Feature: add logger_name property to subscription, publisher, service and client (backport #1471) (#1476)

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>
Co-authored-by: Nadav Elkabets <[email protected]>
Co-authored-by: Alejandro Hernandez Cordero <[email protected]>

Author: 3 people

rclpy/rclpy/client.py

@@ -185,3 +185,9 @@ def handle(self):
 
     def destroy(self):
         self.__client.destroy_when_not_in_use()
+
+    @property
+    def logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the client."""
+        with self.handle:
+            return self.__client.get_logger_name()

rclpy/rclpy/publisher.py

@@ -87,6 +87,12 @@ def topic_name(self) -> str:
     def handle(self):
         return self.__publisher
 
+    @property
+    def logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the publisher."""
+        with self.handle:
+            return self.__publisher.get_logger_name()
+
     def destroy(self):
         for handler in self.event_handlers:
             handler.destroy()

rclpy/rclpy/service.py

@@ -83,5 +83,11 @@ def send_response(self, response: SrvTypeResponse, header) -> None:
     def handle(self):
         return self.__service
 
+    @property
+    def logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the service."""
+        with self.handle:
+            return self.__service.get_logger_name()
+
     def destroy(self):
         self.__service.destroy_when_not_in_use()

rclpy/rclpy/subscription.py

@@ -83,3 +83,9 @@ def destroy(self):
     def topic_name(self):
         with self.handle:
             return self.__subscription.get_topic_name()
+
+    @property
+    def logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the subscription."""
+        with self.handle:
+            return self.__subscription.get_logger_name()

rclpy/src/rclpy/client.cpp

@@ -146,6 +146,17 @@ Client::take_response(py::object pyresponse_type)
   return result_tuple;
 }
 
+const char *
+Client::get_logger_name() const
+{
+  const char * node_logger_name = rcl_node_get_logger_name(node_.rcl_ptr());
+  if (!node_logger_name) {
+    throw RCLError("Node logger name not set");
+  }
+
+  return node_logger_name;
+}
+
 void
 define_client(py::object module)
 {
@@ -164,6 +175,9 @@ define_client(py::object module)
     "Return true if the service server is available")
   .def(
     "take_response", &Client::take_response,
-    "Take a received response from an earlier request");
+    "Take a received response from an earlier request")
+  .def(
+    "get_logger_name", &Client::get_logger_name,
+    "Get the name of the logger associated with the node of the client.");
 }
 }  // namespace rclpy

rclpy/src/rclpy/client.hpp

@@ -90,6 +90,15 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
   void
   destroy() override;
 
+  /// Get the name of the logger associated with the node of the client.
+  /**
+   *
+   * \return logger_name, or
+   * \return None on failure
+   */
+  const char *
+  get_logger_name() const;
+
 private:
   Node node_;
   std::shared_ptr<rcl_client_t> rcl_client_;

rclpy/src/rclpy/service.cpp

@@ -153,6 +153,17 @@ Service::get_qos_profile()
   return rclpy::convert_to_qos_dict(&options->qos);
 }
 
+const char *
+Service::get_logger_name() const
+{
+  const char * node_logger_name = rcl_node_get_logger_name(node_.rcl_ptr());
+  if (!node_logger_name) {
+    throw RCLError("Node logger name not set");
+  }
+
+  return node_logger_name;
+}
+
 void
 define_service(py::object module)
 {
@@ -174,6 +185,9 @@ define_service(py::object module)
     "Send a response")
   .def(
     "service_take_request", &Service::service_take_request,
-    "Take a request from a given service");
+    "Take a request from a given service")
+  .def(
+    "get_logger_name", &Service::get_logger_name,
+    "Get the name of the logger associated with the node of the service.");
 }
 }  // namespace rclpy

rclpy/src/rclpy/service.hpp

@@ -94,6 +94,15 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
   const char *
   get_service_name();
 
+  /// Get the name of the logger associated with the node of the service.
+  /**
+   *
+   * \return logger_name, or
+   * \return None on failure
+   */
+  const char *
+  get_logger_name() const;
+
   /// Get the QoS profile for this service.
   py::dict
   get_qos_profile();

rclpy/test/test_client.py

@@ -136,6 +136,11 @@ def test_different_type_raises(self):
             self.node.destroy_client(cli)
             self.node.destroy_service(srv)
 
+    def test_logger_name_is_equal_to_node_name(self) -> None:
+        cli = self.node.create_client(GetParameters, 'get/parameters')
+        self.assertEqual(cli.logger_name, 'TestClient')
+        self.node.destroy_client(cli)
+
 
 if __name__ == '__main__':
     unittest.main()

rclpy/test/test_publisher.py

@@ -125,6 +125,11 @@ def test_wait_for_all_acked(self):
         pub.destroy()
         sub.destroy()
 
+    def test_logger_name_is_equal_to_node_name(self) -> None:
+        pub = self.node.create_publisher(BasicTypes, TEST_TOPIC, 10)
+        self.assertEqual(pub.logger_name, 'node')
+        pub.destroy()
+
 
 if __name__ == '__main__':
     unittest.main()