Moving the external logger library from rcutils into rcl. Also automa…

…tic uncrustify.

rcl/CMakeLists.txt

@@ -12,6 +12,9 @@ find_package(rosidl_generator_c REQUIRED)
 
 include_directories(include)
 
+include(cmake/get_default_rc_logging_implementation.cmake)
+get_default_rc_logging_implementation(RC_LOGGING_IMPL)
+
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 11)
@@ -35,6 +38,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/guard_condition.c
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
+  src/rcl/logging.c
   src/rcl/node.c
   src/rcl/publisher.c
   src/rcl/rcl.c
@@ -56,6 +60,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "rmw"
   "rcutils"
   "rosidl_generator_c"
+  ${RC_LOGGING_IMPL}
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -84,6 +89,7 @@ ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(${RC_LOGGING_IMPL})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

rcl/cmake/get_default_rc_logging_implementation.cmake

@@ -0,0 +1,46 @@
+# Copyright 2018 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.
+
+#
+# Get the package name of the default logging implementation.
+#
+# Either selecting it using the variable RC_LOGGING_IMPLEMENTATION or
+# choosing a default from the available implementations.
+#
+# :param var: the output variable name containing the package name
+# :type var: string
+#
+macro(get_default_rc_logging_implementation var)
+
+  # if logging implementation already specified or RC_LOGGING_IMPLEMENTATION environment variable
+  # is set then use that, otherwise default to using rc_logging_log4cxx
+  if(NOT "${RC_LOGGING_IMPLEMENTATION}" STREQUAL "")
+    set(_logging_implementation "${RC_LOGGING_IMPLEMENTATION}")
+  elseif(NOT "$ENV{RC_LOGGING_IMPLEMENTATION}" STREQUAL "")
+    set(_logging_implementation "$ENV{RC_LOGGING_IMPLEMENTATION}")
+  else()
+    set(_logging_implementation rc_logging_log4cxx)
+  endif()
+
+  # persist implementation decision in cache
+  # if it was not determined dynamically
+  set(
+    RC_LOGGING_IMPLEMENTATION "${_logging_implementation}"
+    CACHE STRING "Select ROS middleware implementation to link against" FORCE
+  )
+
+  find_package("${_logging_implementation}" REQUIRED)
+
+  set(${var} ${_logging_implementation})
+endmacro()

rcl/include/rcl/arguments.h

@@ -34,12 +34,12 @@ typedef struct rcl_arguments_t
   struct rcl_arguments_impl_t * impl;
 } rcl_arguments_t;
 
-#define RCL_LOG_LEVEL_ARG_RULE              "__log_level:="
-#define RCL_EXTERNAL_LOG_CONFIG_ARG_RULE    "__log_config_file:="
-#define RCL_LOG_DISABLE_STDOUT_ARG_RULE     "__log_disable_stdout:="
-#define RCL_LOG_DISABLE_ROSOUT_ARG_RULE     "__log_disable_rosout:="
-#define RCL_LOG_DISABLE_EXT_LIB_ARG_RULE    "__log_disable_external_lib:="
-#define RCL_PARAM_FILE_ARG_RULE             "__params:="
+#define RCL_LOG_LEVEL_ARG_RULE "__log_level:="
+#define RCL_EXTERNAL_LOG_CONFIG_ARG_RULE "__log_config_file:="
+#define RCL_LOG_DISABLE_STDOUT_ARG_RULE "__log_disable_stdout:="
+#define RCL_LOG_DISABLE_ROSOUT_ARG_RULE "__log_disable_rosout:="
+#define RCL_LOG_DISABLE_EXT_LIB_ARG_RULE "__log_disable_external_lib:="
+#define RCL_PARAM_FILE_ARG_RULE "__params:="
 
 /// Return a rcl_node_t struct with members initialized to `NULL`.
 RCL_PUBLIC

rcl/include/rcl/logging.h

@@ -0,0 +1,58 @@
+// 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 RCL__LOGGING_H_
+#define RCL__LOGGING_H_
+
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+#include "rcl/allocator.h"
+#include "rcl/arguments.h"
+#include "rcl/error_handling.h"
+#include "rcl/types.h"
+#include "rcl/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+/// Configures the logging system.
+/**
+ * This function should be called during the ROS initialization process. It will
+ * add the enabled log output appenders to the root logger.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param global_args The global arguments for the system
+ * \return `RCL_RET_OK` if successful.
+ * \return `RCL_RET_ERR` if a general error occurs
+ */
+RCL_PUBLIC
+rcl_ret_t rcl_logging_configure(const rcl_arguments_t * global_args);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL__LOGGING_H_

rcl/include/rcl/logging_external_interface.h

@@ -0,0 +1,66 @@
+// Copyright 2018 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 RCL__LOGGING_EXTERNAL_INTERFACE_H_
+#define RCL__LOGGING_EXTERNAL_INTERFACE_H_
+
+#include <stdarg.h>
+#include "rcl/types.h"
+#include "rcl/visibility_control.h"
+
+
+/**
+ *  \brief Initializes the external logging library.
+ *
+ *  \param config_file The location of a config file that the external logging library should use to configure itself.
+ *          If no config file is provided this will be set to an empty string. Must be a NULL terminated c string.
+ *  \return RC_EXTERNAL_LOGGING_RET_OK if initialized successfully or an error code if not.
+ */
+RCL_PUBLIC
+rcl_ret_t rcl_logging_external_initialize(const char * config_file);
+
+/**
+ *  \brief Free the resources allocated for the external logging system.
+ *  This puts the system into a state equivalent to being uninitialized
+ *
+ *  \return RC_EXTERNAL_LOGGING_RET_OK if successfully shutdown or an error code if not.
+ */
+RCL_PUBLIC
+rcl_ret_t rcl_logging_external_shutdown();
+
+/**
+ *  \brief Logs a message
+ *
+ *  \param severity The severity level of the message being logged
+ *  \param name The name of the logger, must be a null terminated c string or NULL. If NULL or empty the root logger will
+ *          be used.
+ *  \param msg The message to be logged. Must be a null terminated c string.
+ */
+RCL_PUBLIC
+void rcl_logging_external_log(int severity, const char * name, const char * msg);
+
+
+/**
+ *  \brief Set the severity level for a logger.
+ *  Sets the severity level for the specified logger. If the name provided is an empty string or NULL it will change the
+ *  level of the root logger.
+ *
+ *  \param name The name of the logger. Must be a NULL terminated c string or NULL.
+ *  \param level - The severity level to be used for the specified logger
+ *  \return RC_EXTERNAL_LOGGING_RET_OK if set successfully or an error code if not.
+ */
+RCL_PUBLIC
+rcl_ret_t rcl_logging_external_set_logger_level(const char * name, int level);
+
+#endif  // RCL__LOGGING_EXTERNAL_INTERFACE_H_

rcl/include/rcl/macros.h

@@ -27,6 +27,8 @@ extern "C"
 # define RCL_WARN_UNUSED _Check_return_
 #endif
 
+#define RCL_UNUSED(x) (void)(x)
+
 #ifdef __cplusplus
 }
 #endif

rcl/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<package format="3">
   <name>rcl</name>
   <version>0.6.0</version>
   <description>The ROS client library common implementation.
@@ -27,6 +27,8 @@
 
   <depend>rmw_implementation</depend>
 
+  <group_depend>rc_logging_packages</group_depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

rcl/src/rcl/arguments.c

@@ -261,7 +261,7 @@ rcl_parse_arguments(
     }
     RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
       "Couldn't parse arg %d (%s) as parameter file rule. Error: %s", i, argv[i],
-      rcl_get_error_string());
+      rcl_get_error_string().str);
     rcl_reset_error();
 
     // Attempt to parse argument as remap rule
@@ -272,7 +272,8 @@ rcl_parse_arguments(
       continue;
     }
     RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
-      "Couldn't parse arg %d (%s) as remap rule. Error: %s", i, argv[i], rcl_get_error_string());
+      "Couldn't parse arg %d (%s) as remap rule. Error: %s", i, argv[i],
+      rcl_get_error_string().str);
     rcl_reset_error();
 
     // Attempt to parse argument as log level configuration
@@ -283,43 +284,54 @@ rcl_parse_arguments(
     }
     RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
       "Couldn't parse arg %d (%s) as log level rule. Error: %s", i, argv[i],
-      rcl_get_error_string());
+      rcl_get_error_string().str);
     rcl_reset_error();
 
     // Attempt to parse argument as log configuration file
-    if (RCL_RET_OK == _rcl_parse_external_log_config_file(argv[i], allocator, &args_impl->external_log_config_file)) {
+    rcl_ret_t ret = _rcl_parse_external_log_config_file(argv[i], allocator,
+        &args_impl->external_log_config_file);
+    if (RCL_RET_OK == ret) {
       continue;
     }
     RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
       "Couldn't parse arg %d (%s) as log config rule. Error: %s", i, argv[i],
-      rcl_get_error_string());
+      rcl_get_error_string().str);
     rcl_reset_error();
 
     // Attempt to parse argument as log_stdout_disabled
-    if (RCL_RET_OK == _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_STDOUT_ARG_RULE, &args_impl->log_stdout_disabled)) {
+    if (RCL_RET_OK ==
+      _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_STDOUT_ARG_RULE,
+      &args_impl->log_stdout_disabled))
+    {
       continue;
     }
     RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
       "Couldn't parse arg %d (%s) as log_stdout_disabled rule. Error: %s", i, argv[i],
-      rcl_get_error_string());
+      rcl_get_error_string().str);
     rcl_reset_error();
 
     // Attempt to parse argument as log_rosout_disabled
-    if (RCL_RET_OK == _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_ROSOUT_ARG_RULE, &args_impl->log_rosout_disabled)) {
+    if (RCL_RET_OK ==
+      _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_ROSOUT_ARG_RULE,
+      &args_impl->log_rosout_disabled))
+    {
       continue;
     }
     RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
       "Couldn't parse arg %d (%s) as log_rosout_disabled rule. Error: %s", i, argv[i],
-      rcl_get_error_string());
+      rcl_get_error_string().str);
     rcl_reset_error();
 
     // Attempt to parse argument as log_ext_lib_disabled
-    if (RCL_RET_OK == _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_EXT_LIB_ARG_RULE, &args_impl->log_ext_lib_disabled)) {
+    if (RCL_RET_OK ==
+      _rcl_parse_bool_arg(argv[i], RCL_LOG_DISABLE_EXT_LIB_ARG_RULE,
+      &args_impl->log_ext_lib_disabled))
+    {
       continue;
     }
     RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
       "Couldn't parse arg %d (%s) as log_ext_lib_disabled rule. Error: %s", i, argv[i],
-      rcl_get_error_string());
+      rcl_get_error_string().str);
     rcl_reset_error();
 
 
@@ -1170,10 +1182,10 @@ _rcl_parse_external_log_config_file(
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT);
 
-  const size_t param_prefix_len = sizeof(RCL_EXTERNAL_LOG_CONFIG_ARG_RULE);
+  const size_t param_prefix_len = sizeof(RCL_EXTERNAL_LOG_CONFIG_ARG_RULE) - 1;
   if (strncmp(RCL_EXTERNAL_LOG_CONFIG_ARG_RULE, arg, param_prefix_len) == 0) {
     size_t outlen = strlen(arg) - param_prefix_len;
-    log_config_file = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
+    *log_config_file = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
     if (NULL == log_config_file) {
       RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to allocate memory for parameters file path\n");
       return RCL_RET_BAD_ALLOC;
@@ -1213,8 +1225,8 @@ _atob(
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(str, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(val, RCL_RET_INVALID_ARGUMENT);
-  const char * true_values[] = {"y", "Y", "yes", "Yes", "t", "T", "true", "True", "1" };
-  const char * false_values[] = {"n", "N", "no", "No", "f", "F", "false", "False", "0" };
+  const char * true_values[] = {"y", "Y", "yes", "Yes", "t", "T", "true", "True", "1"};
+  const char * false_values[] = {"n", "N", "no", "No", "f", "F", "false", "False", "0"};
 
   for (size_t idx = 0; idx < sizeof(true_values) / sizeof(char *); idx++) {
     if (0 == strncmp(true_values[idx], str, strlen(true_values[idx]))) {

rcl/src/rcl/arguments_impl.h

@@ -46,8 +46,11 @@ typedef struct rcl_arguments_impl_t
   int log_level;
   /// A file used to configure the external logging library
   char * external_log_config_file;
+  /// A boolean value indicating if the standard out handler should be used for log output
   bool log_stdout_disabled;
+  /// A boolean value indicating if the rosout topic handler should be used for log output
   bool log_rosout_disabled;
+  /// A boolean value indicating if the external lib handler should be used for log output
   bool log_ext_lib_disabled;
 
   /// Allocator used to allocate objects in this struct

rcl/src/rcl/graph.c

@@ -52,7 +52,7 @@ rcl_get_topic_names_and_types(
     &rcutils_allocator,
     no_demangle,
     topic_names_and_types
-  );
+    );
   return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
 }
 
@@ -76,7 +76,7 @@ rcl_get_service_names_and_types(
     rcl_node_get_rmw_handle(node),
     &rcutils_allocator,
     service_names_and_types
-  );
+    );
   return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
 }
 
@@ -172,7 +172,7 @@ rcl_service_server_is_available(
     rcl_node_get_rmw_handle(node),
     rcl_client_get_rmw_handle(client),
     is_available
-  );
+    );
   return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
 }