node_logging.hpp

// 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.
 
#ifndef RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_
 
#include <memory>
 
#include "rclcpp/logger.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/visibility_control.hpp"
 
#include "rcl_interfaces/srv/get_logger_levels.hpp"
#include "rcl_interfaces/srv/set_logger_levels.hpp"
 
namespace rclcpp
{
namespace node_interfaces
{
 
class NodeLogging : public NodeLoggingInterface
{
public:
  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface)
 
  RCLCPP_PUBLIC
  explicit NodeLogging(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base);
 
  RCLCPP_PUBLIC
  virtual
  ~NodeLogging();
 
  RCLCPP_PUBLIC
  rclcpp::Logger
  get_logger() const override;
 
  RCLCPP_PUBLIC
  const char *
  get_logger_name() const override;
 
  RCLCPP_PUBLIC
  void
  create_logger_services(
    node_interfaces::NodeServicesInterface::SharedPtr node_services) override;
 
private:
  RCLCPP_DISABLE_COPY(NodeLogging)
 
  
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
 
  rclcpp::Logger logger_;
 
  rclcpp::Service<rcl_interfaces::srv::GetLoggerLevels>::SharedPtr get_loggers_service_;
  rclcpp::Service<rcl_interfaces::srv::SetLoggerLevels>::SharedPtr set_loggers_service_;
};
 
}  // namespace node_interfaces
}  // namespace rclcpp
 
#endif  // RCLCPP__NODE_INTERFACES__NODE_LOGGING_HPP_