  // LOGGING_DEMO__LOGGER_CONFIG_COMPONENT_HPP_

logging_demo/include/logging_demo/logger_usage_component.hpp

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+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LOGGING_DEMO__LOGGER_USAGE_COMPONENT_HPP_
+#define LOGGING_DEMO__LOGGER_USAGE_COMPONENT_HPP_
+
+#include <string>
+
+#include "logging_demo/visibility_control.h"
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+namespace logging_demo
+{
+
+class LoggerUsage : public rclcpp::Node
+{
+public:
+  LOGGING_DEMO_PUBLIC
+  LoggerUsage();
+
+protected:
+  void on_timer();
+
+private:
+  size_t count_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
+  rclcpp::TimerBase::SharedPtr one_shot_timer_, timer_;
+  std::function<bool()> debug_function_to_evaluate_;
+};
+
+bool is_divisor_of_twelve(size_t val, std::string logger_name);
+}  // namespace logging_demo
+
+#endif  // LOGGING_DEMO__LOGGER_USAGE_COMPONENT_HPP_

logging_demo/include/logging_demo/visibility_control.h

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+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LOGGING_DEMO__VISIBILITY_CONTROL_H_
+#define LOGGING_DEMO__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define LOGGING_DEMO_EXPORT __attribute__ ((dllexport))
+    #define LOGGING_DEMO_IMPORT __attribute__ ((dllimport))
+  #else
+    #define LOGGING_DEMO_EXPORT __declspec(dllexport)
+    #define LOGGING_DEMO_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef LOGGING_DEMO_BUILDING_DLL
+    #define LOGGING_DEMO_PUBLIC LOGGING_DEMO_EXPORT
+  #else
+    #define LOGGING_DEMO_PUBLIC LOGGING_DEMO_IMPORT
+  #endif
+  #define LOGGING_DEMO_PUBLIC_TYPE LOGGING_DEMO_PUBLIC
+  #define LOGGING_DEMO_LOCAL
+#else
+  #define LOGGING_DEMO_EXPORT __attribute__ ((visibility("default")))
+  #define LOGGING_DEMO_IMPORT
+  #if __GNUC__ >= 4
+    #define LOGGING_DEMO_PUBLIC __attribute__ ((visibility("default")))
+    #define LOGGING_DEMO_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define LOGGING_DEMO_PUBLIC
+    #define LOGGING_DEMO_LOCAL
+  #endif
+  #define LOGGING_DEMO_PUBLIC_TYPE
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif  // LOGGING_DEMO__VISIBILITY_CONTROL_H_

logging_demo/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>logging_demo</name>
+  <version>0.0.3</version>
+  <description>Examples for using and configuring loggers.</description>
+  <maintainer email="dhood@osrfoundation.org">D. Hood</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>ament_index_cpp</build_depend>
+  <build_depend>class_loader</build_depend>
+  <build_depend>rclcpp</build_depend>
+  <build_depend>rcutils</build_depend>
+  <build_depend>rosidl_cmake</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>ament_index_cpp</exec_depend>
+  <exec_depend>class_loader</exec_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rcutils</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>rmw_implementation_cmake</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

logging_demo/src/logger_config_component.cpp

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+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "logging_demo/logger_config_component.hpp"
+
+#include <cinttypes>
+#include <iostream>
+#include <memory>
+
+#include "logging_demo/srv/config_logger.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rcutils/error_handling.h"
+
+namespace logging_demo
+{
+
+LoggerConfig::LoggerConfig()
+: Node("logger_config")
+{
+  srv_ = create_service<logging_demo::srv::ConfigLogger>(
+    "config_logger", std::bind(
+      &LoggerConfig::handle_logger_config_request,
+      this, std::placeholders::_1, std::placeholders::_2));
+}
+
+void
+LoggerConfig::handle_logger_config_request(
+  const std::shared_ptr<logging_demo::srv::ConfigLogger::Request> request,
+  std::shared_ptr<logging_demo::srv::ConfigLogger::Response> response)
+{
+  const char * severity_string = request->level.c_str();
+  RCLCPP_INFO(
+    this->get_name(), "Incoming request: logger '%s', severity '%s'",
+    request->logger_name.c_str(), severity_string);
+  std::flush(std::cout);
+  int severity;
+  if (strcmp("DEBUG", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_DEBUG;
+  } else if (strcmp("INFO", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_INFO;
+  } else if (strcmp("WARN", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_WARN;
+  } else if (strcmp("ERROR", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_ERROR;
+  } else if (strcmp("FATAL", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_FATAL;
+  } else if (strcmp("UNSET", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_UNSET;
+  } else {
+    RCLCPP_ERROR(
+      this->get_name(), "Unknown severity '%s'", severity_string);
+    response->success = false;
+    return;
+  }
+
+  // TODO(dhood): allow configuration through rclcpp
+  auto ret = rcutils_logging_set_logger_level(request->logger_name.c_str(), severity);
+  if (ret != RCUTILS_RET_OK) {
+    RCLCPP_ERROR(get_name(), "Error setting severity: %s", rcutils_get_error_string_safe());
+    rcutils_reset_error();
+    response->success = false;
+  }
+  response->success = true;
+}
+
+}  // namespace logging_demo
+
+#include "class_loader/class_loader_register_macro.h"
+
+CLASS_LOADER_REGISTER_CLASS(logging_demo::LoggerConfig, rclcpp::Node)