Switch lifecycle to use the RCLCPP macros. (#2233)

This ensures that they'll go out to /rosout and the disk.

Signed-off-by: Chris Lalancette <[email protected]>

Author: clalancette

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -122,7 +122,7 @@ LifecycleNode::LifecycleNode(
     )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   node_options_(options),
-  impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
+  impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_, node_logging_))
 {
   impl_->init(enable_communication_interface);
 

rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp

@@ -29,6 +29,7 @@
 #include "lifecycle_msgs/srv/get_available_transitions.hpp"
 
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
 
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
@@ -50,9 +51,11 @@ namespace rclcpp_lifecycle
 
 LifecycleNode::LifecycleNodeInterfaceImpl::LifecycleNodeInterfaceImpl(
   std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
-  std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface)
+  std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface,
+  std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface)
 : node_base_interface_(node_base_interface),
-  node_services_interface_(node_services_interface)
+  node_services_interface_(node_services_interface),
+  node_logging_interface_(node_logging_interface)
 {
 }
 
@@ -65,8 +68,8 @@ LifecycleNode::LifecycleNodeInterfaceImpl::~LifecycleNodeInterfaceImpl()
     ret = rcl_lifecycle_state_machine_fini(&state_machine_, node_handle);
   }
   if (ret != RCL_RET_OK) {
-    RCUTILS_LOG_FATAL_NAMED(
-      "rclcpp_lifecycle",
+    RCLCPP_FATAL(
+      node_logging_interface_->get_logger(),
       "failed to destroy rcl_state_machine");
   }
 }
@@ -398,7 +401,8 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
   {
     std::lock_guard<std::recursive_mutex> lock(state_machine_mutex_);
     if (rcl_lifecycle_state_machine_is_initialized(&state_machine_) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR(
+      RCLCPP_ERROR(
+        node_logging_interface_->get_logger(),
         "Unable to change state for state machine for %s: %s",
         node_base_interface_->get_name(), rcl_get_error_string().str);
       return RCL_RET_ERROR;
@@ -411,7 +415,8 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
       rcl_lifecycle_trigger_transition_by_id(
         &state_machine_, transition_id, publish_update) != RCL_RET_OK)
     {
-      RCUTILS_LOG_ERROR(
+      RCLCPP_ERROR(
+        node_logging_interface_->get_logger(),
         "Unable to start transition %u from current state %s: %s",
         transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
       rcutils_reset_error();
@@ -443,7 +448,8 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
       rcl_lifecycle_trigger_transition_by_label(
         &state_machine_, transition_label, publish_update) != RCL_RET_OK)
     {
-      RCUTILS_LOG_ERROR(
+      RCLCPP_ERROR(
+        node_logging_interface_->get_logger(),
         "Failed to finish transition %u. Current state is now: %s (%s)",
         transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
       rcutils_reset_error();
@@ -458,7 +464,9 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
   // error handling ?!
   // TODO(karsten1987): iterate over possible ret value
   if (cb_return_code == node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR) {
-    RCUTILS_LOG_WARN("Error occurred while doing error handling.");
+    RCLCPP_WARN(
+      node_logging_interface_->get_logger(),
+      "Error occurred while doing error handling.");
 
     auto error_cb_code = execute_callback(current_state_id, initial_state);
     auto error_cb_label = get_label_for_return_code(error_cb_code);
@@ -467,7 +475,9 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
       rcl_lifecycle_trigger_transition_by_label(
         &state_machine_, error_cb_label, publish_update) != RCL_RET_OK)
     {
-      RCUTILS_LOG_ERROR("Failed to call cleanup on error state: %s", rcl_get_error_string().str);
+      RCLCPP_ERROR(
+        node_logging_interface_->get_logger(),
+        "Failed to call cleanup on error state: %s", rcl_get_error_string().str);
       rcutils_reset_error();
       return RCL_RET_ERROR;
     }
@@ -495,8 +505,12 @@ LifecycleNode::LifecycleNodeInterfaceImpl::execute_callback(
     try {
       cb_success = callback(State(previous_state));
     } catch (const std::exception & e) {
-      RCUTILS_LOG_ERROR("Caught exception in callback for transition %d", it->first);
-      RCUTILS_LOG_ERROR("Original error: %s", e.what());
+      RCLCPP_ERROR(
+        node_logging_interface_->get_logger(),
+        "Caught exception in callback for transition %d", it->first);
+      RCLCPP_ERROR(
+        node_logging_interface_->get_logger(),
+        "Original error: %s", e.what());
       cb_success = node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
     }
   }

rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp

@@ -32,6 +32,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
 
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
@@ -52,7 +53,8 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
 public:
   LifecycleNodeInterfaceImpl(
     std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
-    std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface);
+    std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface,
+    std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface);
 
   ~LifecycleNodeInterfaceImpl();
 
@@ -152,6 +154,7 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
 
   using NodeBasePtr = std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>;
   using NodeServicesPtr = std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>;
+  using NodeLoggingPtr = std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>;
   using ChangeStateSrvPtr = std::shared_ptr<rclcpp::Service<ChangeStateSrv>>;
   using GetStateSrvPtr = std::shared_ptr<rclcpp::Service<GetStateSrv>>;
   using GetAvailableStatesSrvPtr =
@@ -163,6 +166,7 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
 
   NodeBasePtr node_base_interface_;
   NodeServicesPtr node_services_interface_;
+  NodeLoggingPtr node_logging_interface_;
   ChangeStateSrvPtr srv_change_state_;
   GetStateSrvPtr srv_get_state_;
   GetAvailableStatesSrvPtr srv_get_available_states_;