Move from ros2/rcl_logging#86

CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package rcl_logging_rcutils
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(rcl_logging_rcutils)
+
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 11)
+endif()
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+find_package(rcl_logging_interface REQUIRED)
+find_package(rcutils REQUIRED)
+
+if(NOT WIN32)
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+add_library(rcl_logging_rcutils
+  src/rcl_logging_rcutils.c)
+
+target_link_libraries(rcl_logging_rcutils PRIVATE
+  rcutils::rcutils)
+target_link_libraries(rcl_logging_rcutils PUBLIC
+  rcl_logging_interface::rcl_logging_interface)
+
+target_compile_definitions(rcl_logging_rcutils PRIVATE "RCL_LOGGING_INTERFACE_BUILDING_DLL")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  # TODO(sloretz) tests
+endif()
+
+install(TARGETS rcl_logging_rcutils EXPORT export_rcl_logging_rcutils
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+
+# Export rcl_logging_interface to give downstream packages access to it's headers
+ament_export_dependencies(rcl_logging_interface)
+# Generated exported target might say to link to rcutils, so export just in case.
+ament_export_dependencies(rcutils)
+
+ament_export_targets(export_rcl_logging_rcutils)
+
+ament_package()

Doxyfile

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+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rcl_logging_rcutils"
+PROJECT_NUMBER         = master
+PROJECT_BRIEF          = "An rcl logger implementation using rcutils logging functions to log to the console only."
+
+# Use these lines to include the generated logging_macro.h (update install path if needed)
+# Otherwise just generate for the local (non-generated header files)
+INPUT                  = README.md ./include
+USE_MDFILE_AS_MAINPAGE = README.md
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+
+# Tag files that do not exist will produce a warning and cross-project linking will not work.
+TAGFILES += "../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"

LICENSE

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+
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README.md

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+# rcl_logging_rcutils
+
+This repo is an `rcl_logging` implementation using the `rcutils` logger.
+It logs to stderr (by default) without touching the file system.
+This idea is to enable logging on read-only filesystems.
+The default `rcl_logging_spdlog` can't be used because it errors if it can't create a directory in `ROS_HOME`.
+
+If you came here becase you need a logger on Android, see [`rcl_logging_android`](https://github.com/sloretz/rcl_logging_android).

package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rcl_logging_rcutils</name>
+  <version>1.0.0</version>
+  <description>An rcl logger implementation using rcutils logging functions to log to the console only.</description>
+
+  <maintainer email="[email protected]">Shane Loretz</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Shane Loretz</author>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <depend>rcl_logging_interface</depend>
+  <depend>rcutils</depend>
+
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>launch_testing</test_depend>
+
+  <member_of_group>rcl_logging_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/rcl_logging_rcutils.c

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+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <rcl_logging_interface/rcl_logging_interface.h>
+#include <rcutils/allocator.h>
+#include <rcutils/logging.h>
+
+rcl_logging_ret_t rcl_logging_external_initialize(
+  const char * config_file,
+  rcutils_allocator_t allocator)
+{
+  (void) config_file;
+  rcutils_ret_t ret = rcutils_logging_initialize_with_allocator(allocator);
+
+  if (RCUTILS_RET_OK != ret) {
+    return RCL_LOGGING_RET_ERROR;
+  }
+  return RCL_LOGGING_RET_OK;
+}
+
+rcl_logging_ret_t rcl_logging_external_shutdown()
+{
+  rcutils_ret_t ret = rcutils_logging_shutdown();
+  if (RCUTILS_RET_OK != ret) {
+    return RCL_LOGGING_RET_ERROR;
+  }
+  return RCL_LOGGING_RET_OK;
+}
+
+void rcl_logging_external_log(int severity, const char * name, const char * msg)
+{
+  rcutils_log(NULL, severity, name, "%s", msg);
+}
+
+rcl_logging_ret_t rcl_logging_external_set_logger_level(const char * name, int level)
+{
+  rcutils_ret_t ret = rcutils_logging_set_logger_level(name, level);
+  if (RCUTILS_RET_OK != ret) {
+    return RCL_LOGGING_RET_ERROR;
+  }
+  return RCL_LOGGING_RET_OK;
+}