Code compiling and example.

Signed-off-by: Carlos Agüero <[email protected]>

examples/logger/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+project(gz-utils-logger-demo)
+
+# Find the Gazebo Libraries used directly by the example
+find_package(gz-utils3 REQUIRED COMPONENTS logger)
+set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR})
+
+add_executable(${PROJECT_NAME} main.cc)
+target_link_libraries(
+  ${PROJECT_NAME}
+  gz-utils${GZ_UTILS_VER}::logger
+)

examples/logger/main.cc

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * 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 <gz/utils/logger/Console.hh>
+#include <gz/utils/logger/SplitSink.hh>
+#include <gz/utils/config.hh>
+
+/*
+ * At this point, all logger functionality will be available.
+ */
+
+//////////////////////////////////////////////////
+int main(int argc, char** argv)
+{
+  auto splitSink =
+    std::make_shared<gz::utils::logger::SplitRingBufferSinkMt<100>>();
+  auto splitSinkConsole =
+    std::make_shared<gz::utils::logger::SplitConsoleSinkMt>();
+
+  spdlog::logger logger("split_sink", {splitSink, splitSinkConsole});
+  logger.set_level(spdlog::level::trace);
+
+  logger.trace("trace");
+  logger.debug("debug");
+  logger.info("info");
+  logger.warn("warn");
+  logger.error("error");
+  logger.critical("critical");
+}

logger/include/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(gz/utils)

logger/include/gz/utils/logger/Console.hh

@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+#ifndef GZ_UTILS_CONSOLE_HH_
+#define GZ_UTILS_CONSOLE_HH_
+
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <string>
+
+#include <gz/utils/ImplPtr.hh>
+#include <gz/utils/SuppressWarning.hh>
+
+#include <spdlog/logger.h>
+#include <spdlog/spdlog.h>
+
+namespace gz::utils::logger
+{
+  /// \brief Gazebo console and file logging class.
+  /// This will configure spdlog with a sane set of defaults for logging to the
+  /// console as well as a file.
+  class GZ_UTILS_VISIBLE Console
+  {
+    /// \brief Class constructor.
+    /// \param[in] _loggerName Logger name.
+    public: explicit Console(const std::string &_loggerName);
+
+    /// \brief Set the console output color mode.
+    ///\param[in] _mode Color mode.  
+    public: void SetColorMode(spdlog::color_mode _mode);
+
+    /// \brief Set the log destination filename.
+    /// \param[in] _filename Log file name.
+    public: void SetLogDestination(const std::string &_filename);
+
+    /// \brief Get the log destination filename.
+    /// \return Log file name.
+    public: std::string LogDestination() const;
+
+    /// \brief Access the underlying spdlog logger.
+    /// \return The spdlog logger.
+    public: [[nodiscard]] spdlog::logger &Logger() const;
+
+    /// \brief Access the underlying spdlog logger, with ownership.
+    /// \return The spdlog logger.
+    public: [[nodiscard]] std::shared_ptr<spdlog::logger> LoggerPtr() const;
+
+    /// \brief Access the global gz console logger.
+    /// \return The gz consoler logger.
+    public: static Console &Root();
+
+    /// \brief Implementation Pointer.
+    GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+  };
+}
+
+#endif  // GZ_UTILS_CONSOLE_HH_

logger/src/CMakeLists.txt

@@ -1,12 +1,13 @@
 gz_get_libsources_and_unittests(sources gtest_sources)
 
-gz_add_component(
-  logger
+gz_add_component(logger
   SOURCES ${sources}
   INDEPENDENT_FROM_PROJECT_LIB
   GET_TARGET_NAME gz_utils_logger_target_name)
 
-target_link_libraries(${gz_utils_logger_target_name} PUBLIC spdlog::spdlog)
+target_link_libraries(${gz_utils_logger_target_name}
+  PUBLIC
+    spdlog::spdlog)
 
 gz_build_tests(TYPE UNIT
   SOURCES ${gtest_sources}

logger/src/Console.cc

@@ -0,0 +1,179 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * 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 <memory>
+#include <sstream>
+#include <string>
+
+#include <gz/utils/logger/Console.hh>
+#include <gz/utils/NeverDestroyed.hh>
+
+#include <spdlog/sinks/basic_file_sink.h>
+#include <spdlog/sinks/dist_sink.h>
+#include <spdlog/sinks/stdout_color_sinks.h>
+#include <spdlog/spdlog.h>
+
+namespace {
+/// \brief Custom log sink that routes to stdout/stderr in Gazebo conventions.
+class GzSplitSink : public spdlog::sinks::sink
+{
+  /// \brief Class destructor.
+  public: ~GzSplitSink() override = default;
+
+  /// \brief Log a message.
+  /// \param[in] _msg The message to log.
+  public: void log(const spdlog::details::log_msg &_msg) override
+  {
+    if (_msg.level == spdlog::level::warn       ||
+        _msg.level == spdlog::level::err        ||
+        _msg.level == spdlog::level::critical)
+    {
+      this->stderr.log(_msg);
+    }
+    else
+      this->stdout.log(_msg);
+  }
+
+  /// \brief Flush messages.
+  public: void flush() override
+  {
+    this->stdout.flush();
+    this->stderr.flush();
+  }
+
+  /// \brief Set the logging pattern.
+  /// \param[in] _pattern The logging pattern. 
+  public: void set_pattern(const std::string &_pattern) override
+  {
+    this->stdout.set_pattern(_pattern);
+    this->stderr.set_pattern(_pattern);
+  }
+
+  /// \brief Set the new formatter.
+  /// \param[in] _sinkFormatter The formatter.
+  public: void set_formatter(std::unique_ptr<spdlog::formatter> _sinkFormatter)
+  override
+  {
+    this->stdout.set_formatter(_sinkFormatter->clone());
+    this->stderr.set_formatter(std::move(_sinkFormatter));
+  }
+
+  /// \brief Set the color mode.
+  /// \param[in] _mode Color mode.
+  public: void set_color_mode(spdlog::color_mode _mode)
+  {
+    this->stdout.set_color_mode(_mode);
+    this->stderr.set_color_mode(_mode);
+  }
+
+  /// \brief Standard output.
+  private: spdlog::sinks::stdout_color_sink_mt stdout;
+
+  /// \brief Standard error.
+  private: spdlog::sinks::stderr_color_sink_mt stderr;
+};
+}  // namespace
+
+namespace gz::utils::logger
+{
+/// \brief Private data for the Console class.
+class Console::Implementation
+{
+  /// \brief Constructor.
+  /// \param[in] _loggerName Logger name.
+  public: explicit Implementation(const std::string &_loggerName)
+    : consoleSink(std::make_shared<GzSplitSink>()),
+      sinks(std::make_shared<spdlog::sinks::dist_sink_mt>()),
+      logger(std::make_shared<spdlog::logger>(_loggerName, sinks))
+  {
+  }
+
+  /// \brief .
+  std::shared_ptr<GzSplitSink> consoleSink;
+
+  /// \brief .
+  std::shared_ptr<spdlog::sinks::basic_file_sink_mt> fileSink {nullptr};
+
+  /// \brief .
+  std::shared_ptr<spdlog::sinks::dist_sink_mt> sinks {nullptr};
+
+  /// \brief .
+  std::shared_ptr<spdlog::logger> logger {nullptr};
+};
+
+/////////////////////////////////////////////////
+Console::Console(const std::string &_loggerName)
+  : dataPtr(gz::utils::MakeUniqueImpl<Implementation>(_loggerName))
+{
+  // Add the console sink as a destination.
+  this->dataPtr->sinks->add_sink(this->dataPtr->consoleSink);
+
+  // Configure the logger.
+  this->dataPtr->logger->set_level(spdlog::level::err);
+  this->dataPtr->logger->flush_on(spdlog::level::err);
+
+  spdlog::flush_every(std::chrono::seconds(5));
+  spdlog::register_logger(this->dataPtr->logger);
+}
+
+/////////////////////////////////////////////////
+void Console::SetColorMode(spdlog::color_mode _mode)
+{
+  this->dataPtr->consoleSink->set_color_mode(_mode);
+}
+
+/////////////////////////////////////////////////
+void Console::SetLogDestination(const std::string &_filename)
+{
+  if (this->dataPtr->fileSink)
+    this->dataPtr->sinks->remove_sink(this->dataPtr->fileSink);
+
+  this->dataPtr->fileSink =
+    std::make_shared<spdlog::sinks::basic_file_sink_mt>(_filename, true);
+  this->dataPtr->sinks->add_sink(this->dataPtr->fileSink);
+}
+
+/////////////////////////////////////////////////
+std::string Console::LogDestination() const
+{
+  std::string logPath = "";
+  if (this->dataPtr->fileSink)
+  {
+    logPath = this->dataPtr->fileSink->filename();
+  }
+
+  return logPath;
+}
+
+/////////////////////////////////////////////////
+spdlog::logger &Console::Logger() const
+{
+  return *this->dataPtr->logger;
+}
+
+/////////////////////////////////////////////////
+std::shared_ptr<spdlog::logger> Console::LoggerPtr() const
+{
+  return this->dataPtr->logger;
+}
+
+/////////////////////////////////////////////////
+Console &Console::Root()
+{
+  static gz::utils::NeverDestroyed<Console> root{"gz"};
+  return root.Access();
+}
+}  // namespace gz::utils::logger