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urmahpFelix Exner
urmahp
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Felix Exner
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Added loghandler, this enables the possibility for the driver to change the behavior when logging messages with this library.
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‎CMakeLists.txt‎

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

‎README.md‎

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

‎include/ur_client_library/default_log_handler.h‎

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2021 Universal Robots A/S
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
15+
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// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of
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// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS
18+
// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR
19+
// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE
20+
// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY
21+
// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES,
22+
// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA,
23+
// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the
24+
// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an
25+
// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first
26+
// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice
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// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information,
28+
// please contact [email protected].
29+
// -- END LICENSE BLOCK ------------------------------------------------
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31+
#pragma once
32+
33+
#include "ur_client_library/log.h"
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35+
namespace urcl
36+
{
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/*!
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* \brief LogHandler object for default handling of logging messages.
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* This class is used when no other LogHandler is registered
40+
*/
41+
class DefaultLogHandler : public LogHandler
42+
{
43+
public:
44+
/*!
45+
* \brief Construct a new DefaultLogHandler object
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*/
47+
DefaultLogHandler();
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/*!
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* \brief Function to log a message
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*
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* \param file The log message comes from this file
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* \param line The log message comes from this line
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* \param loglevel Indicates the severity of the log message
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* \param log Log message
56+
*/
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void log(const char* file, int line, LogLevel loglevel, const char* log) override;
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};
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} // namespace urcl

‎include/ur_client_library/log.h‎

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@@ -18,6 +18,7 @@
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#pragma once
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#include <inttypes.h>
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#include <memory>
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#ifdef ROS_BUILD
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#include <console_bridge/console.h>
@@ -30,10 +31,75 @@
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#else
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33-
#define URCL_LOG_DEBUG(format, ...) printf("[DEBUG]: " format "\n", ##__VA_ARGS__)
34-
#define URCL_LOG_WARN(format, ...) printf("[WARNING]: " format "\n", ##__VA_ARGS__)
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#define URCL_LOG_INFO(format, ...) printf("[INFO]: " format "\n", ##__VA_ARGS__)
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#define URCL_LOG_ERROR(format, ...) printf("[ERROR]: " format "\n", ##__VA_ARGS__)
37-
#define URCL_LOG_FATAL(format, ...) printf("[FATAL]: " format "\n", ##__VA_ARGS__)
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#define URCL_LOG_DEBUG(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::DEBUG, __VA_ARGS__)
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#define URCL_LOG_WARN(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::WARN, __VA_ARGS__)
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#define URCL_LOG_INFO(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::INFO, __VA_ARGS__)
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#define URCL_LOG_ERROR(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::ERROR, __VA_ARGS__)
38+
#define URCL_LOG_FATAL(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::FATAL, __VA_ARGS__)
3839

3940
#endif
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42+
namespace urcl
43+
{
44+
/*!
45+
* \brief Different log levels
46+
*/
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enum class LogLevel
48+
{
49+
DEBUG = 0,
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INFO,
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WARN,
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ERROR,
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FATAL,
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NONE
55+
};
56+
57+
/*!
58+
* \brief Inherit from this class to change the behavior when logging messages.
59+
*/
60+
class LogHandler
61+
{
62+
public:
63+
virtual ~LogHandler() = default;
64+
/*!
65+
* \brief Function to log a message
66+
*
67+
* \param file The log message comes from this file
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* \param line The log message comes from this line
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* \param loglevel Indicates the severity of the log message
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* \param log Log message
71+
*/
72+
virtual void log(const char* file, int line, LogLevel loglevel, const char* log) = 0;
73+
};
74+
75+
/*!
76+
* \brief Register a new LogHandler object, for handling log messages.
77+
*
78+
* \param loghandler Pointer to the new object
79+
*/
80+
void registerLogHandler(std::unique_ptr<LogHandler> loghandler);
81+
82+
/*!
83+
* \brief Unregister current log handler, this will enable default log handler.
84+
*/
85+
void unregisterLogHandler();
86+
87+
/*!
88+
* \brief Set log level this will disable messages with lower log level.
89+
*
90+
* \param level desired log level
91+
*/
92+
void setLogLevel(LogLevel level);
93+
94+
/*!
95+
* \brief Log a message, this is used internally by the macros to unpack the log message.
96+
* Use the macros instead of this function directly.
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*
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* \param file The log message comes from this file
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* \param line The log message comes from this line
100+
* \param level Severity of the log message
101+
* \param fmt Format string
102+
*/
103+
void log(const char* file, int line, LogLevel level, const char* fmt, ...);
104+
105+
} // namespace urcl

‎src/default_log_handler.cpp‎

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2021 Universal Robots A/S
3+
//
4+
// Licensed under the Apache License, Version 2.0 (the "License");
5+
// you may not use this file except in compliance with the License.
6+
// You may obtain a copy of the License at
7+
//
8+
// http://www.apache.org/licenses/LICENSE-2.0
9+
//
10+
// Unless required by applicable law or agreed to in writing, software
11+
// distributed under the License is distributed on an "AS IS" BASIS,
12+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
// See the License for the specific language governing permissions and
14+
// limitations under the License.
15+
16+
// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of
17+
// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS
18+
// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR
19+
// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE
20+
// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY
21+
// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES,
22+
// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA,
23+
// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the
24+
// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an
25+
// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first
26+
// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice
27+
// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information,
28+
// please contact [email protected].
29+
// -- END LICENSE BLOCK ------------------------------------------------
30+
31+
#include "ur_client_library/default_log_handler.h"
32+
#include <stdio.h>
33+
34+
namespace urcl
35+
{
36+
DefaultLogHandler::DefaultLogHandler() = default;
37+
38+
void DefaultLogHandler::log(const char* file, int line, LogLevel loglevel, const char* log)
39+
{
40+
switch (loglevel)
41+
{
42+
case LogLevel::INFO:
43+
printf("%s%s %i: %s \n", "INFO ", file, line, log);
44+
break;
45+
case LogLevel::DEBUG:
46+
printf("%s%s %i: %s \n", "DEBUG ", file, line, log);
47+
break;
48+
case LogLevel::WARN:
49+
printf("%s%s %i: %s \n", "WARN ", file, line, log);
50+
break;
51+
case LogLevel::ERROR:
52+
printf("%s%s %i: %s \n", "ERROR ", file, line, log);
53+
break;
54+
case LogLevel::FATAL:
55+
printf("%s%s %i: %s \n", "FATAL ", file, line, log);
56+
break;
57+
default:
58+
break;
59+
}
60+
}
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} // namespace urcl

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