ros2_client/
rosout.rs

1//! Helpers for rosout logging
2use std::sync::Arc;
3
4use crate::{
5  log::{Log, LogLevel},
6  ros2::Timestamp,
7  Publisher,
8};
9
10/// Ability to write to rosout log.
11pub trait RosoutRaw {
12  /// Returns the `rosout` writer from `self`.
13  fn rosout_writer(&self) -> Arc<Option<Publisher<Log>>>;
14
15  /// Returns the base name of the Node.
16  fn base_name(&self) -> &str;
17
18  /// Logs to `rosout`.
19  #[allow(clippy::too_many_arguments)]
20  #[tracing::instrument(skip_all)]
21  fn rosout_raw(
22    &self,
23    timestamp: Timestamp,
24    level: impl Into<LogLevel>,
25    log_name: &str,
26    log_msg: &str,
27    source_file: &str,
28    source_function: &str,
29    source_line: u32,
30  ) {
31    // get the writer
32    let Some(ref rosout_writer) = *self.rosout_writer() else {
33      tracing::debug!("Tried to log to `rosout`, but it's not turned on. msg: {log_msg}");
34      return;
35    };
36
37    // convert log level
38    let log_level = Into::<LogLevel>::into(level);
39
40    // publish a log
41    _ = rosout_writer
42      .publish(Log {
43        timestamp,
44        level: log_level as u8,
45        name: log_name.into(),
46        msg: log_msg.into(),
47        file: source_file.into(),
48        function: source_function.into(),
49        line: source_line,
50      })
51      .inspect_err(|e| tracing::warn!("Failed to publish message to `rosout`! err: {e}"));
52
53    // also output a tracing message
54    let tracing_msg = format!("[rosout] ({log_name}) {log_msg}");
55    let span = tracing::span!(tracing::Level::ERROR, "rosout_raw");
56    let _guard = span.enter();
57
58    match log_level {
59      LogLevel::Fatal | LogLevel::Error => tracing::error!("{tracing_msg}"),
60      LogLevel::Warn => tracing::warn!("{tracing_msg}"),
61      LogLevel::Info => tracing::info!("{tracing_msg}"),
62      LogLevel::Debug => tracing::debug!("{tracing_msg}"),
63    };
64  }
65}
66
67/// A handle to log from any node without moving it between threads.
68pub struct NodeLoggingHandle {
69  /// Writes to the `rosout` topic. Shared with all other instances of the
70  /// parent node.
71  pub(crate) rosout_writer: Arc<Option<Publisher<Log>>>,
72
73  /// The base name of the represented node.
74  pub(crate) base_name: String,
75}
76
77impl RosoutRaw for NodeLoggingHandle {
78  fn rosout_writer(&self) -> Arc<Option<Publisher<Log>>> {
79    Arc::clone(&self.rosout_writer)
80  }
81
82  fn base_name(&self) -> &str {
83    &self.base_name
84  }
85}
86
87#[cfg(test)]
88mod tests {
89  use crate::{log::LogLevel, rosout, Context, NodeName};
90
91  mod new_namespace {
92    use crate::{log::LogLevel, rosout, Context, NodeName};
93
94    #[test]
95    fn logging_works_without_import() {
96      let ctx = Context::new().unwrap();
97
98      let node = ctx
99        .new_node(
100          NodeName::new("/", "logging_works_without_import_node").unwrap(),
101          Default::default(),
102        )
103        .unwrap();
104
105      rosout!(node, LogLevel::Warn, "log call works!");
106    }
107
108    #[test]
109    fn logging_handle_works_without_import() {
110      let ctx = Context::new().unwrap();
111
112      let node = ctx
113        .new_node(
114          NodeName::new("/", "logging_works_without_import_node").unwrap(),
115          Default::default(),
116        )
117        .unwrap();
118      let node_logging_handle = node.logging_handle();
119
120      rosout!(node, LogLevel::Warn, "log call works!");
121
122      std::thread::spawn(move || {
123        rosout!(node_logging_handle, LogLevel::Debug, "works here too");
124      })
125      .join()
126      .unwrap();
127    }
128  }
129
130  #[test]
131  fn log_across_threads() {
132    let ctx = Context::new().unwrap();
133
134    let node = ctx
135      .new_node(
136        NodeName::new("/", "log_across_threads_node").unwrap(),
137        Default::default(),
138      )
139      .unwrap();
140
141    // log some stuff on two threads at once
142    let node_logging_handle = node.logging_handle();
143    let handle = std::thread::spawn(move || {
144      for i in 0..50 {
145        rosout!(
146          node_logging_handle,
147          LogLevel::Debug,
148          "hey! system thread on {i}"
149        );
150      }
151    });
152
153    for j in 0..50 {
154      rosout!(node, LogLevel::Debug, "hi! main thread on {j}");
155    }
156
157    handle.join().unwrap();
158  }
159}
ros2_client/rosout.rs

ros2_client/
rosout.rs
