This package provides logging macros for C/C++ projects. It also provides a Python library for logging in Python.

It is intended to be useful primarily for code which can also run in ROS environments. In such environments, this library redirects log messages to ROS/ROS2 logging commands. Outside of ROS, stdout is used.

License: Apache 2.0

Authors: Martin Herrmann, Jan Strohbeck, Thomas Wodtko (MRM)

Maintainers: Thomas Wodtko, Jona Ruof (MRM)

Affiliation: Institute of Measurement, Control and Microtechnology (MRM), Ulm University

• CMake
• aduulm_cmake_tools
• ROS/ROS2 (optional, for using the ROS2-specific macros)

• The aduulm_logger uses the logging commands LOG_ERR, LOG_WARN, LOG_INF, LOG_DEB and has two modes. It can print the messages via std::cout or redirect the messages to the ROS logger. This should be set by global CMake defines, e.g.:

-DCMAKE_CXX_COMPILER_ARG1=-DIS_ROS2 # for ROS2
-DCMAKE_CXX_COMPILER_ARG1=-DIS_ROS # for ROS1

or

target_compile_definitions(${PROJECT_NAME} PRIVATE -DIS_ROS2)

• Add the package to your project (you should already have included the aduulm_cmake_tools):

find_aduulm_package(aduulm_logger_lib)

• Link the logger to your target:

link_aduulm_package_targets(TARGET MY_TARGET_NAME
	ACCESS PUBLIC
	PACKAGE_TARGETS
		aduulm_logger_lib::aduulm_logger_lib
)

• If you use a library without ROS dependency, but the library is used by ROS packages, you can set ROS_PACKAGE_NAME so that it displays the real library name in rqt_logger_level instead of ros.unknown_package:

target_compile_definitions(${PROJECT_NAME} PRIVATE -DROS_PACKAGE_NAME="${PROJECT_NAME}")

• To be able to use the logger, it needs to be initialized before the first usage: If you used the library/class setup macros, you can can call _initLogger();. Otherwise, you can call aduulm_logger::initLogger(). If the logger is used in non ROS mode (no flag set), it can be initialized with the optional parameters file_name and log_level initLogger(std::string file_name, LoggerLevel log_level).

• Logging is threadsafe by using a mutex internally.

• Prefixes can be set for logger instances. A prefix is placed right before the message. It can help to differentiate between different instances of the same type. E.g. when several camera-drivers are launched, each camera can set a different prefix and logging outputs can easily be assigned to their respective instance.
  Using _setPrefix(std::string) or aduulm_logger::setPrefix(std::string), a prefix can be defined.

• By default, the logger prints the origin from where the log command was called before the actual message. There are two ways of altering this behavior:

  • when _initLogger is called, the Environment variable ADUULM_LOGGER_SHOW_ORIGIN is evaluated. If it is set to "0" the logger will no longer output the respective origin.
    E.g. when using ros launch scripts the origin print out can be deactivated with

    <env name="ADUULM_LOGGER_SHOW_ORIGIN" value="0" />

  • the provided _setShowOrigin(bool) function can be used to en/disable the origin print out.

  While the first method sets affects all instances, the second method only alter the behavior of the logger/sublogger instance whose function was called.

A while back, major changes to how the logger works were introduced. Before, it had a shared library in which the variables holding the logger level and other stuff were stored. One consequence of this was, that all libraries which were linked into a single executable or library shared the same logger level. Also, in ROS nodelets, all nodelets loaded in one nodelet manager shared the same logger levels. The MR improved this by storing the logger variables once per shared library or executable. This was achieved by setting a visibility attribute on the variables with __attribute__((visibility("hidden"))), which does not allow them to be linked outside of the shared library or executable that they are part of. They can be linked outside of static libraries, so one has to be careful when using static libraries, so that the logger variables are not multiply defined.

The changes introduced several code generation macros:

1. DEFINE_LOGGER_VARIABLES: This macro defines the variables that the logger uses, e.g. the logger level. This macro should be used exactly once per shared library or executable, in the global namespace.

2. DEFINE_LOGGER_LIBRARY_INTERFACE_HEADER and DEFINE_LOGGER_LIBRARY_INTERFACE_IMPLEMENTATION: These two macros are to be used in shared libraries which want to use the logger. They declare and implement functions for initializing the logger and setting the logger level for that shared library. Example usage, extracted from the ros_package_creation script:

 // logger_setup.h
 #if !defined LIBRARY_NAME_LOGGER_SETUP_H
 #define LIBRARY_NAME_LOGGER_SETUP_H

 #include <aduulm_logger/aduulm_logger.hpp>

 namespace LIBRARY_NAME
 {
+DEFINE_LOGGER_LIBRARY_INTERFACE_HEADER
 }  // namespace LIBRARY_NAME

 #endif  // !defined(LIBRARY_NAME_LOGGER_SETUP_H)

 // logger_setup.cpp
 #include <LIBRARY_NAME/logger_setup.h>

+DEFINE_LOGGER_VARIABLES

 namespace LIBRARY_NAME
 {
+DEFINE_LOGGER_LIBRARY_INTERFACE_IMPLEMENTATION
 }  // namespace LIBRARY_NAME

This should be everything that is required for a library. LIBRARY_NAME::_initLogger() can then be called from the library/executable that uses that library.

3. DEFINE_LOGGER_CLASS_INTERFACE_HEADER and DEFINE_LOGGER_CLASS_INTERFACE_IMPLEMENTATION: These two macros are to be used in libraries or executables which have a main class of which there is always an object available when the library/executable is used, e.g. ROS nodes or nodelets. They declare and implement class methods for initializing the logger and setting the logger level for that shared library/executable. Example usage, extracted from the ros_package_creation script:

 // MY_NODE.h
 #ifndef UPPER_PACKAGE_NAME_UPPER_CLASS_NAME_H
 #define UPPER_PACKAGE_NAME_UPPER_CLASS_NAME_H

 #include <ros/ros.h>
 #include "aduulm_logger/aduulm_logger.hpp"

 namespace PACKAGE_NAME
 {
 class CLASS_NAME
 {
 public:
   CLASS_NAME(ros::NodeHandle, ros::NodeHandle);

+  DEFINE_LOGGER_CLASS_INTERFACE_HEADER

 private:
 };
 }  // namespace PACKAGE_NAME

 #endif  // UPPER_PACKAGE_NAME_UPPER_CLASS_NAME_H

 // MY_NODE.cpp
 #include <PACKAGE_NAME/NODE_NAME.h>

+DEFINE_LOGGER_VARIABLES

 namespace PACKAGE_NAME
 {

 CLASS_NAME::CLASS_NAME(ros::NodeHandle node_handle, ros::NodeHandle private_node_handle)
 {
+  _setStreamName(ros::this_node::getName());  // for ROS nodes
+  _setStreamName(getName()); // for ROS nodelets
+  _initLogger();
 }

+DEFINE_LOGGER_CLASS_INTERFACE_IMPLEMENTATION(CLASS_NAME)

 }  // namespace PACKAGE_NAME

4. LOGGER_ADD_SUBLOGGER_LIBRARY, LOGGER_ADD_SUBLOGGER_CLASS, and LOGGER_ADD_SUBLOGGER_PARENT_CLASS: These three macros can be used to control the logger levels of dependent libraries/classes automatically, e.g. if the logger level of one library/executable is changed, the logger levels of other linked shared libraries can be adjusted automatically to the same level. LOGGER_ADD_SUBLOGGER_PARENT_CLASS may only be used if one's parent class defines its own logger namespace/variables, i.e. class variables are declared/defined with DEFINE_LOGGER_CLASS_INTERFACE_HEADER and DEFINE_LOGGER_ClASS_INTERFACE_IMPLEMENTATION(CLASS_NAME), respectively.
   Example usage, extracted from the ros_package_creation script:

 // MY_NODE.cpp
 #include <PACKAGE_NAME/NODE_NAME.h>
+#include <LIBRARY_NAME/logger_setup.h>

 DEFINE_LOGGER_VARIABLES

 namespace PACKAGE_NAME
 {

 CLASS_NAME::CLASS_NAME(ros::NodeHandle node_handle, ros::NodeHandle private_node_handle)
 {
+  LOGGER_ADD_SUBLOGGER_LIBRARY(LIBRARY_NAME); // LIBRARY_NAME refers to the namespace in which the DEFINE_LOGGER_LIBRARY_INTERFACE_HEADER macro was used
   // The following three function calls get forwarded to the library
   _setStreamName(ros::this_node::getName());
   _initLogger();
   _setLogLevel(aduulm_logger::LoggerLevels::Debug);
 }

 DEFINE_LOGGER_CLASS_INTERFACE_IMPLEMENTATION(CLASS_NAME)

 }  // namespace PACKAGE_NAME

Because the symbol visibility of the logger variables is restricted, linker errors may occur if the macros are not used as intended.

• Undefined reference to logger variables

/home/user/aduulm_sandbox/devel/include/aduulm_logger/aduulm_logger.hpp:676: undefined reference to `aduulm_logger::g_stream_name[abi:cxx11]'
/home/user/aduulm_sandbox/devel/include/aduulm_logger/aduulm_logger.hpp:682: undefined reference to `aduulm_logger::g_log_level'
/home/user/aduulm_sandbox/devel/include/aduulm_logger/aduulm_logger.hpp:693: undefined reference to `aduulm_logger::g_stream_name[abi:cxx11]'

This means that the library or executable you tried to compile has not defined the logger variables with DEFINE_LOGGER_VARIABLES. Make sure you used DEFINE_LOGGER_VARIABLES inside a .cpp file and outside of any namespace. If that doesn't help, see the last point of this troubleshooting section for further debugging steps.

• Multiple definitions:

CMakeFiles/clustering_lib.dir/src/logger_setup.cpp.o:(.bss+0x0): multiple definition of `aduulm_logger::g_stream_name[abi:cxx11]'
CMakeFiles/clustering_lib.dir/src/clustering_lib.cpp.o:(.bss+0x0): first defined here
CMakeFiles/clustering_lib.dir/src/logger_setup.cpp.o:(.data+0x0): multiple definition of `aduulm_logger::g_log_level'
CMakeFiles/clustering_lib.dir/src/clustering_lib.cpp.o:(.data+0x10): first defined here
CMakeFiles/clustering_lib.dir/src/logger_setup.cpp.o:(.bss+0x60): multiple definition of `aduulm_logger::g_sublogger_init_callbacks'
CMakeFiles/clustering_lib.dir/src/clustering_lib.cpp.o:(.bss+0x60): first defined here
CMakeFiles/clustering_lib.dir/src/logger_setup.cpp.o:(.rodata+0x50): multiple definition of `aduulm_logger::level_mapping'
CMakeFiles/clustering_lib.dir/src/clustering_lib.cpp.o:(.rodata+0x100): first defined here
CMakeFiles/clustering_lib.dir/src/logger_setup.cpp.o:(.bss+0x40): multiple definition of `aduulm_logger::g_sublogger_level_change_callbacks'
CMakeFiles/clustering_lib.dir/src/clustering_lib.cpp.o:(.bss+0x40): first defined here
CMakeFiles/clustering_lib.dir/src/logger_setup.cpp.o:(.bss+0x20): multiple definition of `aduulm_logger::g_sublogger_stream_name_change_callbacks[abi:cxx11]'
CMakeFiles/clustering_lib.dir/src/clustering_lib.cpp.o:(.bss+0x20): first defined here
CMakeFiles/clustering_lib.dir/src/logger_setup.cpp.o:(.bss+0xc0): multiple definition of `aduulm_logger::g_oFile'
CMakeFiles/clustering_lib.dir/src/clustering_lib.cpp.o:(.bss+0xc0): first defined here

This most probably means that the logger variables were defined multiply inside one shared library or executable. You can debug this by checking which compilation units contain the definitions:

$ find ~/aduulm_sandbox/build/machine_learning_lib/ -name "*.o" -exec bash -c 'echo $1; readelf -Ws $1 | grep g_nLogCount' shell {} \; | grep HIDDEN -B 1
/home/user/aduulm_sandbox/build/machine_learning_lib/clustering_lib/CMakeFiles/clustering_lib.dir/src/logger_setup.cpp.o
   231: 000000000000007c     4 OBJECT  GLOBAL HIDDEN    31 _ZN13aduulm_logger11g_nLogCountE
/home/user/aduulm_sandbox/build/machine_learning_lib/clustering_lib/CMakeFiles/clustering_lib.dir/src/clustering_lib.cpp.o
   755: 000000000000007c     4 OBJECT  GLOBAL HIDDEN   132 _ZN13aduulm_logger11g_nLogCountE

So in this case, the clustering_lib has defined the logger variables in two different source files, so in one of them the definitions with DEFINE_LOGGER_VARIABLES have to be removed.

• Attempts to link against hidden symbols:

/usr/bin/ld: /home/user/aduulm_sandbox/devel/.private/tracking/lib/tracking/multi_object_tracker: hidden symbol `_ZN13aduulm_logger13g_stream_nameB5cxx11E' in CMakeFiles/multi_object_tracker.dir/src/multi_object_tracker.cpp.o is referenced by DSO
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status

This most probably means that one of the libraries your executable depends on has forgotten to define its logger variables and now the linkes tried to resolve its undefined references by linking to the logger variables of some other portion of your code. You can debug this by checking for shared libraries which have undefined references to logger variables:

$ find ~/aduulm_sandbox/build -name "*.so" -exec bash -c 'echo $1; readelf -Ws $1 | grep stream_name' shell {} \; | grep UND -B 1
/home/user/aduulm_sandbox/build/machine_learning_lib/clustering_lib/libclustering_lib.so
    32: 0000000000000000     0 NOTYPE  GLOBAL DEFAULT  UND _ZN13aduulm_logger40g_sublogger_stream_name_change_callbacksB5cxx11E
    97: 0000000000000000     0 NOTYPE  GLOBAL DEFAULT  UND _ZN13aduulm_logger13g_stream_nameB5cxx11E
   264: 0000000000000000     0 NOTYPE  GLOBAL DEFAULT  UND _ZN13aduulm_logger40g_sublogger_stream_name_change_callbacksB5cxx11E
   469: 0000000000000000     0 NOTYPE  GLOBAL DEFAULT  UND _ZN13aduulm_logger13g_stream_nameB5cxx11E

In this case, the shared library libclustering_lib.so has not included a definition of the logger variables. It needs to define them with DEFINE_LOGGER_VARIABLES.