Add rosout logging to rclrs (#422)

* Initial logging implementation

* * Moved logging_fini to follow correct call sequence based on rclcpp

* Primary change to fix builder's node variable going out of scope

* Fix linting issue with use statement

* Remove the need to Box rcl_node_t (#5)

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fix linting issues

* Fix logging lifecycles and clean up tests

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Linting fixes after logging lifecycle improvements

* Introduce Logger and LogParams

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Cleaner logging tests

Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>

* Address feedback for logging PR

Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>

---------

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Co-authored-by: Grey <greyxmike@gmail.com>
Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>

rclrs/build.rs

@@ -35,6 +35,7 @@ fn main() {
         }
     };
 
+    println!("cargo:rustc-check-cfg=cfg(ros_distro, values(\"humble\", \"iron\", \"jazzy\", \"rolling\"))");
     println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");
 
     let mut builder = bindgen::Builder::default()

rclrs/src/context.rs

@@ -6,7 +6,7 @@ use std::{
     vec::Vec,
 };
 
-use crate::{rcl_bindings::*, RclrsError, ToResult};
+use crate::{rcl_bindings::*, LoggingLifecycle, RclrsError, ToResult};
 
 /// This is locked whenever initializing or dropping any middleware entity
 /// because we have found issues in RCL and some RMW implementations that
@@ -56,6 +56,10 @@ unsafe impl Send for rcl_context_t {}
 /// - middleware-specific data, e.g. the domain participant in DDS
 /// - the allocator used (left as the default by `rclrs`)
 ///
+/// The context also configures the rcl_logging_* layer to allow publication to /rosout
+/// (as well as the terminal).  TODO: This behaviour should be configurable using an
+/// "auto logging initialise" flag as per rclcpp and rclpy.
+///
 pub struct Context {
     pub(crate) handle: Arc<ContextHandle>,
 }
@@ -68,6 +72,10 @@ pub struct Context {
 /// bindings in this library.
 pub(crate) struct ContextHandle {
     pub(crate) rcl_context: Mutex<rcl_context_t>,
+    /// This ensures that logging does not get cleaned up until after this ContextHandle
+    /// has dropped.
+    #[allow(unused)]
+    logging: Arc<LoggingLifecycle>,
 }
 
 impl Context {
@@ -143,9 +151,16 @@ impl Context {
             // Move the check after the last fini()
             ret?;
         }
+
+        // TODO: "Auto set-up logging" is forced but should be configurable as per rclcpp and rclpy
+        // SAFETY: We created this context a moment ago and verified that it is valid.
+        // No other conditions are needed.
+        let logging = unsafe { LoggingLifecycle::configure(&rcl_context)? };
+
         Ok(Self {
             handle: Arc::new(ContextHandle {
                 rcl_context: Mutex::new(rcl_context),
+                logging,
             }),
         })
     }

rclrs/src/lib.rs

@@ -11,6 +11,7 @@ mod clock;
 mod context;
 mod error;
 mod executor;
+mod logging;
 mod node;
 mod parameter;
 mod publisher;
@@ -38,6 +39,7 @@ pub use clock::*;
 pub use context::*;
 pub use error::*;
 pub use executor::*;
+pub use logging::*;
 pub use node::*;
 pub use parameter::*;
 pub use publisher::*;