fix ros2 conflict

CMakeLists.txt

@@ -71,6 +71,15 @@ else()
     # TODO:
 endif()
 
+if(UNIX)
+    find_package(spdlog)
+    if(spdlog_FOUND)
+        message(STATUS "Found system spdlog")
+        target_link_libraries(ion-core PUBLIC spdlog::spdlog )
+    else()
+        target_include_directories(ion-core PUBLIC ${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/src/ionlog)
+    endif()
+endif()
 
 #
 # ion-bb

src/ionlog/spdlog/async.h

@@ -0,0 +1,99 @@
+// Copyright(c) 2015-present, Gabi Melman & spdlog contributors.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+
+#pragma once
+
+//
+// Async logging using global thread pool
+// All loggers created here share same global thread pool.
+// Each log message is pushed to a queue along with a shared pointer to the
+// logger.
+// If a logger deleted while having pending messages in the queue, it's actual
+// destruction will defer
+// until all its messages are processed by the thread pool.
+// This is because each message in the queue holds a shared_ptr to the
+// originating logger.
+
+#include <spdlog/async_logger.h>
+#include <spdlog/details/registry.h>
+#include <spdlog/details/thread_pool.h>
+
+#include <memory>
+#include <mutex>
+#include <functional>
+
+namespace spdlog {
+
+namespace details {
+static const size_t default_async_q_size = 8192;
+}
+
+// async logger factory - creates async loggers backed with thread pool.
+// if a global thread pool doesn't already exist, create it with default queue
+// size of 8192 items and single thread.
+template<async_overflow_policy OverflowPolicy = async_overflow_policy::block>
+struct async_factory_impl
+{
+    template<typename Sink, typename... SinkArgs>
+    static std::shared_ptr<async_logger> create(std::string logger_name, SinkArgs &&...args)
+    {
+        auto &registry_inst = details::registry::instance();
+
+        // create global thread pool if not already exists..
+
+        auto &mutex = registry_inst.tp_mutex();
+        std::lock_guard<std::recursive_mutex> tp_lock(mutex);
+        auto tp = registry_inst.get_tp();
+        if (tp == nullptr)
+        {
+            tp = std::make_shared<details::thread_pool>(details::default_async_q_size, 1U);
+            registry_inst.set_tp(tp);
+        }
+
+        auto sink = std::make_shared<Sink>(std::forward<SinkArgs>(args)...);
+        auto new_logger = std::make_shared<async_logger>(std::move(logger_name), std::move(sink), std::move(tp), OverflowPolicy);
+        registry_inst.initialize_logger(new_logger);
+        return new_logger;
+    }
+};
+
+using async_factory = async_factory_impl<async_overflow_policy::block>;
+using async_factory_nonblock = async_factory_impl<async_overflow_policy::overrun_oldest>;
+
+template<typename Sink, typename... SinkArgs>
+inline std::shared_ptr<spdlog::logger> create_async(std::string logger_name, SinkArgs &&...sink_args)
+{
+    return async_factory::create<Sink>(std::move(logger_name), std::forward<SinkArgs>(sink_args)...);
+}
+
+template<typename Sink, typename... SinkArgs>
+inline std::shared_ptr<spdlog::logger> create_async_nb(std::string logger_name, SinkArgs &&...sink_args)
+{
+    return async_factory_nonblock::create<Sink>(std::move(logger_name), std::forward<SinkArgs>(sink_args)...);
+}
+
+// set global thread pool.
+inline void init_thread_pool(
+    size_t q_size, size_t thread_count, std::function<void()> on_thread_start, std::function<void()> on_thread_stop)
+{
+    auto tp = std::make_shared<details::thread_pool>(q_size, thread_count, on_thread_start, on_thread_stop);
+    details::registry::instance().set_tp(std::move(tp));
+}
+
+inline void init_thread_pool(size_t q_size, size_t thread_count, std::function<void()> on_thread_start)
+{
+    init_thread_pool(q_size, thread_count, on_thread_start, [] {});
+}
+
+inline void init_thread_pool(size_t q_size, size_t thread_count)
+{
+    init_thread_pool(
+        q_size, thread_count, [] {}, [] {});
+}
+
+// get the global thread pool.
+inline std::shared_ptr<spdlog::details::thread_pool> thread_pool()
+{
+    return details::registry::instance().get_tp();
+}
+} // namespace spdlog

src/ionlog/spdlog/async_logger-inl.h

@@ -0,0 +1,90 @@
+// Copyright(c) 2015-present, Gabi Melman & spdlog contributors.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+
+#pragma once
+
+#ifndef SPDLOG_HEADER_ONLY
+#    include <spdlog/async_logger.h>
+#endif
+
+#include <spdlog/sinks/sink.h>
+#include <spdlog/details/thread_pool.h>
+
+#include <memory>
+#include <string>
+
+SPDLOG_INLINE spdlog::async_logger::async_logger(
+    std::string logger_name, sinks_init_list sinks_list, std::weak_ptr<details::thread_pool> tp, async_overflow_policy overflow_policy)
+    : async_logger(std::move(logger_name), sinks_list.begin(), sinks_list.end(), std::move(tp), overflow_policy)
+{}
+
+SPDLOG_INLINE spdlog::async_logger::async_logger(
+    std::string logger_name, sink_ptr single_sink, std::weak_ptr<details::thread_pool> tp, async_overflow_policy overflow_policy)
+    : async_logger(std::move(logger_name), {std::move(single_sink)}, std::move(tp), overflow_policy)
+{}
+
+// send the log message to the thread pool
+SPDLOG_INLINE void spdlog::async_logger::sink_it_(const details::log_msg &msg){
+    SPDLOG_TRY{if (auto pool_ptr = thread_pool_.lock()){pool_ptr->post_log(shared_from_this(), msg, overflow_policy_);
+}
+else
+{
+    throw_spdlog_ex("async log: thread pool doesn't exist anymore");
+}
+}
+SPDLOG_LOGGER_CATCH(msg.source)
+}
+
+// send flush request to the thread pool
+SPDLOG_INLINE void spdlog::async_logger::flush_(){
+    SPDLOG_TRY{if (auto pool_ptr = thread_pool_.lock()){pool_ptr->post_flush(shared_from_this(), overflow_policy_);
+}
+else
+{
+    throw_spdlog_ex("async flush: thread pool doesn't exist anymore");
+}
+}
+SPDLOG_LOGGER_CATCH(source_loc())
+}
+
+//
+// backend functions - called from the thread pool to do the actual job
+//
+SPDLOG_INLINE void spdlog::async_logger::backend_sink_it_(const details::log_msg &msg)
+{
+    for (auto &sink : sinks_)
+    {
+        if (sink->should_log(msg.level))
+        {
+            SPDLOG_TRY
+            {
+                sink->log(msg);
+            }
+            SPDLOG_LOGGER_CATCH(msg.source)
+        }
+    }
+
+    if (should_flush_(msg))
+    {
+        backend_flush_();
+    }
+}
+
+SPDLOG_INLINE void spdlog::async_logger::backend_flush_()
+{
+    for (auto &sink : sinks_)
+    {
+        SPDLOG_TRY
+        {
+            sink->flush();
+        }
+        SPDLOG_LOGGER_CATCH(source_loc())
+    }
+}
+
+SPDLOG_INLINE std::shared_ptr<spdlog::logger> spdlog::async_logger::clone(std::string new_name)
+{
+    auto cloned = std::make_shared<spdlog::async_logger>(*this);
+    cloned->name_ = std::move(new_name);
+    return cloned;
+}

src/ionlog/spdlog/async_logger.h

@@ -0,0 +1,68 @@
+// Copyright(c) 2015-present, Gabi Melman & spdlog contributors.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+
+#pragma once
+
+// Fast asynchronous logger.
+// Uses pre allocated queue.
+// Creates a single back thread to pop messages from the queue and log them.
+//
+// Upon each log write the logger:
+//    1. Checks if its log level is enough to log the message
+//    2. Push a new copy of the message to a queue (or block the caller until
+//    space is available in the queue)
+// Upon destruction, logs all remaining messages in the queue before
+// destructing..
+
+#include <spdlog/logger.h>
+
+namespace spdlog {
+
+// Async overflow policy - block by default.
+enum class async_overflow_policy
+{
+    block,         // Block until message can be enqueued
+    overrun_oldest // Discard oldest message in the queue if full when trying to
+                   // add new item.
+};
+
+namespace details {
+class thread_pool;
+}
+
+class SPDLOG_API async_logger final : public std::enable_shared_from_this<async_logger>, public logger
+{
+    friend class details::thread_pool;
+
+public:
+    template<typename It>
+    async_logger(std::string logger_name, It begin, It end, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block)
+        : logger(std::move(logger_name), begin, end)
+        , thread_pool_(std::move(tp))
+        , overflow_policy_(overflow_policy)
+    {}
+
+    async_logger(std::string logger_name, sinks_init_list sinks_list, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block);
+
+    async_logger(std::string logger_name, sink_ptr single_sink, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block);
+
+    std::shared_ptr<logger> clone(std::string new_name) override;
+
+protected:
+    void sink_it_(const details::log_msg &msg) override;
+    void flush_() override;
+    void backend_sink_it_(const details::log_msg &incoming_log_msg);
+    void backend_flush_();
+
+private:
+    std::weak_ptr<details::thread_pool> thread_pool_;
+    async_overflow_policy overflow_policy_;
+};
+} // namespace spdlog
+
+#ifdef SPDLOG_HEADER_ONLY
+#    include "async_logger-inl.h"
+#endif

src/ionlog/spdlog/cfg/argv.h

@@ -0,0 +1,44 @@
+// Copyright(c) 2015-present, Gabi Melman & spdlog contributors.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+
+#pragma once
+#include <spdlog/cfg/helpers.h>
+#include <spdlog/details/registry.h>
+
+//
+// Init log levels using each argv entry that starts with "SPDLOG_LEVEL="
+//
+// set all loggers to debug level:
+// example.exe "SPDLOG_LEVEL=debug"
+
+// set logger1 to trace level
+// example.exe "SPDLOG_LEVEL=logger1=trace"
+
+// turn off all logging except for logger1 and logger2:
+// example.exe "SPDLOG_LEVEL=off,logger1=debug,logger2=info"
+
+namespace spdlog {
+namespace cfg {
+
+// search for SPDLOG_LEVEL= in the args and use it to init the levels
+inline void load_argv_levels(int argc, const char **argv)
+{
+    const std::string spdlog_level_prefix = "SPDLOG_LEVEL=";
+    for (int i = 1; i < argc; i++)
+    {
+        std::string arg = argv[i];
+        if (arg.find(spdlog_level_prefix) == 0)
+        {
+            auto levels_string = arg.substr(spdlog_level_prefix.size());
+            helpers::load_levels(levels_string);
+        }
+    }
+}
+
+inline void load_argv_levels(int argc, char **argv)
+{
+    load_argv_levels(argc, const_cast<const char **>(argv));
+}
+
+} // namespace cfg
+} // namespace spdlog

src/ionlog/spdlog/cfg/env.h

@@ -0,0 +1,38 @@
+// Copyright(c) 2015-present, Gabi Melman & spdlog contributors.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+
+#pragma once
+#include <spdlog/cfg/helpers.h>
+#include <spdlog/details/registry.h>
+#include <spdlog/details/os.h>
+
+//
+// Init levels and patterns from env variables SPDLOG_LEVEL
+// Inspired from Rust's "env_logger" crate (https://crates.io/crates/env_logger).
+// Note - fallback to "info" level on unrecognized levels
+//
+// Examples:
+//
+// set global level to debug:
+// export SPDLOG_LEVEL=debug
+//
+// turn off all logging except for logger1:
+// export SPDLOG_LEVEL="*=off,logger1=debug"
+//
+
+// turn off all logging except for logger1 and logger2:
+// export SPDLOG_LEVEL="off,logger1=debug,logger2=info"
+
+namespace spdlog {
+namespace cfg {
+inline void load_env_levels()
+{
+    auto env_val = details::os::getenv("SPDLOG_LEVEL");
+    if (!env_val.empty())
+    {
+        helpers::load_levels(env_val);
+    }
+}
+
+} // namespace cfg
+} // namespace spdlog