feat(logger_level_configure): add util to set logger level externally…

… in runtime (#5131)

* add logger_level_configure

Signed-off-by: Takamasa Horibe <[email protected]>

* add usage

Signed-off-by: Takamasa Horibe <[email protected]>

* fix spell

Signed-off-by: Takamasa Horibe <[email protected]>

* fix from reviewer comment

Signed-off-by: Takamasa Horibe <[email protected]>

---------

Signed-off-by: Takamasa Horibe <[email protected]>

common/tier4_autoware_utils/CMakeLists.txt

@@ -14,6 +14,7 @@ ament_auto_add_library(tier4_autoware_utils SHARED
   src/math/trigonometry.cpp
   src/ros/msg_operation.cpp
   src/ros/marker_helper.cpp
+  src/ros/logger_level_configure.cpp
   src/system/backtrace.cpp
 )
 

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/logger_level_configure.hpp

@@ -0,0 +1,68 @@
+// Copyright 2023 Tier IV, 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.
+
+// =============== Note ===============
+// This is a util class implementation of the logger_config_component provided by ROS 2
+// https://github.com/ros2/demos/blob/humble/logging_demo/src/logger_config_component.cpp
+//
+// When ROS 2 officially supports the set_logger_level option in release version, this class can be
+// removed.
+// https://github.com/ros2/ros2/issues/1355
+
+// =============== How to use ===============
+// ___In your_node.hpp___
+// #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
+// class YourNode : public rclcpp::Node {
+//   ...
+//
+//   // Define logger_configure as a node class member variable
+//   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+// }
+//
+// ___In your_node.cpp___
+// YourNode::YourNode() {
+//   ...
+//
+//   // Set up logger_configure
+//   logger_configure_ = std::make_unique<LoggerLevelConfigure>(this);
+// }
+
+#ifndef TIER4_AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
+#define TIER4_AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
+
+#include "logging_demo/srv/config_logger.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace tier4_autoware_utils
+{
+class LoggerLevelConfigure
+{
+private:
+  using ConfigLogger = logging_demo::srv::ConfigLogger;
+
+public:
+  explicit LoggerLevelConfigure(rclcpp::Node * node);
+
+private:
+  rclcpp::Logger ros_logger_;
+  rclcpp::Service<ConfigLogger>::SharedPtr srv_config_logger_;
+
+  void onLoggerConfigService(
+    const ConfigLogger::Request::SharedPtr request,
+    const ConfigLogger::Response::SharedPtr response);
+};
+
+}  // namespace tier4_autoware_utils
+#endif  // TIER4_AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_

common/tier4_autoware_utils/package.xml

@@ -20,6 +20,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>
+  <depend>logging_demo</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>
   <depend>rclcpp</depend>

common/tier4_autoware_utils/src/ros/logger_level_configure.cpp

@@ -0,0 +1,61 @@
+// Copyright 2023 Tier IV, 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 "tier4_autoware_utils/ros/logger_level_configure.hpp"
+
+#include <rcutils/logging.h>
+
+namespace tier4_autoware_utils
+{
+LoggerLevelConfigure::LoggerLevelConfigure(rclcpp::Node * node) : ros_logger_(node->get_logger())
+{
+  using std::placeholders::_1;
+  using std::placeholders::_2;
+
+  srv_config_logger_ = node->create_service<ConfigLogger>(
+    "~/config_logger", std::bind(&LoggerLevelConfigure::onLoggerConfigService, this, _1, _2));
+}
+
+void LoggerLevelConfigure::onLoggerConfigService(
+  const ConfigLogger::Request::SharedPtr request, const ConfigLogger::Response::SharedPtr response)
+{
+  int logging_severity;
+  const auto ret_level = rcutils_logging_severity_level_from_string(
+    request->level.c_str(), rcl_get_default_allocator(), &logging_severity);
+
+  if (ret_level != RCUTILS_RET_OK) {
+    response->success = false;
+    RCLCPP_WARN_STREAM(
+      ros_logger_, "Failed to change logger level for "
+                     << request->logger_name
+                     << " due to an invalid logging severity: " << request->level);
+    return;
+  }
+
+  const auto ret_set =
+    rcutils_logging_set_logger_level(request->logger_name.c_str(), logging_severity);
+
+  if (ret_set != RCUTILS_RET_OK) {
+    response->success = false;
+    RCLCPP_WARN_STREAM(ros_logger_, "Failed to set logger level for " << request->logger_name);
+    return;
+  }
+
+  response->success = true;
+  RCLCPP_INFO_STREAM(
+    ros_logger_, "Logger level [" << request->level << "] is set for " << request->logger_name);
+  return;
+}
+
+}  // namespace tier4_autoware_utils