Added loghandler, this enables the possibility for the driver to chan…

…ge the behavior when logging messages with this library.

CMakeLists.txt

@@ -39,6 +39,8 @@ add_library(urcl SHARED
     src/ur/dashboard_client.cpp
     src/ur/tool_communication.cpp
     src/rtde/rtde_writer.cpp
+    src/default_log_handler.cpp
+    src/log.cpp
 )
 add_library(ur_client_library::urcl ALIAS urcl)
 target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)

README.md

@@ -35,12 +35,12 @@ robotic manipulators.
    [boost](https://github.com/UniversalRobots/Universal_Robots_Client_Library/tree/boost) branch
    instead that requires the boost library.
    For the C++17 features, please use those minimum compiler versions:
-   
+
    | Compiler  | min. version |
    |-----------|--------------|
    | **GCC**   | 7            |
    | **Clang** | 7            |
-   
+
 
 ## Build instructions
 ### Plain cmake
@@ -301,11 +301,87 @@ As this library was originally designed to be included into a ROS driver but als
 standalone library, it uses custom logging macros instead of direct `printf` or `std::cout`
 statements.
 
-These logging macros will either be translated into `printf` statements or logging commands of
-[`console_bridge`](https://github.com/ros/console_bridge) if `console_bridge` is found on the system
-during the cmake run. In this case, the define `ROS_BUILD` will be set. When built inside a catkin
-workspace, logging commands are automatically translated into ROS logging commands.
+The macro based interface is by default using the [`DefaultLogHandler`](include/ur_client_library/default_log_handler.h)
+to print the logging messages as `printf` statements. It is possible to define your own log handler
+to change the behavior, [see create new log handler](#Create-new-log-handler) on how to.
+
+### Change logging level
+Make sure to set the logging level in your application, as by default only messages of level
+WARNING or higher will be printed. See below for an example:
+```c++
+#include "ur_client_library/log.h"
+
+int main(int argc, char* argv[])
+{
+  urcl::setLogLevel(urcl::LogLevel::DEBUG);
+
+  URCL_LOG_DEBUG("Logging debug message");
+  return 0;
+}
+```
+
+### Create new log handler
+The logger comes with an interface [`LogHandler`](include/ur_client_library/log.h), which can be
+used to implement your own log handler for messages logged with this library. This can be done by
+inheriting from the `LogHandler class`.
+
+If you want to create a new log handler in your application, you can use below example as
+inspiration:
+
+```c++
+#include "ur_client_library/log.h"
+#include <iostream>
+
+class MyLogHandler : public urcl::LogHandler
+{
+public:
+  MyLogHandler() = default;
+
+  void log(const char* file, int line, urcl::LogLevel loglevel, const char* log) override
+  {
+    switch (loglevel)
+    {
+      case urcl::LogLevel::INFO:
+        std::cout << "INFO " << file << " " << line << ": " << log << std::endl;
+        break;
+      case urcl::LogLevel::DEBUG:
+        std::cout << "DEBUG " << file << " " << line << ": " << log << std::endl;
+        break;
+      case urcl::LogLevel::WARN:
+        std::cout << "WARN " << file << " " << line << ": " << log << std::endl;
+        break;
+      case urcl::LogLevel::ERROR:
+        std::cout << "ERROR " << file << " " << line << ": " << log << std::endl;
+        break;
+      case urcl::LogLevel::FATAL:
+        std::cout << "ERROR " << file << " " << line << ": " << log << std::endl;
+        break;
+      default:
+        break;
+    }
+  }
+};
+
+int main(int argc, char* argv[])
+{
+  urcl::setLogLevel(urcl::LogLevel::DEBUG);
+  std::unique_ptr<MyLogHandler> log_handler(new MyLogHandler);
+  urcl::registerLogHandler(std::move(log_handler));
+
+  URCL_LOG_DEBUG("logging debug message");
+  URCL_LOG_INFO("logging info message");
+  return 0;
+}
+```
+
+### Console_bridge
+If [`console_bridge`](https://github.com/ros/console_bridge) is found on the system during the
+cmake run, logging commands will be done by `console_bridge`. In this case, the define `ROS_BUILD`
+will be set. When built inside a catkin workspace, logging commands are automatically translated
+into ROS logging commands.
+
+If you compile this library against `console_bridge`, make sure to set the logging level in your
+application, as by default `console_bridge` will only print messages of level WARNING or higher.
+See [`examples/primary_pipeline.cpp`](examples/primary_pipeline.cpp) as an example.
 
-Whenever you compile this library against `console_bridge`, make sure to set the logging level in
-your application, as by default `console_bridge` will only print messages of level WARNING or
-higher. See [`examples/primary_pipeline.cpp`](examples/primary_pipeline.cpp) as an example.
+The ROS logger will be moved to the ROS driver in a future release.

include/ur_client_library/default_log_handler.h

@@ -0,0 +1,60 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2021 Universal Robots A/S
+//
+// 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.
+
+// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of
+// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS
+// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR
+// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE
+// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY
+// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES,
+// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA,
+// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the
+// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an
+// appropriate copyright notice (“©  [the year in which you received the Source Code or the Source Code was first
+// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice
+// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information,
+// please contact legal@universal-robots.com.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#pragma once
+
+#include "ur_client_library/log.h"
+
+namespace urcl
+{
+/*!
+ * \brief LogHandler object for default handling of logging messages.
+ * This class is used when no other LogHandler is registered
+ */
+class DefaultLogHandler : public LogHandler
+{
+public:
+  /*!
+   * \brief Construct a new DefaultLogHandler object
+   */
+  DefaultLogHandler();
+
+  /*!
+   * \brief Function to log a message
+   *
+   * \param file The log message comes from this file
+   * \param line The log message comes from this line
+   * \param loglevel Indicates the severity of the log message
+   * \param log Log message
+   */
+  void log(const char* file, int line, LogLevel loglevel, const char* log) override;
+};
+
+}  // namespace urcl

include/ur_client_library/log.h

@@ -18,6 +18,7 @@
 
 #pragma once
 #include <inttypes.h>
+#include <memory>
 
 #ifdef ROS_BUILD
 #include <console_bridge/console.h>
@@ -30,10 +31,75 @@
 
 #else
 
-#define URCL_LOG_DEBUG(format, ...) printf("[DEBUG]: " format "\n", ##__VA_ARGS__)
-#define URCL_LOG_WARN(format, ...) printf("[WARNING]: " format "\n", ##__VA_ARGS__)
-#define URCL_LOG_INFO(format, ...) printf("[INFO]: " format "\n", ##__VA_ARGS__)
-#define URCL_LOG_ERROR(format, ...) printf("[ERROR]: " format "\n", ##__VA_ARGS__)
-#define URCL_LOG_FATAL(format, ...) printf("[FATAL]: " format "\n", ##__VA_ARGS__)
+#define URCL_LOG_DEBUG(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::DEBUG, __VA_ARGS__)
+#define URCL_LOG_WARN(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::WARN, __VA_ARGS__)
+#define URCL_LOG_INFO(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::INFO, __VA_ARGS__)
+#define URCL_LOG_ERROR(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::ERROR, __VA_ARGS__)
+#define URCL_LOG_FATAL(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::FATAL, __VA_ARGS__)
 
 #endif
+
+namespace urcl
+{
+/*!
+ * \brief Different log levels
+ */
+enum class LogLevel
+{
+  DEBUG = 0,
+  INFO,
+  WARN,
+  ERROR,
+  FATAL,
+  NONE
+};
+
+/*!
+ * \brief Inherit from this class to change the behavior when logging messages.
+ */
+class LogHandler
+{
+public:
+  virtual ~LogHandler() = default;
+  /*!
+   * \brief Function to log a message
+   *
+   * \param file The log message comes from this file
+   * \param line The log message comes from this line
+   * \param loglevel Indicates the severity of the log message
+   * \param log Log message
+   */
+  virtual void log(const char* file, int line, LogLevel loglevel, const char* log) = 0;
+};
+
+/*!
+ * \brief Register a new LogHandler object, for handling log messages.
+ *
+ * \param loghandler Pointer to the new object
+ */
+void registerLogHandler(std::unique_ptr<LogHandler> loghandler);
+
+/*!
+ * \brief Unregister current log handler, this will enable default log handler.
+ */
+void unregisterLogHandler();
+
+/*!
+ * \brief Set log level this will disable messages with lower log level.
+ *
+ * \param level desired log level
+ */
+void setLogLevel(LogLevel level);
+
+/*!
+ * \brief Log a message, this is used internally by the macros to unpack the log message.
+ * Use the macros instead of this function directly.
+ *
+ * \param file The log message comes from this file
+ * \param line The log message comes from this line
+ * \param level Severity of the log message
+ * \param fmt Format string
+ */
+void log(const char* file, int line, LogLevel level, const char* fmt, ...);
+
+}  // namespace urcl

src/default_log_handler.cpp

@@ -0,0 +1,62 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2021 Universal Robots A/S
+//
+// 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.
+
+// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of
+// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS
+// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR
+// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE
+// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY
+// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES,
+// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA,
+// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the
+// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an
+// appropriate copyright notice (“©  [the year in which you received the Source Code or the Source Code was first
+// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice
+// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information,
+// please contact legal@universal-robots.com.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#include "ur_client_library/default_log_handler.h"
+#include <stdio.h>
+
+namespace urcl
+{
+DefaultLogHandler::DefaultLogHandler() = default;
+
+void DefaultLogHandler::log(const char* file, int line, LogLevel loglevel, const char* log)
+{
+  switch (loglevel)
+  {
+    case LogLevel::INFO:
+      printf("%s%s %i: %s \n", "INFO ", file, line, log);
+      break;
+    case LogLevel::DEBUG:
+      printf("%s%s %i: %s \n", "DEBUG ", file, line, log);
+      break;
+    case LogLevel::WARN:
+      printf("%s%s %i: %s \n", "WARN ", file, line, log);
+      break;
+    case LogLevel::ERROR:
+      printf("%s%s %i: %s \n", "ERROR ", file, line, log);
+      break;
+    case LogLevel::FATAL:
+      printf("%s%s %i: %s \n", "FATAL ", file, line, log);
+      break;
+    default:
+      break;
+  }
+}
+
+}  // namespace urcl