Moving the external logging library and rosout functions out to rcl. Also automatically uncrustifying and fixing unit tests.

Author: nburek

CMakeLists.txt

@@ -11,14 +11,9 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
-include(cmake/get_default_rc_logging_implementation.cmake)
-
-
 find_package(ament_cmake_python REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 
-get_default_rc_logging_implementation(RC_LOGGING_IMPL)
-
 ament_python_install_package(${PROJECT_NAME})
 
 include_directories(include)
@@ -96,8 +91,6 @@ add_library(
   ${PROJECT_NAME}
   ${rcutils_sources})
 
-target_link_libraries(${PROJECT_NAME} ${${RC_LOGGING_IMPL}_LIBRARIES})
-
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_BUILDING_DLL")

cmake/get_default_rc_logging_implementation.cmake

@@ -142,31 +142,6 @@ RCUTILS_PUBLIC
 RCUTILS_WARN_UNUSED
 rcutils_ret_t rcutils_logging_shutdown(void);
 
-/// Configures 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.
- *
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | No
- * Thread-Safe        | No
- * Uses Atomics       | No
- * Lock-Free          | Yes
- *
- * \param default_level The default severity level to log at
- * \param config_file The configuration file for the external logging library to use. Should be a null terminated string.
- *      If NULL or an empty string the default configuration will be used
- * \param enable_stdout Should the stdout output appender be enabled
- * \param enable_rosout Should the rosout output appender be enabled
- * \param enable_ext_lib Should the external logger library output appender be enabled
- * \return `RCUTILS_RET_OK` if successful.
- * \return `RCUTILS_RET_ERR` if a general error occurs
- */
-RCUTILS_PUBLIC
-rcutils_ret_t rcutils_logging_configure(int default_level, const char * config_file, bool enable_stdout, bool enable_rosout, bool enable_ext_lib);
-
 /// The structure identifying the caller location in the source code.
 typedef struct rcutils_log_location_t
 {

include/rcutils/logging.h

@@ -21,6 +21,7 @@ extern "C"
 #endif
 
 #include <stdarg.h>
+
 #include "rcutils/allocator.h"
 #include "rcutils/types/rcutils_ret.h"
 #include "rcutils/visibility_control.h"
@@ -134,7 +135,7 @@ rcutils_char_array_resize(rcutils_char_array_t * char_array, size_t new_size);
 RCUTILS_PUBLIC
 RCUTILS_WARN_UNUSED
 rcutils_ret_t
-rcutils_char_array_expand_as_needed(rcutils_char_array_t *char_array, size_t new_size);
+rcutils_char_array_expand_as_needed(rcutils_char_array_t * char_array, size_t new_size);
 
 /// Produce output according to format and args.
 /**
@@ -154,7 +155,7 @@ rcutils_char_array_expand_as_needed(rcutils_char_array_t *char_array, size_t new
 RCUTILS_PUBLIC
 RCUTILS_WARN_UNUSED
 rcutils_ret_t
-rcutils_char_array_vsprintf(rcutils_char_array_t * char_array, const char *format, va_list args);
+rcutils_char_array_vsprintf(rcutils_char_array_t * char_array, const char * format, va_list args);
 
 /// Append a string (or part of it) to the string in buffer.
 /**

include/rcutils/logging_external_interface.h

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
+<package format="2">
   <name>rcutils</name>
   <version>0.6.0</version>
   <description>Package containing various utility types and functions for C</description>
@@ -10,9 +10,6 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>python3-empy</buildtool_depend>
 
-  <depend>rc_logging_log4cxx</depend>
-  <group_depend>rc_logging_packages</group_depend>
-
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>

include/rcutils/types/char_array.h

@@ -18,18 +18,6 @@
 
 #define MIN(a, b) ((a) < (b) ? (a) : (b))
 
-#define RCUTILS_VALIDATE_CHAR_ARRAY(char_array) \
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG( \
-      char_array, \
-      "char array pointer is null", \
-      return RCUTILS_RET_ERROR);
-
-#define RCUTILS_VALIDATE_ALLOCATOR(allocator) \
-  if (!rcutils_allocator_is_valid(allocator)) { \
-    RCUTILS_SET_ERROR_MSG("char array has no valid allocator"); \
-    return RCUTILS_RET_ERROR; \
-  }
-
 rcutils_char_array_t
 rcutils_get_zero_initialized_char_array(void)
 {
@@ -49,8 +37,9 @@ rcutils_char_array_init(
   size_t buffer_capacity,
   const rcutils_allocator_t * allocator)
 {
-  RCUTILS_VALIDATE_CHAR_ARRAY(char_array);
-  RCUTILS_VALIDATE_ALLOCATOR(allocator);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(char_array, RCUTILS_RET_ERROR);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(allocator, "char array has no valid allocator",
+    return RCUTILS_RET_ERROR);
 
   char_array->owns_buffer = true;
   char_array->buffer_length = 0lu;
@@ -74,16 +63,16 @@ rcutils_char_array_init(
 rcutils_ret_t
 rcutils_char_array_fini(rcutils_char_array_t * char_array)
 {
-  RCUTILS_VALIDATE_CHAR_ARRAY(char_array);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(char_array, RCUTILS_RET_ERROR);
 
-  if (!char_array->owns_buffer) {
-    return RCUTILS_RET_OK;
-  }
+  if (char_array->owns_buffer) {
+    rcutils_allocator_t * allocator = &char_array->allocator;
+    RCUTILS_CHECK_ALLOCATOR_WITH_MSG(allocator, "char array has no valid allocator",
+      return RCUTILS_RET_ERROR);
 
-  rcutils_allocator_t * allocator = &char_array->allocator;
-  RCUTILS_VALIDATE_ALLOCATOR(allocator);
+    allocator->deallocate(char_array->buffer, allocator->state);
+  }
 
-  allocator->deallocate(char_array->buffer, allocator->state);
   char_array->buffer = NULL;
   char_array->buffer_length = 0lu;
   char_array->buffer_capacity = 0lu;
@@ -94,15 +83,16 @@ rcutils_char_array_fini(rcutils_char_array_t * char_array)
 rcutils_ret_t
 rcutils_char_array_resize(rcutils_char_array_t * char_array, size_t new_size)
 {
-  RCUTILS_VALIDATE_CHAR_ARRAY(char_array);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(char_array, RCUTILS_RET_ERROR);
 
   if (0lu == new_size) {
     RCUTILS_SET_ERROR_MSG("new size of char_array has to be greater than zero");
     return RCUTILS_RET_INVALID_ARGUMENT;
   }
 
   rcutils_allocator_t * allocator = &char_array->allocator;
-  RCUTILS_VALIDATE_ALLOCATOR(allocator);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(allocator, "char array has no valid allocator",
+    return RCUTILS_RET_ERROR);
 
   if (new_size == char_array->buffer_capacity) {
     // nothing to do here
@@ -113,13 +103,13 @@ rcutils_char_array_resize(rcutils_char_array_t * char_array, size_t new_size)
   size_t old_size = char_array->buffer_capacity;
   size_t old_length = char_array->buffer_length;
 
-  if (char_array->owns_buffer) { // we own the buffer, we can do whatever we want
+  if (char_array->owns_buffer) {  // we own the buffer, we can do whatever we want
     char_array->buffer = rcutils_reallocf(char_array->buffer, new_size * sizeof(char), allocator);
     RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-        char_array->buffer,
-        "failed to reallocate memory for char array",
-        return RCUTILS_RET_BAD_ALLOC);
-  } else { // we don't realloc memory we don't own. instead, we alloc some new space
+      char_array->buffer,
+      "failed to reallocate memory for char array",
+      return RCUTILS_RET_BAD_ALLOC);
+  } else {  // we don't realloc memory we don't own. instead, we alloc some new space
     rcutils_ret_t ret = rcutils_char_array_init(char_array, new_size, allocator);
     if (ret != RCUTILS_RET_OK) {
       return ret;
@@ -136,9 +126,9 @@ rcutils_char_array_resize(rcutils_char_array_t * char_array, size_t new_size)
 }
 
 rcutils_ret_t
-rcutils_char_array_expand_as_needed(rcutils_char_array_t *char_array, size_t new_size)
+rcutils_char_array_expand_as_needed(rcutils_char_array_t * char_array, size_t new_size)
 {
-  RCUTILS_VALIDATE_CHAR_ARRAY(char_array);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(char_array, RCUTILS_RET_ERROR);
 
   if (new_size <= char_array->buffer_capacity) {
     return RCUTILS_RET_OK;
@@ -148,12 +138,13 @@ rcutils_char_array_expand_as_needed(rcutils_char_array_t *char_array, size_t new
 }
 
 static int
-_rcutils_char_array_vsprintf(rcutils_char_array_t *char_array, const char *format, va_list args)
+_rcutils_char_array_vsprintf(rcutils_char_array_t * char_array, const char * format, va_list args)
 {
   va_list args_clone;
   va_copy(args_clone, args);
 
-  // when doing size calculation, remember the return value of vsnprintf excludes terminating null byte
+  // when doing size calculation, remember the return value of vsnprintf excludes terminating null
+  // byte
   int size = vsnprintf(char_array->buffer, char_array->buffer_capacity, format, args_clone);
 
   va_end(args_clone);
@@ -162,7 +153,7 @@ _rcutils_char_array_vsprintf(rcutils_char_array_t *char_array, const char *forma
 }
 
 rcutils_ret_t
-rcutils_char_array_vsprintf(rcutils_char_array_t * char_array, const char *format, va_list args)
+rcutils_char_array_vsprintf(rcutils_char_array_t * char_array, const char * format, va_list args)
 {
   int size = _rcutils_char_array_vsprintf(char_array, format, args);
 
@@ -171,7 +162,7 @@ rcutils_char_array_vsprintf(rcutils_char_array_t * char_array, const char *forma
     return RCUTILS_RET_ERROR;
   }
 
-  size_t new_size = (size_t) size + 1; // with the terminating null byte
+  size_t new_size = (size_t) size + 1;  // with the terminating null byte
 
   if (new_size > char_array->buffer_capacity) {
     rcutils_ret_t ret = rcutils_char_array_expand_as_needed(char_array, new_size);
@@ -211,7 +202,7 @@ rcutils_char_array_memcpy(rcutils_char_array_t * char_array, const char * src, s
 rcutils_ret_t
 rcutils_char_array_strcpy(rcutils_char_array_t * char_array, const char * src)
 {
-    return rcutils_char_array_memcpy(char_array, src, strlen(src) + 1);
+  return rcutils_char_array_memcpy(char_array, src, strlen(src) + 1);
 }
 
 rcutils_ret_t