Swap logging_demo to using logger object

logging_demo/include/logging_demo/logger_usage_component.hpp

@@ -40,7 +40,7 @@ class LoggerUsage : public rclcpp::Node
   std::function<bool()> debug_function_to_evaluate_;
 };
 
-bool is_divisor_of_twelve(size_t val, std::string logger_name);
+bool is_divisor_of_twelve(size_t val, rclcpp::Logger logger);
 }  // namespace logging_demo
 
 #endif  // LOGGING_DEMO__LOGGER_USAGE_COMPONENT_HPP_

logging_demo/src/logger_config_component.cpp

@@ -41,7 +41,7 @@ LoggerConfig::handle_logger_config_request(
 {
   const char * severity_string = request->level.c_str();
   RCLCPP_INFO(
-    this->get_name(), "Incoming request: logger '%s', severity '%s'",
+    this->get_logger(), "Incoming request: logger '%s', severity '%s'",
     request->logger_name.c_str(), severity_string);
   std::flush(std::cout);
   int severity;
@@ -59,15 +59,16 @@ LoggerConfig::handle_logger_config_request(
     severity = RCUTILS_LOG_SEVERITY_UNSET;
   } else {
     RCLCPP_ERROR(
-      this->get_name(), "Unknown severity '%s'", severity_string);
+      this->get_logger(), "Unknown severity '%s'", severity_string);
     response->success = false;
     return;
   }
 
   // TODO(dhood): allow configuration through rclcpp
   auto ret = rcutils_logging_set_logger_level(request->logger_name.c_str(), severity);
   if (ret != RCUTILS_RET_OK) {
-    RCLCPP_ERROR(get_name(), "Error setting severity: %s", rcutils_get_error_string_safe());
+    RCLCPP_ERROR(
+      this->get_logger(), "Error setting severity: %s", rcutils_get_error_string_safe());
     rcutils_reset_error();
     response->success = false;
   }

logging_demo/src/logger_usage_component.cpp

@@ -33,18 +33,18 @@ LoggerUsage::LoggerUsage()
 {
   pub_ = create_publisher<std_msgs::msg::String>("logging_demo_count");
   timer_ = create_wall_timer(500ms, std::bind(&LoggerUsage::on_timer, this));
-  debug_function_to_evaluate_ = std::bind(is_divisor_of_twelve, std::cref(count_), get_name());
+  debug_function_to_evaluate_ = std::bind(is_divisor_of_twelve, std::cref(count_), get_logger());
 
   // After 10 iterations the severity will be set to DEBUG.
   auto on_one_shot_timer =
     [this]() -> void {
       one_shot_timer_->cancel();
-      RCLCPP_INFO(get_name(), "Setting logger level to DEBUG")
+      RCLCPP_INFO(get_logger(), "Setting severity threshold to DEBUG")
       // TODO(dhood): allow configuration through rclcpp
       auto ret = rcutils_logging_set_logger_level(
-        get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
+        get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
       if (ret != RCUTILS_RET_OK) {
-        RCLCPP_ERROR(get_name(), "Error setting severity: %s", rcutils_get_error_string_safe());
+        RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string_safe());
         rcutils_reset_error();
       }
     };
@@ -54,38 +54,39 @@ LoggerUsage::LoggerUsage()
 void LoggerUsage::on_timer()
 {
   // This message will be logged only the first time this line is reached.
-  RCLCPP_INFO_ONCE(get_name(), "Timer callback called (this will only log once)")
+  RCLCPP_INFO_ONCE(get_logger(), "Timer callback called (this will only log once)")
 
   auto msg = std::make_shared<std_msgs::msg::String>();
   msg->data = "Current count: " + std::to_string(count_);
 
   // This message will be logged each time it is reached.
-  RCLCPP_INFO(get_name(), "Publishing: '%s'", msg->data.c_str())
+  RCLCPP_INFO(get_logger(), "Publishing: '%s'", msg->data.c_str())
   pub_->publish(msg);
 
   // This message will be logged when the function evaluates to true.
   // The function will only be evaluated when DEBUG severity is enabled.
   // This is useful if calculation of debug output is computationally expensive.
   RCLCPP_DEBUG_FUNCTION(
-    get_name(), &debug_function_to_evaluate_, "Count divides into 12 (function evaluated to true)")
+    get_logger(), &debug_function_to_evaluate_,
+    "Count divides into 12 (function evaluated to true)")
 
   // This message will be logged when the expression evaluates to true.
   // The expression will only be evaluated when DEBUG severity is enabled.
   RCLCPP_DEBUG_EXPRESSION(
-    get_name(), (count_ % 2) == 0, "Count is even (expression evaluated to true)")
+    get_logger(), (count_ % 2) == 0, "Count is even (expression evaluated to true)")
   if (count_++ >= 15) {
-    RCLCPP_WARN(get_name(), "Reseting count to 0")
+    RCLCPP_WARN(get_logger(), "Reseting count to 0")
     count_ = 0;
   }
 }
 
-bool is_divisor_of_twelve(size_t val, std::string logger_name)
+bool is_divisor_of_twelve(size_t val, rclcpp::Logger logger)
 {
   // This method is called from within a RCLCPP_DEBUG_FUNCTION() call.
   // Therefore it will only be called when DEBUG log messages are enabled.
 
   if (val == 0) {
-    RCLCPP_ERROR(logger_name, "Modulo divisor cannot be 0")
+    RCLCPP_ERROR(logger, "Modulo divisor cannot be 0")
     return false;
   }
   return (12 % val) == 0;