Swap lifecycle nodes to using node loggers

ros2 · Nov 30, 2017 · addbbf0 · addbbf0
1 parent 6615c89
commit addbbf0
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Showing 3 changed files with 24 additions and 20 deletions.
diff --git a/lifecycle/src/lifecycle_listener.cpp b/lifecycle/src/lifecycle_listener.cpp
@@ -51,12 +51,12 @@ class LifecycleListener : public rclcpp::Node
 
   void data_callback(const std_msgs::msg::String::SharedPtr msg)
   {
-    RCUTILS_LOG_INFO_NAMED(get_name(), "data_callback: %s", msg->data.c_str())
+    RCLCPP_INFO(get_logger(), "data_callback: %s", msg->data.c_str())
   }
 
   void notification_callback(const lifecycle_msgs::msg::TransitionEvent::SharedPtr msg)
   {
-    RCUTILS_LOG_INFO_NAMED(get_name(), "notify callback: Transition from state %s to %s",
+    RCLCPP_INFO(get_logger(), "notify callback: Transition from state %s to %s",
       msg->start_state.label.c_str(), msg->goal_state.label.c_str())
   }
 

diff --git a/lifecycle/src/lifecycle_service_client.cpp b/lifecycle/src/lifecycle_service_client.cpp
@@ -97,7 +97,9 @@ class LifecycleServiceClient : public rclcpp::Node
     auto request = std::make_shared<lifecycle_msgs::srv::GetState::Request>();
 
     if (!client_get_state_->wait_for_service(time_out)) {
-      RCUTILS_LOG_ERROR("Service %s is not available.",
+      RCLCPP_ERROR(
+        get_logger(),
+        "Service %s is not available.",
         client_get_state_->get_service_name().c_str())
       return lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN;
     }
@@ -111,19 +113,19 @@ class LifecycleServiceClient : public rclcpp::Node
     auto future_status = wait_for_result(future_result, time_out);
 
     if (future_status != std::future_status::ready) {
-      RCUTILS_LOG_ERROR_NAMED(
-        get_name(), "Server time out while getting current state for node %s", lifecycle_node)
+      RCLCPP_ERROR(
+        get_logger(), "Server time out while getting current state for node %s", lifecycle_node)
       return lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN;
     }
 
     // We have an succesful answer. So let's print the current state.
     if (future_result.get()) {
-      RCUTILS_LOG_INFO_NAMED(get_name(), "Node %s has current state %s.",
+      RCLCPP_INFO(get_logger(), "Node %s has current state %s.",
         lifecycle_node, future_result.get()->current_state.label.c_str())
       return future_result.get()->current_state.id;
     } else {
-      RCUTILS_LOG_ERROR_NAMED(
-        get_name(), "Failed to get current state for node %s", lifecycle_node)
+      RCLCPP_ERROR(
+        get_logger(), "Failed to get current state for node %s", lifecycle_node)
       return lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN;
     }
   }
@@ -151,7 +153,9 @@ class LifecycleServiceClient : public rclcpp::Node
     request->transition.id = transition;
 
     if (!client_change_state_->wait_for_service(time_out)) {
-      RCUTILS_LOG_ERROR("Service %s is not available.",
+      RCLCPP_ERROR(
+        get_logger(),
+        "Service %s is not available.",
         client_change_state_->get_service_name().c_str())
       return false;
     }
@@ -164,19 +168,19 @@ class LifecycleServiceClient : public rclcpp::Node
     auto future_status = wait_for_result(future_result, time_out);
 
     if (future_status != std::future_status::ready) {
-      RCUTILS_LOG_ERROR_NAMED(
-        get_name(), "Server time out while getting current state for node %s", lifecycle_node)
+      RCLCPP_ERROR(
+        get_logger(), "Server time out while getting current state for node %s", lifecycle_node)
       return false;
     }
 
     // We have an answer, let's print our success.
     if (future_result.get()->success) {
-      RCUTILS_LOG_INFO_NAMED(
-        get_name(), "Transition %d successfully triggered.", static_cast<int>(transition))
+      RCLCPP_INFO(
+        get_logger(), "Transition %d successfully triggered.", static_cast<int>(transition))
       return true;
     } else {
-      RCUTILS_LOG_WARN_NAMED(
-        get_name(), "Failed to trigger transition %u", static_cast<unsigned int>(transition));
+      RCLCPP_WARN(
+        get_logger(), "Failed to trigger transition %u", static_cast<unsigned int>(transition));
       return false;
     }
   }

diff --git a/lifecycle/src/lifecycle_talker.cpp b/lifecycle/src/lifecycle_talker.cpp
@@ -78,11 +78,11 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
 
     // Print the current state for demo purposes
     if (!pub_->is_activated()) {
-      RCUTILS_LOG_INFO_NAMED(
-        get_name(), "Lifecycle publisher is currently inactive. Messages are not published.")
+      RCLCPP_INFO(
+        get_logger(), "Lifecycle publisher is currently inactive. Messages are not published.")
     } else {
-      RCUTILS_LOG_INFO_NAMED(
-        get_name(), "Lifecycle publisher is active. Publishing: [%s]", msg_->data.c_str())
+      RCLCPP_INFO(
+        get_logger(), "Lifecycle publisher is active. Publishing: [%s]", msg_->data.c_str())
     }
 
     // We independently from the current state call publish on the lifecycle
@@ -119,7 +119,7 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
     timer_ = this->create_wall_timer(
       1s, std::bind(&LifecycleTalker::publish, this));
 
-    RCUTILS_LOG_INFO_NAMED(get_name(), "on_configure() is called.")
+    RCLCPP_INFO(get_logger(), "on_configure() is called.")
 
     // We return a success and hence invoke the transition to the next
     // step: "inactive".