Logging interface

rcl_logging_interface/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rcl_logging_interface)
+
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 11)
+endif()
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(NOT WIN32)
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+find_package(rcutils REQUIRED)
+
+add_library(${PROJECT_NAME} INTERFACE)
+target_include_directories(${PROJECT_NAME} INTERFACE
+  "$<INSTALL_INTERFACE:include>")
+ament_target_dependencies(${PROJECT_NAME} INTERFACE rcutils)
+
+install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+ament_export_include_directories(include)
+ament_export_targets(${PROJECT_NAME})
+ament_export_dependencies(rcutils)
+ament_package()

rcl_logging_log4cxx/include/rcl_logging_log4cxx/logging_interface.h → rcl_logging_interface/include/rcl_logging_interface/rcl_logging_interface.h

@@ -1,4 +1,4 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
+// Copyright 2020 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.
@@ -12,53 +12,68 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCL_LOGGING_LOG4CXX__LOGGING_INTERFACE_H_
-#define RCL_LOGGING_LOG4CXX__LOGGING_INTERFACE_H_
+#ifndef RCL_LOGGING_INTERFACE__RCL_LOGGING_INTERFACE_H_
+#define RCL_LOGGING_INTERFACE__RCL_LOGGING_INTERFACE_H_
+
+#include "rcl_logging_interface/visibility_control.h"
+#include "rcutils/allocator.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#include "rcl_logging_log4cxx/visibility_control.h"
-
-typedef int rcl_logging_ret_t;
+typedef enum
+{
+  RCL_LOGGING_RET_OK = 0,
+  RCL_LOGGING_RET_ERROR = 2,
+  RCL_LOGGING_RET_CONFIG_FILE_DOESNT_EXIST = 21,
+  RCL_LOGGING_RET_CONFIG_FILE_INVALID = 22,
+} rcl_logging_ret_t;
 
-/// Initialize log4cxx logging library.
-/*
+/// Initialize the external logging library.
+/**
  * \param[in] config_file The location of a config file that the external
  *   logging library should use to configure itself.
- *   If no config file is provided this will be set to an empty string.
- *   Must be a NULL terminated c string.
- * \param[in] allocator The allocator to use for memory allocation. This is
+ *   If provided, it must be a null terminated C string.
+ *   If set to NULL or the empty string, the logging library will use defaults.
+ * \param[in] allocator The allocator to use for memory allocation.  This is
  *   an rcutils_allocator_t rather than an rcl_allocator_t to ensure that the
  *   rcl_logging_* packages don't have a circular dependency back to rcl.
- * \return RCL_LOGGING_RET_OK if initialized successfully, or
+ * \return RCL_LOGGING_RET_OK if initialized successfully.
  * \return RCL_LOGGING_RET_ERROR if an unspecified error occurs.
+ * \return RCL_LOGGING_RET_CONFIG_FILE_DOESNT_EXIST if a config_file is provided
+ *   but the file doesn't exist.
+ * \return RCL_LOGGING_RET_CONFIG_FILE_INVALID if a config_file is provided but
+ *   the logging backend doesn't understand it.
  */
-RCL_LOGGING_PUBLIC
-rcl_logging_ret_t rcl_logging_external_initialize(
-  const char * config_file,
-  rcutils_allocator_t allocator);
+RCL_LOGGING_INTERFACE_PUBLIC
+RCUTILS_WARN_UNUSED
+rcl_logging_ret_t
+rcl_logging_external_initialize(const char * config_file, rcutils_allocator_t allocator);
 
-/// Free the resources allocated for the log4cxx external logging system.
+/// Free the resources allocated for the external logging system.
 /**
  * This puts the system into a state equivalent to being uninitialized.
  *
- * \return always RCL_LOGGING_RET_OK.
+ * \return RCL_LOGGING_RET_OK if successfully shutdown, or
+ * \return RCL_LOGGING_RET_ERROR if an unspecified error occurs.
  */
-RCL_LOGGING_PUBLIC
-rcl_logging_ret_t rcl_logging_external_shutdown();
+RCL_LOGGING_INTERFACE_PUBLIC
+RCUTILS_WARN_UNUSED
+rcl_logging_ret_t
+rcl_logging_external_shutdown();
 
 /// Log a message.
 /**
  * \param[in] severity The severity level of the message being logged.
  * \param[in] name The name of the logger, must either be a null terminated
- *   c string or NULL.
+ *   C string or NULL.
  *   If NULL or empty the root logger will be used.
- * \param[in] msg The message to be logged. Must be a null terminated c string.
+ * \param[in] msg The message to be logged. Must be a null terminated C string.
  */
-RCL_LOGGING_PUBLIC
-void rcl_logging_external_log(int severity, const char * name, const char * msg);
+RCL_LOGGING_INTERFACE_PUBLIC
+void
+rcl_logging_external_log(int severity, const char * name, const char * msg);
 
 /// Set the severity level for a logger.
 /**
@@ -67,20 +82,17 @@ void rcl_logging_external_log(int severity, const char * name, const char * msg)
  * the root logger.
  *
  * \param[in] name The name of the logger.
- *   Must be a NULL terminated c string or NULL.
- * \param[in] level The severity level to be used for the specified logger. Values:
- *   RCUTILS_LOG_SEVERITY_DEBUG, RCUTILS_LOG_SEVERITY_UNSET, RCUTILS_LOG_SEVERITY_DEBUG,
- *   RCUTILS_LOG_SEVERITY_INFO, RCUTILS_LOG_SEVERITY_WARN, RCUTILS_LOG_SEVERITY_ERROR,
- *   RCUTILS_LOG_SEVERITY_FATAL
- * \return always RCL_LOGGING_RET_OK.
+ *   Must be a null terminated C string or NULL.
+ * \param[in] level The severity level to be used for the specified logger.
+ * \return RCL_LOGGING_RET_OK if set successfully, or
+ * \return RCL_LOGGING_RET_ERROR if an unspecified error occurs.
  */
-RCL_LOGGING_PUBLIC
+RCL_LOGGING_INTERFACE_PUBLIC
 RCUTILS_WARN_UNUSED
 rcl_logging_ret_t rcl_logging_external_set_logger_level(const char * name, int level);
 
-
 #ifdef __cplusplus
-} /* extern "C" */
+}
 #endif
 
-#endif  // RCL_LOGGING_LOG4CXX__LOGGING_INTERFACE_H_
+#endif  // RCL_LOGGING_INTERFACE__RCL_LOGGING_INTERFACE_H_

rcl_logging_interface/include/rcl_logging_interface/visibility_control.h

@@ -0,0 +1,58 @@
+// Copyright 2020 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 RCL_LOGGING_INTERFACE__VISIBILITY_CONTROL_H_
+#define RCL_LOGGING_INTERFACE__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define RCL_LOGGING_INTERFACE_EXPORT __attribute__ ((dllexport))
+    #define RCL_LOGGING_INTERFACE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define RCL_LOGGING_INTERFACE_EXPORT __declspec(dllexport)
+    #define RCL_LOGGING_INTERFACE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef RCL_LOGGING_INTERFACE_BUILDING_DLL
+    #define RCL_LOGGING_INTERFACE_PUBLIC RCL_LOGGING_INTERFACE_EXPORT
+  #else
+    #define RCL_LOGGING_INTERFACE_PUBLIC RCL_LOGGING_INTERFACE_IMPORT
+  #endif
+  #define RCL_LOGGING_INTERFACE_PUBLIC_TYPE RCL_LOGGING_INTERFACE_PUBLIC
+  #define RCL_LOGGING_INTERFACE_LOCAL
+#else
+  #define RCL_LOGGING_INTERFACE_EXPORT __attribute__ ((visibility("default")))
+  #define RCL_LOGGING_INTERFACE_IMPORT
+  #if __GNUC__ >= 4
+    #define RCL_LOGGING_INTERFACE_PUBLIC __attribute__ ((visibility("default")))
+    #define RCL_LOGGING_INTERFACE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define RCL_LOGGING_INTERFACE_PUBLIC
+    #define RCL_LOGGING_INTERFACE_LOCAL
+  #endif
+  #define RCL_LOGGING_INTERFACE_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL_LOGGING_INTERFACE__VISIBILITY_CONTROL_H_

rcl_logging_interface/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rcl_logging_interface</name>
+  <version>1.0.0</version>
+  <description>Interface that rcl_logging backends needs to implement.</description>
+  <maintainer email="[email protected]">Chris Lalancette</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Chris Lalancette</author>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <depend>rcutils</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rcl_logging_log4cxx/CMakeLists.txt

@@ -14,11 +14,9 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 find_package(Log4cxx REQUIRED)
+find_package(rcl_logging_interface REQUIRED)
 find_package(rcutils REQUIRED)
 
-include_directories(include)
-
-
 if(NOT WIN32)
   add_compile_options(-Wall -Wextra -Wpedantic)
 else()
@@ -29,22 +27,15 @@ else()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4275 /wd4251")
 endif()
 
-set(${PROJECT_NAME}_sources
-    src/rcl_logging_log4cxx/rcl_logging_log4cxx.cpp
-)
-
-if(NOT WIN32)
-  add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
-else()
-  add_library(${PROJECT_NAME} STATIC ${${PROJECT_NAME}_sources})
-endif()
+add_library(${PROJECT_NAME} src/rcl_logging_log4cxx/rcl_logging_log4cxx.cpp)
 
 ament_target_dependencies(${PROJECT_NAME}
   Log4cxx
+  rcl_logging_interface
   rcutils
 )
 
-target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_LOGGING_BUILDING_DLL")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_LOGGING_INTERFACE_BUILDING_DLL")
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -53,16 +44,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-install(TARGETS ${PROJECT_NAME}
+install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION include/${PROJECT_NAME}
-)
-
-ament_export_include_directories(include)
-ament_export_dependencies(ament_cmake)
+ament_export_dependencies(ament_cmake rcl_logging_interface rcutils)
 ament_export_libraries(${PROJECT_NAME} log4cxx)
+ament_export_targets(${PROJECT_NAME})
 ament_package()

rcl_logging_log4cxx/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>python3-empy</buildtool_depend>
 
   <depend>log4cxx</depend>
+  <depend>rcl_logging_interface</depend>
   <depend>rcutils</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>

rcl_logging_log4cxx/src/rcl_logging_log4cxx/rcl_logging_log4cxx.cpp

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <rcl_logging_interface/rcl_logging_interface.h>
+
 #include <rcutils/allocator.h>
 #include <rcutils/get_env.h>
 #include <rcutils/logging.h>
@@ -62,17 +64,6 @@ static const log4cxx::LevelPtr map_external_log_level_to_library_level(int exter
   return level;
 }
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "rcl_logging_log4cxx/logging_interface.h"
-
-#define RCL_LOGGING_RET_OK                          (0)
-#define RCL_LOGGING_RET_ERROR                       (2)
-#define RCL_LOGGING_RET_CONFIG_FILE_DOESNT_EXIST    (21)
-#define RCL_LOGGING_RET_CONFIG_FILE_INVALID         (22)
-
 rcl_logging_ret_t rcl_logging_external_initialize(
   const char * config_file,
   rcutils_allocator_t allocator)
@@ -177,7 +168,3 @@ rcl_logging_ret_t rcl_logging_external_set_logger_level(const char * name, int l
   logger->setLevel(map_external_log_level_to_library_level(level));
   return RCL_LOGGING_RET_OK;
 }
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif