Feature: add logger_name property to subscription, publisher, service and client (#1471) (#1474)

(cherry picked from commit 4859c8a)

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

Author: 3 people

rclpy/rclpy/client.py

@@ -224,6 +224,12 @@ def service_name(self) -> str:
         with self.handle:
             return self.__client.service_name
 
+    @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()
+
     def destroy(self) -> None:
         """
         Destroy a container for a ROS service client.

rclpy/rclpy/impl/_rclpy_pybind11.pyi

@@ -188,6 +188,9 @@ class Client(Destroyable, Generic[SrvRequestT, SrvResponseT]):
     ) -> None:
         """Configure whether introspection is enabled."""
 
+    def get_logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the client."""
+
 
 class Context(Destroyable):
 
@@ -276,6 +279,9 @@ class Service(Destroyable, Generic[SrvRequestT, SrvResponseT]):
     ) -> None:
         """Configure whether introspection is enabled."""
 
+    def get_logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the service."""
+
 
 class TypeDescriptionService(Destroyable):
 

rclpy/rclpy/publisher.py

@@ -89,6 +89,12 @@ def topic_name(self) -> str:
     def handle(self) -> '_rclpy.Publisher[MsgT]':
         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) -> None:
         """
         Destroy a container for a ROS publisher.

rclpy/rclpy/service.py

@@ -114,6 +114,12 @@ def service_name(self) -> str:
         with self.handle:
             return self.__service.name
 
+    @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) -> None:
         """
         Destroy a container for a ROS service server.

rclpy/rclpy/subscription.py

@@ -134,6 +134,12 @@ def callback(self, value: Union[Callable[[MsgT], None],
             'Subscription.__init__(): callback should be either be callable with one argument'
             '(to get only the message) or two (to get message and message info)')
 
+    @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()
+
     def __enter__(self) -> 'Subscription[MsgT]':
         return self
 

rclpy/src/rclpy/client.cpp

@@ -170,6 +170,17 @@ Client::get_service_name()
   return rcl_client_get_service_name(rcl_client_.get());
 }
 
+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)
 {
@@ -194,6 +205,9 @@ define_client(py::object module)
     "Take a received response from an earlier request")
   .def(
     "configure_introspection", &Client::configure_introspection,
-    "Configure whether introspection is enabled");
+    "Configure whether introspection is enabled")
+  .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

@@ -111,6 +111,15 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
   const char *
   get_service_name();
 
+  /// 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

@@ -155,6 +155,17 @@ 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
 Service::configure_introspection(
   Clock & clock, py::object pyqos_service_event_pub,
@@ -197,6 +208,9 @@ define_service(py::object module)
     "Take a request from a given service")
   .def(
     "configure_introspection", &Service::configure_introspection,
-    "Configure whether introspection is enabled");
+    "Configure whether introspection is enabled")
+  .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

@@ -95,6 +95,15 @@ 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

@@ -264,6 +264,10 @@ def _service(request, response):
                 executor.shutdown()
                 executor_thread.join()
 
+    def test_logger_name_is_equal_to_node_name(self) -> None:
+        with self.node.create_client(GetParameters, 'get/parameters') as cli:
+            self.assertEqual(cli.logger_name, 'TestClient')
+
 
 if __name__ == '__main__':
     unittest.main()