Add interfaces for logging service. (#154)

* Add interfaces for logging service. Signed-off-by: Lei Liu <[email protected]> Signed-off-by: Barry Xu <[email protected]>
ros2 · Apr 17, 2023 · fda8865 · fda8865
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diff --git a/rcl_interfaces/CMakeLists.txt b/rcl_interfaces/CMakeLists.txt
@@ -27,12 +27,16 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ParameterType.msg"
   "msg/ParameterValue.msg"
   "msg/SetParametersResult.msg"
+  "msg/LoggerLevel.msg"
+  "msg/SetLoggerLevelsResult.msg"
   "srv/DescribeParameters.srv"
   "srv/GetParameters.srv"
   "srv/GetParameterTypes.srv"
   "srv/ListParameters.srv"
   "srv/SetParametersAtomically.srv"
   "srv/SetParameters.srv"
+  "srv/GetLoggerLevels.srv"
+  "srv/SetLoggerLevels.srv"
   DEPENDENCIES builtin_interfaces
 )
 

diff --git a/rcl_interfaces/README.md b/rcl_interfaces/README.md
@@ -32,6 +32,10 @@ The ROS API for a node will be as follows inside the node's namespace.
   * List the parameters on this node matching the filters.
  * `set_parameters`: `SetParameters`
   * Set parameters on this node.
+ * `get_logger_levels`: `GetLoggerLevels`
+  * Get the logger levels of nodes which are in the same process space.
+ * `set_logger_levels`: `SetLoggerLevels`
+  * Set the logger levels of nodes which are in the same process space.
 
 ## Messages (.msg)
 * [FloatingPointRange](msg/FloatingPointRange.msg): Represents bounds and a step value for a floating point typed parameter
@@ -46,14 +50,17 @@ The ROS API for a node will be as follows inside the node's namespace.
 * [ParameterType](msg/ParameterType.msg): Enum definitions for denoting a parameter value's type
 * [ParameterValue](msg/ParameterValue.msg): The associated value and type of a parameter
 * [SetParameterResult](msg/SetParametersResult.msg): Result message indicating whether a set parameters event succeeded
+* [SetLoggerLevelsResult](msg/SetLoggerLevelsResult.msg): Result message indicating whether a set logger level event succeeded
 
 ## Services (.srv)
 * [DescribeParameters](srv/DescribeParameters.srv): Request a list of descriptions for a specified list of parameters.
 * [GetParameters](srv/GetParameters.srv): Get the values of a specific list of parameters
 * [GetParameterTypes](srv/GetParametersTypes.srv): Get the enum type of a list of parameters
 * [ListParameters](srv/ListParameters.srv): Get the list of parameters given a list of prefixes
 * [SetParameters](srv/SetParameters.srv): Add or change a list of parameters individually
-* [SetParametersAtomically](srv/SetParametersAtomically.srv): Add or change all parameters in a list or none at all.
+* [SetParametersAtomically](srv/SetParametersAtomically.srv): Add or change all parameters in a list or none at all
+* [GetLoggerLevels](srv/GetLoggerLevels.srv): Get the logger levels of a specific list of nodes which are in the same process space
+* [SetLoggerLevels](srv/SetLoggerLevels.srv): Change a list of logger levels of nodes which are in the same process space
 
 ## Quality Declaration
 This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.
diff --git a/rcl_interfaces/msg/LoggerLevel.msg b/rcl_interfaces/msg/LoggerLevel.msg
@@ -0,0 +1,14 @@
+# All available logger levels; these correspond to the enum in rcutils/logger.h
+
+uint8 LOG_LEVEL_UNKNOWN = 0
+uint8 LOG_LEVEL_DEBUG = 10
+uint8 LOG_LEVEL_INFO = 20
+uint8 LOG_LEVEL_WARN = 30
+uint8 LOG_LEVEL_ERROR = 40
+uint8 LOG_LEVEL_FATAL = 50
+
+# The logger name.
+string name
+
+# The logger level
+uint32 level
diff --git a/rcl_interfaces/msg/SetLoggerLevelsResult.msg b/rcl_interfaces/msg/SetLoggerLevelsResult.msg
@@ -0,0 +1,5 @@
+# True when succeed, false when failed.
+bool successful
+
+# Reason why the setting was either successful or a failure.
+string reason
diff --git a/rcl_interfaces/srv/GetLoggerLevels.srv b/rcl_interfaces/srv/GetLoggerLevels.srv
@@ -0,0 +1,7 @@
+# A list of logger names to get.
+string[] names
+
+---
+# List of logger levels which is the same order as the provided names. If a
+# logger was not yet set, the value will have 'unknown' as the value.
+LoggerLevel[] levels
diff --git a/rcl_interfaces/srv/SetLoggerLevels.srv b/rcl_interfaces/srv/SetLoggerLevels.srv
@@ -0,0 +1,6 @@
+# A list of loggers to set.
+LoggerLevel[] levels
+
+---
+# Indicates whether setting each logger succeeded or not and why.
+SetLoggerLevelsResult[] results