-
Notifications
You must be signed in to change notification settings - Fork 527
Expand file tree
/
Copy pathlogger.cpp
More file actions
144 lines (128 loc) · 4.12 KB
/
logger.cpp
File metadata and controls
144 lines (128 loc) · 4.12 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
// 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 <filesystem>
#include <memory>
#include <string>
#include <utility>
#include "rcl_logging_interface/rcl_logging_interface.h"
#include "rcl/error_handling.h"
#include "rcl/logging_rosout.h"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/logging.hpp"
#include "./logging_mutex.hpp"
namespace rclcpp
{
Logger
get_logger(const std::string & name)
{
#if RCLCPP_LOGGING_ENABLED
return rclcpp::Logger(name);
#else
(void)name;
return rclcpp::Logger();
#endif
}
Logger
get_node_logger(const rcl_node_t * node)
{
const char * logger_name = rcl_node_get_logger_name(node);
if (nullptr == logger_name) {
auto logger = rclcpp::get_logger("rclcpp");
RCLCPP_ERROR(
logger, "failed to get logger name from node at address %p",
static_cast<void *>(const_cast<rcl_node_t *>(node)));
return logger;
}
return rclcpp::get_logger(logger_name);
}
std::filesystem::path
get_log_directory()
{
char * log_dir = NULL;
auto allocator = rcutils_get_default_allocator();
rcl_logging_ret_t ret = rcl_logging_get_logging_directory(allocator, &log_dir);
if (RCL_LOGGING_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
std::string path{log_dir};
allocator.deallocate(log_dir, allocator.state);
return path;
}
Logger
Logger::get_child(const std::string & suffix)
{
if (!name_) {
return Logger();
}
rcl_ret_t rcl_ret = RCL_RET_OK;
std::shared_ptr<std::recursive_mutex> logging_mutex;
logging_mutex = get_global_logging_mutex();
{
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
rcl_ret = rcl_logging_rosout_add_sublogger((*name_).c_str(), suffix.c_str());
if (RCL_RET_NOT_FOUND == rcl_ret) {
rcl_reset_error();
} else if (RCL_RET_OK != rcl_ret) {
exceptions::throw_from_rcl_error(
rcl_ret, "failed to call rcl_logging_rosout_add_sublogger",
rcl_get_error_state(), rcl_reset_error);
}
}
Logger logger(*name_ + RCUTILS_LOGGING_SEPARATOR_STRING + suffix);
if (RCL_RET_OK == rcl_ret) {
logger.logger_sublogger_pairname_.reset(
new std::pair<std::string, std::string>({*name_, suffix}),
[logging_mutex](std::pair<std::string, std::string> * logger_sublogger_pairname_ptr) {
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
rcl_ret_t rcl_ret = rcl_logging_rosout_remove_sublogger(
logger_sublogger_pairname_ptr->first.c_str(),
logger_sublogger_pairname_ptr->second.c_str());
delete logger_sublogger_pairname_ptr;
if (RCL_RET_OK != rcl_ret) {
rcl_reset_error();
}
});
}
return logger;
}
void
Logger::set_level(Level level)
{
rcutils_ret_t rcutils_ret = rcutils_logging_set_logger_level(
get_name(),
static_cast<RCUTILS_LOG_SEVERITY>(level));
if (rcutils_ret != RCUTILS_RET_OK) {
if (rcutils_ret == RCUTILS_RET_INVALID_ARGUMENT) {
exceptions::throw_from_rcl_error(
RCL_RET_INVALID_ARGUMENT, "Invalid parameter",
rcutils_get_error_state(), rcutils_reset_error);
}
exceptions::throw_from_rcl_error(
RCL_RET_ERROR, "Couldn't set logger level",
rcutils_get_error_state(), rcutils_reset_error);
}
}
Logger::Level
Logger::get_effective_level() const
{
int logger_level = rcutils_logging_get_logger_effective_level(get_name());
if (logger_level < 0) {
exceptions::throw_from_rcl_error(
RCL_RET_ERROR, "Couldn't get logger level",
rcutils_get_error_state(), rcutils_reset_error);
}
return static_cast<Level>(logger_level);
}
} // namespace rclcpp