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node_logging.hpp
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75 lines (58 loc) · 2.16 KB
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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 RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_
#include <memory>
#include "rclcpp/logger.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rcl_interfaces/srv/get_logger_levels.hpp"
#include "rcl_interfaces/srv/set_logger_levels.hpp"
namespace rclcpp
{
namespace node_interfaces
{
/// Implementation of the NodeLogging part of the Node API.
class NodeLogging : public NodeLoggingInterface
{
public:
RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface)
RCLCPP_PUBLIC
explicit NodeLogging(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_base);
RCLCPP_PUBLIC
virtual
~NodeLogging();
RCLCPP_PUBLIC
rclcpp::Logger
get_logger() const override;
RCLCPP_PUBLIC
const char *
get_logger_name() const override;
RCLCPP_PUBLIC
void
create_logger_services(
const node_interfaces::NodeServicesInterface::SharedPtr & node_services) override;
private:
RCLCPP_DISABLE_COPY(NodeLogging)
/// Handle to the NodeBaseInterface given in the constructor.
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
rclcpp::Logger logger_;
rclcpp::Service<rcl_interfaces::srv::GetLoggerLevels>::SharedPtr get_loggers_service_;
rclcpp::Service<rcl_interfaces::srv::SetLoggerLevels>::SharedPtr set_loggers_service_;
};
} // namespace node_interfaces
} // namespace rclcpp
#endif // RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_