logging.h File Reference

#include "rcl/allocator.h"
#include "rcl/arguments.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
#include "rcutils/logging.h"

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Typedefs
typedef rcutils_logging_output_handler_t	rcl_logging_output_handler_t
	The function signature to log messages.

Functions
RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_logging_configure (const rcl_arguments_t *global_args, const rcl_allocator_t *allocator)
	Configure the logging system. More...
RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_logging_configure_with_output_handler (const rcl_arguments_t *global_args, const rcl_allocator_t *allocator, rcl_logging_output_handler_t output_handler)
	Configure the logging system with the provided output handler. More...
RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_logging_fini (void)
RCL_PUBLIC RCL_WARN_UNUSED bool	rcl_logging_rosout_enabled (void)
	See if logging rosout is enabled. More...
RCL_PUBLIC void	rcl_logging_multiple_output_handler (const rcutils_log_location_t *location, int severity, const char *name, rcutils_time_point_value_t timestamp, const char *format, va_list *args)
	Default output handler used by rcl. More...

Function Documentation

rcl_logging_configure()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_logging_configure	(	const rcl_arguments_t *	global_args,
		const rcl_allocator_t *	allocator
	)

Configure the logging system.

This function should be called during the ROS initialization process. It will add the enabled log output appenders to the root logger.

---

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	global_args	The global arguments for the system
[in]	allocator	Used to allocate memory used by the logging system

Returns

RCL_RET_OK if successful, or

RCL_RET_BAD_ALLOC if allocating memory failed, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ERROR if a general error occurs

Definition at line 121 of file logging.c.

References rcl_logging_configure_with_output_handler(), and rcl_logging_multiple_output_handler().

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rcl_logging_configure_with_output_handler()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_logging_configure_with_output_handler	(	const rcl_arguments_t *	global_args,
		const rcl_allocator_t *	allocator,
		rcl_logging_output_handler_t	output_handler
	)

Configure the logging system with the provided output handler.

Similar to rcl_logging_configure, but it uses the provided output handler.

See also

rcl_logging_configure

---

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	global_args	The global arguments for the system
[in]	allocator	Used to allocate memory used by the logging system
[in]	output_handler	Output handler to be installed

Returns

RCL_RET_OK if successful, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_BAD_ALLOC if allocating memory failed, or

RCL_RET_ERROR if a general error occurs

Definition at line 57 of file logging.c.

References rcl_log_levels_s::default_logger_level, rcl_arguments_impl_s::external_log_config_file, rcl_arguments_impl_s::external_log_file_name_prefix, rcl_arguments_s::impl, rcl_logger_setting_s::level, rcl_arguments_impl_s::log_ext_lib_disabled, rcl_arguments_impl_s::log_levels, rcl_arguments_impl_s::log_rosout_disabled, rcl_arguments_impl_s::log_stdout_disabled, rcl_log_levels_s::logger_settings, rcl_logger_setting_s::name, rcl_log_levels_s::num_logger_settings, RCL_CHECK_ALLOCATOR_WITH_MSG, rcl_logging_rosout_init(), rcl_logging_rosout_output_handler(), RCL_RET_ERROR, RCL_RET_INVALID_ARGUMENT, and RCL_RET_OK.

Referenced by rclcpp::Context::init(), and rcl_logging_configure().

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rcl_logging_fini()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_logging_fini

(

void

)

This function should be called to tear down the logging setup by the configure function.

---

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Returns

RCL_RET_OK if successful.

RCL_RET_ERROR if a general error occurs

Definition at line 127 of file logging.c.

References rcl_logging_rosout_fini(), and RCL_RET_OK.

Referenced by rclcpp::Context::shutdown().

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rcl_logging_multiple_output_handler()

RCL_PUBLIC void rcl_logging_multiple_output_handler	(	const rcutils_log_location_t *	location,
		int	severity,
		const char *	name,
		rcutils_time_point_value_t	timestamp,
		const char *	format,
		va_list *	args
	)

Default output handler used by rcl.

This function can be wrapped in a language specific client library, adding the necessary mutual exclusion protection there, and then use rcl_logging_configure_with_output_handler() instead of rcl_logging_configure().

---

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	location	The pointer to the location struct or NULL
[in]	severity	The severity level
[in]	name	The name of the logger, must be null terminated c string
[in]	timestamp	The timestamp for when the log message was made
[in]	format	The list of arguments to insert into the formatted log message
[in]	args	argument for the string format

Definition at line 154 of file logging.c.

Referenced by rcl_logging_configure().

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rcl_logging_rosout_enabled()

RCL_PUBLIC RCL_WARN_UNUSED bool rcl_logging_rosout_enabled

(

void

)

See if logging rosout is enabled.

This function is meant to be used to check if logging rosout is enabled.

---

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Returns

TRUE if logging rosout is enabled, or

FALSE if logging rosout is disabled.

Definition at line 148 of file logging.c.

Referenced by rclcpp::node_interfaces::NodeBase::NodeBase().

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