Move spdlog::logger to gz-utils (#134)

* Move spdlog::logger to gz-utils

Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Carlos Agüero <[email protected]>
Co-authored-by: Addisu Z. Taddese <[email protected]>

.github/ci/packages.apt

@@ -1 +1,2 @@
 libgz-cmake4-dev
+libspdlog-dev

CMakeLists.txt

@@ -37,11 +37,17 @@ if(NOT GZ_UTILS_VENDOR_CLI11)
   gz_find_package(CLI11 REQUIRED_BY cli PKGCONFIG_IGNORE)
 endif()
 
+gz_find_package(
+  spdlog
+  PKGCONFIG spdlog
+  REQUIRED_BY log
+  PURPOSE "Provide logging")
+
 #============================================================================
 # Configure the build
 #============================================================================
 gz_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS cli)
+  COMPONENTS cli log)
 
 #============================================================================
 # Create package information

examples/log/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
+project(gz-utils-logger-demo)
+
+# Find the Gazebo Libraries used directly by the example
+find_package(gz-utils3 REQUIRED COMPONENTS log)
+set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR})
+
+add_executable(${PROJECT_NAME} main.cc)
+target_link_libraries(
+  ${PROJECT_NAME}
+  gz-utils${GZ_UTILS_VER}::log
+)

examples/log/main.cc

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <filesystem>
+#include <gz/utils/log/Logger.hh>
+
+//////////////////////////////////////////////////
+int main(int argc, char** argv)
+{
+  gz::utils::log::Logger logger("my_logger");
+  logger.RawLogger().set_level(spdlog::level::trace);
+
+  std::filesystem::path logDir = std::filesystem::temp_directory_path();
+  std::filesystem::path logFile = "my_log.txt";
+  std::filesystem::path logPath = logDir / logFile;
+
+  logger.SetLogDestination(logPath);
+  logger.RawLogger().trace("trace");
+  logger.RawLogger().info("info");
+  logger.RawLogger().warn("warn");
+  logger.RawLogger().error("error");
+  logger.RawLogger().critical("critical");
+}

log/include/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(gz/utils)

log/include/gz/utils/CMakeLists.txt

@@ -0,0 +1 @@
+gz_install_all_headers(COMPONENT log)

log/include/gz/utils/log/Logger.hh

@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_UTILS_LOG_LOGGER_HH_
+#define GZ_UTILS_LOG_LOGGER_HH_
+
+#include <spdlog/spdlog.h>
+#include <memory>
+#include <string>
+#include <gz/utils/config.hh>
+#include <gz/utils/ImplPtr.hh>
+#include <gz/utils/log/Export.hh>
+
+namespace gz
+{
+namespace utils
+{
+namespace log
+{
+inline namespace GZ_UTILS_VERSION_NAMESPACE {
+
+/// \brief Gazebo console and file logging class.
+/// This will configure spdlog with a sane set of defaults for logging to the
+/// console as well as a file.
+class GZ_UTILS_LOG_VISIBLE Logger
+{
+  /// \brief Class constructor.
+  /// \param[in] _loggerName Logger name.
+  public: explicit Logger(const std::string &_loggerName);
+
+  /// \brief Set the log destination filename.
+  /// \param[in] _filename Log file name.
+  public: void SetLogDestination(const std::string &_filename);
+
+  /// \brief Get the log destination filename.
+  /// \return Log file name.
+  public: std::string LogDestination() const;
+
+  /// \brief Access the underlying spdlog logger.
+  /// \return The spdlog logger.
+  public: [[nodiscard]] spdlog::logger &RawLogger() const;
+
+  /// \brief Access the underlying spdlog logger, with ownership.
+  /// \return The spdlog logger.
+  public: [[nodiscard]] std::shared_ptr<spdlog::logger> RawLoggerPtr() const;
+
+  /// \brief Implementation Pointer.
+  GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+};
+}  // namespace GZ_UTILS_LOG_VERSION_NAMESPACE
+}  // namespace log
+}  // namespace utils
+}  // namespace gz
+
+#endif  // GZ_UTILS_LOG_LOGGER_HH_

log/include/gz/utils/log/SplitSink.hh

@@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef GZ_UTILS_LOG_SPLITSINK_HH_
+#define GZ_UTILS_LOG_SPLITSINK_HH_
+
+#include <memory>
+#include <string>
+
+#include <gz/utils/config.hh>
+#include <gz/utils/ImplPtr.hh>
+#include <gz/utils/log/Export.hh>
+
+#include <spdlog/details/log_msg.h>
+#include <spdlog/pattern_formatter.h>
+#include <spdlog/sinks/base_sink.h>
+#include <spdlog/sinks/stdout_color_sinks.h>
+
+namespace gz
+{
+namespace utils
+{
+namespace log
+{
+inline namespace GZ_UTILS_VERSION_NAMESPACE {
+
+/// \brief Logging sink for spdlog that logs in Gazebo-conventions.
+///
+/// This will route messages with severity (warn, err, critical) to stderr,
+/// and all other levels (info, debug, trace) to stdout.
+class GZ_UTILS_LOG_VISIBLE SplitConsoleSink : public spdlog::sinks::sink
+{
+  /// \brief Class constructor.
+  public: SplitConsoleSink();
+
+  /// \brief Class destructor.
+  public: ~SplitConsoleSink() override = default;
+
+  /// \brief Log a message.
+  /// \param[in] _msg The message to log.
+  public: void log(const spdlog::details::log_msg &_msg) override;
+
+  /// \brief Flush messages.
+  public: void flush() override;
+
+  /// \brief Set the logging pattern.
+  /// \param[in] _pattern The logging pattern.
+  public: void set_pattern(const std::string &_pattern) override;
+
+  /// \brief Set the new formatter.
+  /// \param[in] _sinkFormatter The formatter.
+  public: void set_formatter(std::unique_ptr<spdlog::formatter> _sinkFormatter)
+    override;
+
+  /// \brief Set the color mode.
+  /// \param[in] _mode Color mode.
+  public: void set_color_mode(spdlog::color_mode _mode);
+
+  /// \brief Implementation Pointer.
+  GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+};
+}  // namespace GZ_UTILS_LOG_VERSION_NAMESPACE
+}  // namespace log
+}  // namespace utils
+}  // namespace gz
+
+#endif  // GZ_UTILS_LOG_SPLITSINK_HH__

log/src/CMakeLists.txt

@@ -0,0 +1,15 @@
+gz_get_libsources_and_unittests(sources gtest_sources)
+
+gz_add_component(log
+  SOURCES ${sources}
+  INDEPENDENT_FROM_PROJECT_LIB
+  GET_TARGET_NAME gz_utils_log_target_name)
+
+target_link_libraries(${gz_utils_log_target_name}
+  PUBLIC
+    spdlog::spdlog)
+
+gz_build_tests(TYPE UNIT
+  SOURCES ${gtest_sources}
+  LIB_DEPS ${gz_utils_log_target_name}
+)

log/src/Logger.cc

@@ -0,0 +1,104 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#include <memory>
+#include <string>
+
+#include <gz/utils/log/Logger.hh>
+#include <gz/utils/log/SplitSink.hh>
+#include <spdlog/sinks/basic_file_sink.h>
+#include <spdlog/sinks/dist_sink.h>
+#include <spdlog/spdlog.h>
+
+namespace gz::utils::log
+{
+/// \brief Private data for the Logger class.
+class Logger::Implementation
+{
+  /// \brief Constructor.
+  /// \param[in] _loggerName Logger name.
+  public: explicit Implementation(const std::string &_loggerName)
+    : consoleSink(std::make_shared<SplitConsoleSink>()),
+      sinks(std::make_shared<spdlog::sinks::dist_sink_mt>()),
+      logger(std::make_shared<spdlog::logger>(_loggerName, sinks))
+  {
+  }
+
+  /// \brief The console sink with stdout and stderr.
+  std::shared_ptr<SplitConsoleSink> consoleSink;
+
+  /// \brief The file sink for logging into a file.
+  std::shared_ptr<spdlog::sinks::basic_file_sink_mt> fileSink {nullptr};
+
+  /// \brief A sink distribution storing multiple sinks.
+  std::shared_ptr<spdlog::sinks::dist_sink_mt> sinks {nullptr};
+
+  /// \brief The underlying spdlog logger.
+  std::shared_ptr<spdlog::logger> logger {nullptr};
+};
+
+/////////////////////////////////////////////////
+Logger::Logger(const std::string &_loggerName)
+  : dataPtr(gz::utils::MakeUniqueImpl<Implementation>(_loggerName))
+{
+  // Add the console sink by default.
+  this->dataPtr->sinks->add_sink(this->dataPtr->consoleSink);
+
+  // Configure the logger.
+  this->dataPtr->logger->set_level(spdlog::level::err);
+  this->dataPtr->logger->flush_on(spdlog::level::err);
+
+  spdlog::flush_every(std::chrono::seconds(5));
+  spdlog::register_logger(this->dataPtr->logger);
+}
+
+/////////////////////////////////////////////////
+void Logger::SetLogDestination(const std::string &_filename)
+{
+  if (this->dataPtr->fileSink)
+    this->dataPtr->sinks->remove_sink(this->dataPtr->fileSink);
+
+  if (!_filename.empty())
+  {
+    this->dataPtr->fileSink =
+      std::make_shared<spdlog::sinks::basic_file_sink_mt>(_filename, true);
+    this->dataPtr->sinks->add_sink(this->dataPtr->fileSink);
+  }
+}
+
+/////////////////////////////////////////////////
+std::string Logger::LogDestination() const
+{
+  std::string logPath = "";
+  if (this->dataPtr->fileSink)
+    logPath = this->dataPtr->fileSink->filename();
+
+  return logPath;
+}
+
+/////////////////////////////////////////////////
+spdlog::logger &Logger::RawLogger() const
+{
+  return *this->dataPtr->logger;
+}
+
+/////////////////////////////////////////////////
+std::shared_ptr<spdlog::logger> Logger::RawLoggerPtr() const
+{
+  return this->dataPtr->logger;
+}
+
+}  // namespace gz::utils::log