Merge pull request #40 from urmahp/logging_feature

Added LogHandler, this enables the possibility to change the behavior when logging messages with this library.

Author: Felix Exner

CMakeLists.txt

@@ -39,6 +39,8 @@ add_library(urcl SHARED
     src/ur/dashboard_client.cpp
     src/ur/tool_communication.cpp
     src/rtde/rtde_writer.cpp
+    src/default_log_handler.cpp
+    src/log.cpp
 )
 add_library(ur_client_library::urcl ALIAS urcl)
 target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)

README.md

@@ -35,12 +35,12 @@ robotic manipulators.
    [boost](https://github.com/UniversalRobots/Universal_Robots_Client_Library/tree/boost) branch
    instead that requires the boost library.
    For the C++17 features, please use those minimum compiler versions:
-   
+
    | Compiler  | min. version |
    |-----------|--------------|
    | **GCC**   | 7            |
    | **Clang** | 7            |
-   
+
 
 ## Build instructions
 ### Plain cmake
@@ -301,11 +301,87 @@ As this library was originally designed to be included into a ROS driver but als
 standalone library, it uses custom logging macros instead of direct `printf` or `std::cout`
 statements.
 
-These logging macros will either be translated into `printf` statements or logging commands of
-[`console_bridge`](https://github.com/ros/console_bridge) if `console_bridge` is found on the system
-during the cmake run. In this case, the define `ROS_BUILD` will be set. When built inside a catkin
-workspace, logging commands are automatically translated into ROS logging commands.
+The macro based interface is by default using the [`DefaultLogHandler`](include/ur_client_library/default_log_handler.h)
+to print the logging messages as `printf` statements. It is possible to define your own log handler
+to change the behavior, [see create new log handler](#Create-new-log-handler) on how to.
+
+### Change logging level
+Make sure to set the logging level in your application, as by default only messages of level
+WARNING or higher will be printed. See below for an example:
+```c++
+#include "ur_client_library/log.h"
+
+int main(int argc, char* argv[])
+{
+  urcl::setLogLevel(urcl::LogLevel::DEBUG);
+
+  URCL_LOG_DEBUG("Logging debug message");
+  return 0;
+}
+```
+
+### Create new log handler
+The logger comes with an interface [`LogHandler`](include/ur_client_library/log.h), which can be
+used to implement your own log handler for messages logged with this library. This can be done by
+inheriting from the `LogHandler class`.
+
+If you want to create a new log handler in your application, you can use below example as
+inspiration:
+
+```c++
+#include "ur_client_library/log.h"
+#include <iostream>
+
+class MyLogHandler : public urcl::LogHandler
+{
+public:
+  MyLogHandler() = default;
+
+  void log(const char* file, int line, urcl::LogLevel loglevel, const char* log) override
+  {
+    switch (loglevel)
+    {
+      case urcl::LogLevel::INFO:
+        std::cout << "INFO " << file << " " << line << ": " << log << std::endl;
+        break;
+      case urcl::LogLevel::DEBUG:
+        std::cout << "DEBUG " << file << " " << line << ": " << log << std::endl;
+        break;
+      case urcl::LogLevel::WARN:
+        std::cout << "WARN " << file << " " << line << ": " << log << std::endl;
+        break;
+      case urcl::LogLevel::ERROR:
+        std::cout << "ERROR " << file << " " << line << ": " << log << std::endl;
+        break;
+      case urcl::LogLevel::FATAL:
+        std::cout << "ERROR " << file << " " << line << ": " << log << std::endl;
+        break;
+      default:
+        break;
+    }
+  }
+};
+
+int main(int argc, char* argv[])
+{
+  urcl::setLogLevel(urcl::LogLevel::DEBUG);
+  std::unique_ptr<MyLogHandler> log_handler(new MyLogHandler);
+  urcl::registerLogHandler(std::move(log_handler));
+
+  URCL_LOG_DEBUG("logging debug message");
+  URCL_LOG_INFO("logging info message");
+  return 0;
+}
+```
+
+### Console_bridge
+If [`console_bridge`](https://github.com/ros/console_bridge) is found on the system during the
+cmake run, logging commands will be done by `console_bridge`. In this case, the define `ROS_BUILD`
+will be set. When built inside a catkin workspace, logging commands are automatically translated
+into ROS logging commands.
+
+If you compile this library against `console_bridge`, make sure to set the logging level in your
+application, as by default `console_bridge` will only print messages of level WARNING or higher.
+See [`examples/primary_pipeline.cpp`](examples/primary_pipeline.cpp) as an example.
 
-Whenever you compile this library against `console_bridge`, make sure to set the logging level in
-your application, as by default `console_bridge` will only print messages of level WARNING or
-higher. See [`examples/primary_pipeline.cpp`](examples/primary_pipeline.cpp) as an example.
+The ROS logger will be moved to the ROS driver in a future release.

include/ur_client_library/comm/bin_parser.h

@@ -368,7 +368,7 @@ class BinParser
    */
   void debug()
   {
-    LOG_DEBUG("BinParser: %p - %p (%zu bytes)", buf_pos_, buf_end_, buf_end_ - buf_pos_);
+    URCL_LOG_DEBUG("BinParser: %p - %p (%zu bytes)", buf_pos_, buf_end_, buf_end_ - buf_pos_);
   }
 };
 

include/ur_client_library/comm/pipeline.h

@@ -267,7 +267,7 @@ class Pipeline
    */
   virtual ~Pipeline()
   {
-    LOG_DEBUG("Destructing pipeline");
+    URCL_LOG_DEBUG("Destructing pipeline");
     stop();
   }
 
@@ -302,7 +302,7 @@ class Pipeline
     if (!running_)
       return;
 
-    LOG_DEBUG("Stopping pipeline! <%s>", name_.c_str());
+    URCL_LOG_DEBUG("Stopping pipeline! <%s>", name_.c_str());
 
     running_ = false;
 
@@ -342,7 +342,7 @@ class Pipeline
 
   void runProducer()
   {
-    LOG_DEBUG("Starting up producer");
+    URCL_LOG_DEBUG("Starting up producer");
     std::ifstream realtime_file("/sys/kernel/realtime", std::ios::in);
     bool has_realtime;
     realtime_file >> has_realtime;
@@ -363,7 +363,7 @@ class Pipeline
         int ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);
         if (ret != 0)
         {
-          LOG_ERROR("Unsuccessful in setting producer thread realtime priority. Error code: %d", ret);
+          URCL_LOG_ERROR("Unsuccessful in setting producer thread realtime priority. Error code: %d", ret);
         }
         // Now verify the change in thread priority
         int policy = 0;
@@ -376,24 +376,24 @@ class Pipeline
         // Check the correct policy was applied
         if (policy != SCHED_FIFO)
         {
-          LOG_ERROR("Producer thread: Scheduling is NOT SCHED_FIFO!");
+          URCL_LOG_ERROR("Producer thread: Scheduling is NOT SCHED_FIFO!");
         }
         else
         {
-          LOG_INFO("Producer thread: SCHED_FIFO OK");
+          URCL_LOG_INFO("Producer thread: SCHED_FIFO OK");
         }
 
         // Print thread scheduling priority
-        LOG_INFO("Thread priority is %d", params.sched_priority);
+        URCL_LOG_INFO("Thread priority is %d", params.sched_priority);
       }
       else
       {
-        LOG_ERROR("Could not get maximum thread priority for producer thread");
+        URCL_LOG_ERROR("Could not get maximum thread priority for producer thread");
       }
     }
     else
     {
-      LOG_WARN("No realtime capabilities found. Consider using a realtime system for better performance");
+      URCL_LOG_WARN("No realtime capabilities found. Consider using a realtime system for better performance");
     }
     std::vector<std::unique_ptr<T>> products;
     while (running_)
@@ -409,13 +409,13 @@ class Pipeline
       {
         if (!queue_.tryEnqueue(std::move(p)))
         {
-          LOG_ERROR("Pipeline producer overflowed! <%s>", name_.c_str());
+          URCL_LOG_ERROR("Pipeline producer overflowed! <%s>", name_.c_str());
         }
       }
 
       products.clear();
     }
-    LOG_DEBUG("Pipeline producer ended! <%s>", name_.c_str());
+    URCL_LOG_DEBUG("Pipeline producer ended! <%s>", name_.c_str());
     notifier_.stopped(name_);
   }
 
@@ -442,7 +442,7 @@ class Pipeline
       }
     }
     consumer_->stopConsumer();
-    LOG_DEBUG("Pipeline consumer ended! <%s>", name_.c_str());
+    URCL_LOG_DEBUG("Pipeline consumer ended! <%s>", name_.c_str());
     notifier_.stopped(name_);
   }
 };

include/ur_client_library/comm/producer.h

@@ -122,7 +122,7 @@ class URProducer : public IProducer<T>
       if (stream_.closed())
         return false;
 
-      LOG_WARN("Failed to read from stream, reconnecting in %ld seconds...", timeout_.count());
+      URCL_LOG_WARN("Failed to read from stream, reconnecting in %ld seconds...", timeout_.count());
       std::this_thread::sleep_for(timeout_);
 
       if (stream_.connect())

include/ur_client_library/comm/script_sender.h

@@ -83,7 +83,7 @@ class ScriptSender
       }
       if (requestRead())
       {
-        LOG_INFO("Robot requested program");
+        URCL_LOG_INFO("Robot requested program");
         sendProgram();
       }
       server_.disconnectClient();
@@ -105,12 +105,12 @@ class ScriptSender
       }
       else
       {
-        LOG_WARN("Received unexpected message on script request port ");
+        URCL_LOG_WARN("Received unexpected message on script request port ");
       }
     }
     else
     {
-      LOG_WARN("Could not read on script request port");
+      URCL_LOG_WARN("Could not read on script request port");
     }
     return false;
   }
@@ -123,11 +123,11 @@ class ScriptSender
 
     if (server_.write(data, len, written))
     {
-      LOG_INFO("Sent program to robot");
+      URCL_LOG_INFO("Sent program to robot");
     }
     else
     {
-      LOG_ERROR("Could not send program to robot");
+      URCL_LOG_ERROR("Could not send program to robot");
     }
   }
 };

include/ur_client_library/comm/shell_consumer.h

@@ -58,7 +58,7 @@ class ShellConsumer : public IConsumer<T>
    */
   virtual bool consume(std::shared_ptr<T> product)
   {
-    LOG_INFO("%s", product->toString().c_str());
+    URCL_LOG_INFO("%s", product->toString().c_str());
     return true;
   }
 

include/ur_client_library/comm/stream.h

@@ -68,7 +68,7 @@ class URStream : public TCPSocket
    */
   void disconnect()
   {
-    LOG_DEBUG("Disconnecting from %s:%d", host_.c_str(), port_);
+    URCL_LOG_DEBUG("Disconnecting from %s:%d", host_.c_str(), port_);
     TCPSocket::close();
   }
 
@@ -141,7 +141,7 @@ bool URStream<T>::read(uint8_t* buf, const size_t buf_len, size_t& total)
       remainder = T::HeaderType::getPackageLength(buf);
       if (remainder >= (buf_len - sizeof(typename T::HeaderType::_package_size_type)))
       {
-        LOG_ERROR("Packet size %zd is larger than buffer %zu, discarding.", remainder, buf_len);
+        URCL_LOG_ERROR("Packet size %zd is larger than buffer %zu, discarding.", remainder, buf_len);
         return false;
       }
       initial = false;

include/ur_client_library/default_log_handler.h

@@ -0,0 +1,60 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2021 Universal Robots A/S
+//
+// 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.
+
+// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of
+// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS
+// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR
+// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE
+// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY
+// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES,
+// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA,
+// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the
+// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an
+// appropriate copyright notice (“©  [the year in which you received the Source Code or the Source Code was first
+// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice
+// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information,
+// please contact [email protected].
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#pragma once
+
+#include "ur_client_library/log.h"
+
+namespace urcl
+{
+/*!
+ * \brief LogHandler object for default handling of logging messages.
+ * This class is used when no other LogHandler is registered
+ */
+class DefaultLogHandler : public LogHandler
+{
+public:
+  /*!
+   * \brief Construct a new DefaultLogHandler object
+   */
+  DefaultLogHandler();
+
+  /*!
+   * \brief Function to log a message
+   *
+   * \param file The log message comes from this file
+   * \param line The log message comes from this line
+   * \param loglevel Indicates the severity of the log message
+   * \param log Log message
+   */
+  void log(const char* file, int line, LogLevel loglevel, const char* log) override;
+};
+
+}  // namespace urcl