Add Logger class and give one to nodes #411

dhood · 2017-11-30T20:23:20Z

This code change is one step in the higher-level Logging feature, see: ros2/ros2#425 for others

This adds a Logger class, the node->get_logger() method, and the rclcpp::get_logger(name) free function for non-node loggers.

Logging macros must now have a logger object passed as the first argument (instead of a name as previously accepted). I added

rclcpp/rclcpp/resource/logging.hpp.em

Line 47 in ed590ad

/// Helper function to give useful compiler errors in logging macros.

to give something more useful than a wall of macro errors if users try to pass a string: open to other implementation suggestions.

The Logger class is based off a rough implementation initially by @wjwwood. The node's logger is implemented as an interface on @Karsten1987's suggestion to support the use case of composing a lightweight Node that does not include or "pay for" the logger interface. Additionally, even if using the logger interface, logging functionality can be minimised with the preprocessor directive RCLCPP_LOGGING_ENABLED set to false.

Todo before merge:

remove logger namespace following Escalate more namespaces e.g. rclcpp::Service #410 (comment)
do whatever needs to be done for lifecycle_nodes to have a logger (haven't investigated yet)

Other todos listed in the code are planned as follow-up PRs.

ci windows

Karsten1987 · 2017-11-30T21:01:22Z

rclcpp/include/rclcpp/logger.hpp

+ * \return a dummy logger if logging is disabled.
+ */
+RCLCPP_PUBLIC
+Logger get_logger(const std::string & name);


Did you make up your mind whether you want to put that as a static member function? As discussed this would prevent you from friend/forward declaring it. However, I remember you mentioned it may be problematic for future developments.

yeah, the usability was what I had in mind: I wanted it to be just rclcpp::get_logger. After we spoke I did try making it a static function but in the end I wasn't able to promote just that one method to the rclcpp namespace like I thought I could. So for usability I left it as a free function

Karsten1987 · 2017-11-30T21:02:36Z

rclcpp/include/rclcpp/logger.hpp

+   *   disabled).
+   */
+  RCLCPP_PUBLIC
+  const char * get_name() const


style nitpick: new line between return type and function name

Karsten1987 · 2017-11-30T21:03:53Z

rclcpp/include/rclcpp/node_interfaces/node_logger.hpp

@@ -0,0 +1,61 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.


Karsten1987 · 2017-11-30T21:05:36Z

rclcpp/include/rclcpp/logger.hpp

+class NodeLogger;
+}
+
+namespace logger


given the discussion #410 (comment) you may want to remove the namespace logger.

yeah that's what I had listed above as a todo 👍

sorry, my fault. Only quickly looked over the code :)

nw, at least we had the same point ;)

Move the default_state_machine tests to another file because having different test fixtures was causing init to be called twice.

dhood · 2017-11-30T22:29:38Z

rclcpp_lifecycle/test/test_default_state_machine.cpp

@@ -0,0 +1,205 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.


Note to reviewers: I wanted to add and use a TestLifecycleNode test fixture. I moved the default_state_machine tests to another file because having two different test fixtures in one file was causing rclcpp::init to be called twice.

do you mind changing this year here as well?

mmm this file was just renamed... I didn't think we updated copyright in that situation (but I'm not 100% sure about these things)

It was my initial fault. It just have been 2016 in the first place :/

I removed the test changes completely, it was bloating the diff unnecessarily

dhood · 2017-11-30T22:53:34Z

This is good to review now.

The usage of rclcpp logging macros has been updated in ros2/demos#200, including usage for lifecycle nodes which also have a logger since a9c0ef7

Linux
Linux-aarch64
macOS
Windows

dhood · 2017-12-01T01:13:27Z

This is an example error with gcc if you try to pass a string instead of a logger to a macro. Still not great user experience but the top and bottom lines mention the Logger class at least.

In file included from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:21:0,
                 from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/rclcpp.hpp:142,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/include/logging_demo/logger_usage_component.hpp:21,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:15:
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp: In member function ‘void logging_demo::LoggerUsage::on_timer()’:
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:50:28: error: invalid initialization of reference of type ‘const rclcpp::Logger&’ from expression of type ‘const char*’
   RCLCPP_INFO_ONCE(get_name(), "Timer callback called (this will only log once)")
                            ^
/home/dhood/ros2_ws/install_isolated/rcutils/include/rcutils/logging_macros.h:67:47: note: in definition of macro ‘RCUTILS_LOG_COND_NAMED’
     if (rcutils_logging_logger_is_enabled_for(name, severity)) { \
                                               ^
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:186:3: note: in expansion of macro ‘RCUTILS_LOG_INFO_ONCE_NAMED’
   RCUTILS_LOG_INFO_ONCE_NAMED( \
   ^
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:50:3: note: in expansion of macro ‘RCLCPP_INFO_ONCE’
   RCLCPP_INFO_ONCE(get_name(), "Timer callback called (this will only log once)")
   ^
In file included from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/rclcpp.hpp:142:0,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/include/logging_demo/logger_usage_component.hpp:21,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:15:
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:58:21: note: in passing argument 1 of ‘const char* rclcpp::logging_macro_utilities::_get_logger_name(const rclcpp::Logger&)’
 inline const char * _get_logger_name(const rclcpp::Logger & logger)
                     ^
In file included from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:21:0,
                 from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/rclcpp.hpp:142,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/include/logging_demo/logger_usage_component.hpp:21,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:15:
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:50:28: error: invalid initialization of reference of type ‘const rclcpp::Logger&’ from expression of type ‘const char*’
   RCLCPP_INFO_ONCE(get_name(), "Timer callback called (this will only log once)")
                            ^
/home/dhood/ros2_ws/install_isolated/rcutils/include/rcutils/logging_macros.h:69:58: note: in definition of macro ‘RCUTILS_LOG_COND_NAMED’
       rcutils_log(&__rcutils_logging_location, severity, name, __VA_ARGS__); \
                                                          ^
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:186:3: note: in expansion of macro ‘RCUTILS_LOG_INFO_ONCE_NAMED’
   RCUTILS_LOG_INFO_ONCE_NAMED( \
   ^
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:50:3: note: in expansion of macro ‘RCLCPP_INFO_ONCE’
   RCLCPP_INFO_ONCE(get_name(), "Timer callback called (this will only log once)")
   ^
In file included from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/rclcpp.hpp:142:0,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/include/logging_demo/logger_usage_component.hpp:21,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:15:
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:58:21: note: in passing argument 1 of ‘const char* rclcpp::logging_macro_utilities::_get_logger_name(const rclcpp::Logger&)’
 inline const char * _get_logger_name(const rclcpp::Logger & logger)
CMakeFiles/logger_usage_component.dir/build.make:62: recipe for target 'CMakeFiles/logger_usage_component.dir/src/logger_usage_component.cpp.o' failed

wjwwood · 2017-12-01T01:45:15Z

@dhood you could use a static_assert in the macro to make a better message, something like:

  static_assert(std::is_same<decltype(logger), Logger>::value, "Must use Logger class"); \

See: https://stackoverflow.com/a/4029310

dhood · 2017-12-01T02:15:54Z

Gah, that was the first thing I tried but I gave up on it and figured it could only be used with standard types... actually the problem was whitespace in my macros..!! I shouldn't have given up so quickly.

Here's the error output with a519b72

In file included from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/rclcpp.hpp:142:0,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/include/logging_demo/logger_usage_component.hpp:21,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:15:
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp: In member function ‘void logging_demo::LoggerUsage::on_timer()’:
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:168:3: error: static assertion failed: First argument to logging macros must be an rclcpp::Logger
   static_assert(std::is_same<decltype(logger), rclcpp::Logger>::value, "First argument to logging macros must be an rclcpp::Logger"); \
   ^
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:50:3: note: in expansion of macro ‘RCLCPP_INFO_ONCE’
   RCLCPP_INFO_ONCE(get_name(), "Timer callback called (this will only log once)")
   ^
In file included from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:23:0,
                 from /home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/rclcpp.hpp:142,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/include/logging_demo/logger_usage_component.hpp:21,
                 from /home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:15:
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:170:12: error: request for member ‘get_name’ in ‘((logging_demo::LoggerUsage*)this)->logging_demo::LoggerUsage::<anonymous>.rclcpp::node::Node::get_name()’, which is of non-class type ‘const char*’
     logger.get_name(), \
            ^
/home/dhood/ros2_ws/install_isolated/rcutils/include/rcutils/logging_macros.h:67:47: note: in definition of macro ‘RCUTILS_LOG_COND_NAMED’
     if (rcutils_logging_logger_is_enabled_for(name, severity)) { \
                                               ^
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:169:3: note: in expansion of macro ‘RCUTILS_LOG_INFO_ONCE_NAMED’
   RCUTILS_LOG_INFO_ONCE_NAMED( \
   ^
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:50:3: note: in expansion of macro ‘RCLCPP_INFO_ONCE’
   RCLCPP_INFO_ONCE(get_name(), "Timer callback called (this will only log once)")
   ^
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:170:12: error: request for member ‘get_name’ in ‘((logging_demo::LoggerUsage*)this)->logging_demo::LoggerUsage::<anonymous>.rclcpp::node::Node::get_name()’, which is of non-class type ‘const char*’
     logger.get_name(), \
            ^
/home/dhood/ros2_ws/install_isolated/rcutils/include/rcutils/logging_macros.h:69:58: note: in definition of macro ‘RCUTILS_LOG_COND_NAMED’
       rcutils_log(&__rcutils_logging_location, severity, name, __VA_ARGS__); \
                                                          ^
/home/dhood/ros2_ws/install_isolated/rclcpp/include/rclcpp/logging.hpp:169:3: note: in expansion of macro ‘RCUTILS_LOG_INFO_ONCE_NAMED’
   RCUTILS_LOG_INFO_ONCE_NAMED( \
   ^
/home/dhood/ros2_ws/src/ros2/demos/logging_demo/src/logger_usage_component.cpp:50:3: note: in expansion of macro ‘RCLCPP_INFO_ONCE’
   RCLCPP_INFO_ONCE(get_name(), "Timer callback called (this will only log once)")
   ^
CMakeFiles/logger_usage_component.dir/build.make:62: recipe for target 'CMakeFiles/logger_usage_component.dir/src/logger_usage_component.cpp.o' failed

dhood · 2017-12-01T03:10:24Z

rclcpp/include/rclcpp/logger.hpp

+ */
+RCLCPP_PUBLIC
+Logger
+get_logger(const std::string & name);


do we think this should return a shared ptr as log4cxx does or leave it up to callers to call make_shared or similar?

In our discussion it sounded like it might make sense to return a shared_ptr here. In particular this would allow us to implement the actual Logger with a specialized subclass that potentially overrides the get_name or other capabilities and keeps a weak backlink to the node and can output a warning if node goes out of scope and the backlink is broken. And although the current logger is trivially copyable right now we wouldn't need to keep it that way looking forward if we return the pointer instead of an instance.

We talked about this off-line (@dhood and I) and I pointed out that if we want to do what you describe @tfoote we don't have swap the return type to a shared pointer, instead we could have the Logger class store a shared pointer and forward all methods calls to the shared pointer. Basically we could accomplish the same thing without inheritance.

That being said, if @dhood wanted to switch this to a pointer, that's fine by me too.

Also, if we really want to return a shared pointer we can do that in the future with an API break.

just in case

tfoote

Generally it lgtm, however I do think the shared ptr interface might make more sense for passing the logger to the user.

tfoote · 2017-12-02T00:50:10Z

rclcpp/include/rclcpp/logger.hpp

+ */
+RCLCPP_PUBLIC
+Logger
+get_logger(const std::string & name);


In our discussion it sounded like it might make sense to return a shared_ptr here. In particular this would allow us to implement the actual Logger with a specialized subclass that potentially overrides the get_name or other capabilities and keeps a weak backlink to the node and can output a warning if node goes out of scope and the backlink is broken. And although the current logger is trivially copyable right now we wouldn't need to keep it that way looking forward if we return the pointer instead of an instance.

demos use the loggers and we don't test other node stuff in lifecycle_node

dhood · 2017-12-04T20:20:49Z

@ros2/team This is good to review if anyone has time; at the moment this is targeted for release but if it is off-base and doesn't make it in nothing breaks. The usage updates are in ros2/demos#200

As @tfoote mentioned in https://github.com/ros2/rclcpp/pull/411/files#r154480879 there may be changes to how the logger is stored/accessed by the Node class, but we can do them at a later date.

wjwwood

I had some comments, but overall I think it's an improvement to merge as-is too.

wjwwood · 2017-12-04T20:41:09Z

rclcpp/include/rclcpp/logger.hpp

+ */
+RCLCPP_PUBLIC
+Logger
+get_logger(const std::string & name);


We talked about this off-line (@dhood and I) and I pointed out that if we want to do what you describe @tfoote we don't have swap the return type to a shared pointer, instead we could have the Logger class store a shared pointer and forward all methods calls to the shared pointer. Basically we could accomplish the same thing without inheritance.

That being said, if @dhood wanted to switch this to a pointer, that's fine by me too.

Also, if we really want to return a shared pointer we can do that in the future with an API break.

wjwwood · 2017-12-04T20:45:35Z

rclcpp/include/rclcpp/logger.hpp

+  /**
+   * The child logger's full name will include any hierarchy conventions that
+   * indicate it is a descendant of this logger.
+   * For example, ```get_logger('abc').get_child('def')``` will return a logger


nitpick: which use triple back tick here but single elsewhere?

it wasn't rendering the full expression without the triple (the others are simpler)

wjwwood · 2017-12-04T20:49:22Z

rclcpp/include/rclcpp/node_interfaces/node_logger.hpp

+{
+
+/// Implementation of the NodeLogger part of the Node API.
+class NodeLogger : public NodeLoggerInterface


I have a small concern here that NodeLogger sounds to much like a thing that logs for a node (which is not really what it is). What about NodeLogging and NodeLoggingInterface instead? I had a similar dilemma with NodeTopic versus NodeTopics, but I ended up going with NodeTopics because NodeTopicsInterface sounded better. For the same logic I think decided to suggest NodeLogging here, but I'll leave it to your discretion.

Yeah, the NodeLogger attribute of the Node/LifecycleNode class is not a logger but a way to access the logger. will switch to NodeLogging as proposed

wjwwood · 2017-12-04T20:51:58Z

rclcpp/src/rclcpp/node_interfaces/node_logger.cpp

+NodeLogger::NodeLogger(rclcpp::node_interfaces::NodeBaseInterface * node_base)
+: node_base_(node_base)
+{
+  // TODO(dhood): use the namespace (slashes converted to dots)


This would be nice to have in too, since that's part of the point of having the node logger right? So users don't have to do something like convert_slash_to_dot(node->get_namespace()) + node->get_name() for every logging call? (but still get the benefit of better namespaces in logging by default)

I understand this is higher risk to merge though...

It's definitely planned, I agree that it is the main point of the node logger. My thinking was to put the "logger name from node name/namespace" in rcl and then wrap it with python as well. Because of the reach of that change and the fact that things at the user level shouldn't change once we make the swap under the hood though, I consider it a separate "step" and so scoped it out of this PR for time reasons. It'll be the very next step though 😄

Following up: #433

dhood · 2017-12-05T00:06:19Z

Linux
Linux-aarch64
macOS
Windows

those are all an unrelated linter failure that's been fixed

* Add action graph API Builds on top of the rcl graph API. A list of action names associated with action clients can be constructed by looking for subscriber topic names that have the suffix "/_action/feedback". Likewise, action servers are associated with publisher topic names with the same suffix. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Enable multiple rmw action graph API tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use ament_target_dependencies for osrf_testing_tools_cpp Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix lint errors Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor * Move graph API common implementation to local function * Refactor tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Disable graph tests with OpenSplice Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Include graph.h in rcl_action.h Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove duplicate test Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Prefix increment operators Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Rename 'suffix' -> 'identifier' Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add missing finalize calls and remove redundant branch Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Finalize names and types struct on error Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix bugs in tests Pass valid names and types struct and update expected error code. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add zero allocator tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix indentation Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Check if action identifiers are the suffix Signed-off-by: Jacob Perron <jacob@openrobotics.org>

New in Python 3.8, we should call os.add_dll_directory for directories containing the DLLs we intend to import as well as their recursive dependencies. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Move logic to common package rpyutils Signed-off-by: Jacob Perron <jacob@openrobotics.org>

dhood added the in progress Actively being worked on (Kanban column) label Nov 30, 2017

dhood self-assigned this Nov 30, 2017

Karsten1987 reviewed Nov 30, 2017

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dhood added 19 commits November 30, 2017 14:25

Add Logger class and give one to nodes

647d07d

Try to improve compiler errors when non-Logger is passed to macros

2decda3

Add define for 'disabling' loggers

31d687f

Add/update tests

6ef5970

Linter fix

bb67d17

Documentation

f7a1e66

Windows fix

d92b7ce

Move free functions to source file (windows was upset)

d47cb79

Fix windows by changing prototype ordering

be6cd99

Store node logger in NodeBase

2002852

Windows is not happy with this EXPECT_ANY_THROW

d9d3886

Move get_logger to a NodeLogger interface

4600014

Move Logger into 'logger' namespace

1566cd8

Move helper function for macro errors into macro header

70f5bbd

Remove 'logger' namespace

05c8bc7

Return type on separate line

c80ac85

Update copyright year

8d91bf3

Give lifecycle nodes a logger

a9c0ef7

Add test for lifecycle node logger

ab695af

Move the default_state_machine tests to another file because having different test fixtures was causing init to be called twice.

dhood force-pushed the node_loggers branch from 336c0a7 to ab695af Compare November 30, 2017 22:27

dhood commented Nov 30, 2017

View reviewed changes

dhood mentioned this pull request Nov 30, 2017

Swap to using logger object for logging macros ros2/demos#200

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dhood mentioned this pull request Nov 30, 2017

Logging meta-ticket ros2/ros2#425

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dhood added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Dec 1, 2017

Switch to static_assert for logger check

a519b72

dhood commented Dec 1, 2017

View reviewed changes

global ns scope in macro calls

c3960b7

just in case

tfoote reviewed Dec 2, 2017

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dhood added in progress Actively being worked on (Kanban column) and removed in review Waiting for review (Kanban column) labels Dec 4, 2017

dhood added 3 commits December 4, 2017 11:37

Revert "Add test for lifecycle node logger" (make diff smaller)

5142bab

demos use the loggers and we don't test other node stuff in lifecycle_node

Update for rcutils function name change

af66f6c

Add reference to Node::get_logger() in doxygen

05d86cf

dhood added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Dec 4, 2017

wjwwood approved these changes Dec 4, 2017

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Rename NodeLoggerInterface to NodeLoggingInterface

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dhood merged commit 2e4e85f into master Dec 5, 2017

dhood deleted the node_loggers branch December 5, 2017 00:07

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Enabled Logger based on Severity #2384

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Add Logger class and give one to nodes #411

Add Logger class and give one to nodes #411

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dhood commented Dec 5, 2017

		@@ -0,0 +1,61 @@
		// Copyright 2016 Open Source Robotics Foundation, Inc.

		@@ -0,0 +1,205 @@
		// Copyright 2015 Open Source Robotics Foundation, Inc.

Add Logger class and give one to nodes #411

Add Logger class and give one to nodes #411

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