file, function and line added to yasmin logs

uleroboticsgroup · Oct 28, 2024 · af4fd9f · af4fd9f
1 parent 91c8eef
commit af4fd9f
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Showing 5 changed files with 113 additions and 45 deletions.
diff --git a/yasmin/include/yasmin/logs.hpp b/yasmin/include/yasmin/logs.hpp
@@ -21,22 +21,27 @@
 
 namespace yasmin {
 
-// define raw function pointer type for logging
-typedef void (*LogFunction)(const char *, ...);
+// Define raw function pointer type for logging with file and function
+// parameters
+typedef void (*LogFunction)(const char *, const char *, int, const char *, ...);
 
-// declare function pointers as extern
+// Declare function pointers as extern
 extern LogFunction log_error;
 extern LogFunction log_warn;
 extern LogFunction log_info;
 extern LogFunction log_debug;
 
-// macros to use the function pointers for logging
-#define YASMIN_LOG_ERROR(text, ...) yasmin::log_error(text, ##__VA_ARGS__)
-#define YASMIN_LOG_WARN(text, ...) yasmin::log_warn(text, ##__VA_ARGS__)
-#define YASMIN_LOG_INFO(text, ...) yasmin::log_info(text, ##__VA_ARGS__)
-#define YASMIN_LOG_DEBUG(text, ...) yasmin::log_debug(text, ##__VA_ARGS__)
-
-// function to set custom log functions
+// Macros to use the function pointers for logging, passing file and function
+#define YASMIN_LOG_ERROR(text, ...)                                            \
+  yasmin::log_error(__FILE__, __FUNCTION__, __LINE__, text, ##__VA_ARGS__)
+#define YASMIN_LOG_WARN(text, ...)                                             \
+  yasmin::log_warn(__FILE__, __FUNCTION__, __LINE__, text, ##__VA_ARGS__)
+#define YASMIN_LOG_INFO(text, ...)                                             \
+  yasmin::log_info(__FILE__, __FUNCTION__, __LINE__, text, ##__VA_ARGS__)
+#define YASMIN_LOG_DEBUG(text, ...)                                            \
+  yasmin::log_debug(__FILE__, __FUNCTION__, __LINE__, text, ##__VA_ARGS__)
+
+// Function to set custom log functions
 void set_loggers(LogFunction error, LogFunction warn, LogFunction info,
                  LogFunction debug);
 

diff --git a/yasmin/src/yasmin/logs.cpp b/yasmin/src/yasmin/logs.cpp
@@ -17,50 +17,54 @@
 
 namespace yasmin {
 
-// define the default log functions
-void default_log_error(const char *text, ...) {
+// Define the default log functions with file and function parameters
+void default_log_error(const char *file, const char *function, int line,
+                       const char *text, ...) {
   va_list args;
   va_start(args, text);
-  fprintf(stderr, "[ERROR] ");
+  fprintf(stderr, "[ERROR] [%s:%s:%d] ", file, function, line);
   vfprintf(stderr, text, args);
   fprintf(stderr, "\n");
   va_end(args);
 }
 
-void default_log_warn(const char *text, ...) {
+void default_log_warn(const char *file, const char *function, int line,
+                      const char *text, ...) {
   va_list args;
   va_start(args, text);
-  fprintf(stderr, "[WARN] ");
+  fprintf(stderr, "[WARN] [%s:%s:%d] ", file, function, line);
   vfprintf(stderr, text, args);
   fprintf(stderr, "\n");
   va_end(args);
 }
 
-void default_log_info(const char *text, ...) {
+void default_log_info(const char *file, const char *function, int line,
+                      const char *text, ...) {
   va_list args;
   va_start(args, text);
-  fprintf(stderr, "[INFO] ");
+  fprintf(stderr, "[INFO] [%s:%s:%d] ", file, function, line);
   vfprintf(stderr, text, args);
   fprintf(stderr, "\n");
   va_end(args);
 }
 
-void default_log_debug(const char *text, ...) {
+void default_log_debug(const char *file, const char *function, int line,
+                       const char *text, ...) {
   va_list args;
   va_start(args, text);
-  fprintf(stderr, "[DEBUG] ");
+  fprintf(stderr, "[DEBUG] [%s:%s:%d] ", file, function, line);
   vfprintf(stderr, text, args);
   fprintf(stderr, "\n");
   va_end(args);
 }
 
-// define the function pointers to be initialized with default log functions
+// Define the function pointers, initialized with default log functions
 LogFunction log_error = default_log_error;
 LogFunction log_warn = default_log_warn;
 LogFunction log_info = default_log_info;
 LogFunction log_debug = default_log_debug;
 
-// implement the set_loggers function
+// Implement the set_loggers function with updated signature
 void set_loggers(LogFunction error, LogFunction warn, LogFunction info,
                  LogFunction debug) {
   log_error = error ? error : default_log_error;

diff --git a/yasmin/yasmin/logs.py b/yasmin/yasmin/logs.py
@@ -15,8 +15,8 @@
 
 import yasmin
 import logging
-
-import yasmin.logs
+import inspect
+from typing import Callable
 
 __all__ = [
     "set_loggers",
@@ -26,28 +26,44 @@
     "YASMIN_LOG_DEBUG",
 ]
 
-
-# Define the logging configuration
+# define the logging configuration with custom format to include location data
 logging.basicConfig(level=logging.NOTSET, format="%(message)s")
 
 
+def get_caller_info():
+    frame = inspect.stack()[2]
+    file = frame.filename
+    line = frame.lineno
+    function = frame.function
+    return file, function, line
+
+
 def YASMIN_LOG_ERROR(text: str) -> None:
-    logging.error("[ERROR] " + text)
+    file, function, line = get_caller_info()
+    logging.error(f"[ERROR] [{file}:{function}:{line}] {text}")
 
 
 def YASMIN_LOG_WARN(text: str) -> None:
-    logging.warning("[WARN] " + text)
+    file, function, line = get_caller_info()
+    logging.warning(f"[WARN] [{file}:{function}:{line}] {text}")
 
 
 def YASMIN_LOG_INFO(text: str) -> None:
-    logging.info("[INFO] " + text)
+    file, function, line = get_caller_info()
+    logging.info(f"[INFO] [{file}:{function}:{line}] {text}")
 
 
 def YASMIN_LOG_DEBUG(text: str) -> None:
-    logging.debug("[DEBUG] " + text)
+    file, function, line = get_caller_info()
+    logging.debug(f"[DEBUG] [{file}:{function}:{line}] {text}")
 
 
-def set_loggers(info, warn, debug, error):
+def set_loggers(
+    info: Callable,
+    warn: Callable,
+    debug: Callable,
+    error: Callable,
+) -> None:
     yasmin.YASMIN_LOG_ERROR = error
     yasmin.YASMIN_LOG_WARN = warn
     yasmin.YASMIN_LOG_INFO = info

diff --git a/yasmin_ros/src/yasmin_ros/ros_logs.cpp b/yasmin_ros/src/yasmin_ros/ros_logs.cpp
@@ -22,7 +22,8 @@
 
 namespace yasmin_ros {
 
-void ros_log_error(const char *text, ...) {
+void ros_log_error(const char *file, const char *function, int line,
+                   const char *text, ...) {
   va_list args;
   va_start(args, text);
 
@@ -35,10 +36,12 @@ void ros_log_error(const char *text, ...) {
   vsnprintf(&buffer[0], buffer.size(), text, args);
   va_end(args);
 
-  RCLCPP_ERROR(YasminNode::get_instance()->get_logger(), "%s", buffer.c_str());
+  RCLCPP_ERROR(YasminNode::get_instance()->get_logger(), "[%s:%s:%d] %s", file,
+               function, line, buffer.c_str());
 }
 
-void ros_log_warn(const char *text, ...) {
+void ros_log_warn(const char *file, const char *function, int line,
+                  const char *text, ...) {
   va_list args;
   va_start(args, text);
 
@@ -51,10 +54,12 @@ void ros_log_warn(const char *text, ...) {
   vsnprintf(&buffer[0], buffer.size(), text, args);
   va_end(args);
 
-  RCLCPP_WARN(YasminNode::get_instance()->get_logger(), "%s", buffer.c_str());
+  RCLCPP_WARN(YasminNode::get_instance()->get_logger(), "[%s:%s:%d] %s", file,
+              function, line, buffer.c_str());
 }
 
-void ros_log_info(const char *text, ...) {
+void ros_log_info(const char *file, const char *function, int line,
+                  const char *text, ...) {
   va_list args;
   va_start(args, text);
 
@@ -67,10 +72,12 @@ void ros_log_info(const char *text, ...) {
   vsnprintf(&buffer[0], buffer.size(), text, args);
   va_end(args);
 
-  RCLCPP_INFO(YasminNode::get_instance()->get_logger(), "%s", buffer.c_str());
+  RCLCPP_INFO(YasminNode::get_instance()->get_logger(), "[%s:%s:%d] %s", file,
+              function, line, buffer.c_str());
 }
 
-void ros_log_debug(const char *text, ...) {
+void ros_log_debug(const char *file, const char *function, int line,
+                   const char *text, ...) {
   va_list args;
   va_start(args, text);
 
@@ -83,11 +90,12 @@ void ros_log_debug(const char *text, ...) {
   vsnprintf(&buffer[0], buffer.size(), text, args);
   va_end(args);
 
-  RCLCPP_DEBUG(YasminNode::get_instance()->get_logger(), "%s", buffer.c_str());
+  RCLCPP_DEBUG(YasminNode::get_instance()->get_logger(), "[%s:%s:%d] %s", file,
+               function, line, buffer.c_str());
 }
 
 void set_ros_loggers() {
-  yasmin::set_loggers(ros_log_info, ros_log_warn, ros_log_debug, ros_log_error);
+  yasmin::set_loggers(ros_log_error, ros_log_warn, ros_log_info, ros_log_debug);
 }
 
-} // namespace yasmin_ros
+} // namespace yasmin_ros
diff --git a/yasmin_ros/yasmin_ros/ros_logs.py b/yasmin_ros/yasmin_ros/ros_logs.py
@@ -14,15 +14,50 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 
+import inspect
 import yasmin
 from yasmin_ros.yasmin_node import YasminNode
 
 
-def set_ros_loggers() -> None:
+__all__ = ["set_ros_loggers"]
+
+
+def get_caller_info():
+    frame = inspect.stack()[2]
+    file = frame.filename
+    line = frame.lineno
+    function = frame.function
+    return file, function, line
+
+
+def ros_log_error(text: str) -> None:
+    file, function, line = get_caller_info()
     node = YasminNode.get_instance()
+    node.get_logger().error(f"[{file}:{function}:{line}] {text}")
+
+
+def ros_log_warn(text: str) -> None:
+    file, function, line = get_caller_info()
+    node = YasminNode.get_instance()
+    node.get_logger().warn(f"[{file}:{function}:{line}] {text}")
+
+
+def ros_log_info(text: str) -> None:
+    file, function, line = get_caller_info()
+    node = YasminNode.get_instance()
+    node.get_logger().info(f"[{file}:{function}:{line}] {text}")
+
+
+def ros_log_debug(text: str) -> None:
+    file, function, line = get_caller_info()
+    node = YasminNode.get_instance()
+    node.get_logger().debug(f"[{file}:{function}:{line}] {text}")
+
+
+def set_ros_loggers() -> None:
     yasmin.set_loggers(
-        node.get_logger().info,
-        node.get_logger().warn,
-        node.get_logger().debug,
-        node.get_logger().error,
+        ros_log_info,
+        ros_log_warn,
+        ros_log_debug,
+        ros_log_error,
     )