3610b68348
* Add support for logging service. * Update to not modify interfaces and not change time_source * Use unique_ptr for NodeBuiltinExecutorImpl * Use user thread to run logger service * Update code for lifecycle_node Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Lei Liu <Lei.Liu.AP@sony.com>
73 lines
2.0 KiB
C++
73 lines
2.0 KiB
C++
// Copyright 2017 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__NODE_LOGGING_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__NODE_LOGGING_INTERFACE_HPP_
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#include <memory>
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#include "rclcpp/logger.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/node_interfaces/node_services_interface.hpp"
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#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
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#include "rclcpp/visibility_control.hpp"
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namespace rclcpp
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{
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namespace node_interfaces
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{
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/// Pure virtual interface class for the NodeLogging part of the Node API.
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class NodeLoggingInterface
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface)
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RCLCPP_PUBLIC
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virtual
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~NodeLoggingInterface() = default;
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/// Return the logger of the node.
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/**
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* \return The logger of the node.
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*/
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RCLCPP_PUBLIC
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virtual
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rclcpp::Logger
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get_logger() const = 0;
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/// Return the logger name associated with the node.
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/**
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* \return The logger name associated with the node.
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*/
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RCLCPP_PUBLIC
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virtual
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const char *
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get_logger_name() const = 0;
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/// create logger services
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RCLCPP_PUBLIC
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virtual
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void
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create_logger_services(
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node_interfaces::NodeServicesInterface::SharedPtr node_services) = 0;
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};
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} // namespace node_interfaces
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} // namespace rclcpp
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RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeLoggingInterface, logging)
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#endif // RCLCPP__NODE_INTERFACES__NODE_LOGGING_INTERFACE_HPP_
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