logger.cpp

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/* Author: Tyler Weaver */
 
#include <rclcpp/rclcpp.hpp>
#include <moveit/utils/logger.hpp>
#include <string>
#include <rsl/random.hpp>
#include <fmt/format.h>
#include "logger_detail.hpp"
 
namespace moveit
{
 
// This is the function that stores the global logger used by moveit.
// As it returns a reference to the static logger it can be changed through the
// `setNodeLoggerName` function.
rclcpp::Logger& getGlobalRootLogger()
{
  static rclcpp::Logger logger = [&] {
    // A random number is appended to the name used for the node to make it unique.
    // This unique node and logger name is only used if a user does not set a logger
    // through the `setNodeLoggerName` method to their node's logger.
    auto name = fmt::format("moveit_{}", rsl::rng()());
    try
    {
      static rclcpp::Node::SharedPtr moveit_node = rclcpp::Node::make_shared(name);
      static std::shared_ptr<std::mutex> s_mutex = detail::registerNodeResetOnPreShutdown(moveit_node);
 
      // The pre-shutdown callback registered above can run concurrently on
      // another thread as soon as it's registered (e.g. if rclcpp::shutdown()
      // races with this, the very first, call to getGlobalRootLogger()), and
      // may reset moveit_node to null. Lock the same mutex the callback locks
      // before reading moveit_node, so the read and the reset can't race.
      std::lock_guard<std::mutex> lock(*s_mutex);
      if (moveit_node)
      {
        return moveit_node->get_logger();
      }
      // Shutdown's pre-shutdown callback already reset the node: fall back to
      // a plain, non-node logger instead of dereferencing a destroyed node.
      return rclcpp::get_logger(name);
    }
    catch (const std::exception& ex)
    {
      // rclcpp::init was not called so rcl context is null, return non-node logger
      auto logger = rclcpp::get_logger(name);
      RCLCPP_WARN_STREAM(logger, "exception thrown while creating node for logging: " << ex.what());
      RCLCPP_WARN(logger, "if rclcpp::init was not called, messages from this logger may be missing from /rosout");
      return logger;
    }
  }();
  return logger;
}
 
void setNodeLoggerName(const std::string& name)
{
  static rclcpp::Node::SharedPtr s_node = std::make_shared<rclcpp::Node>("moveit", name);
  static std::shared_ptr<std::mutex> s_mutex = detail::registerNodeResetOnPreShutdown(s_node);
 
  std::lock_guard<std::mutex> lock(*s_mutex);
  if (s_node)
  {
    getGlobalRootLogger() = s_node->get_logger();
  }
  // If the node has already been reset by a pre-shutdown callback from an
  // earlier rclcpp::shutdown(), leave the global logger untouched rather
  // than dereferencing a destroyed node. The previously assigned Logger
  // remains valid: rclcpp::Logger owns its logger-name state independently
  // and does not retain a reference to the Node, so destroying the Node
  // does not invalidate the Logger.
}
 
rclcpp::Logger getLogger(const std::string& name)
{
  return getGlobalRootLogger().get_child(name);
}
 
}  // namespace moveit