Allow configuring logging directory through environment variables

rcl_logging_interface/CMakeLists.txt

@@ -35,4 +35,19 @@ install(DIRECTORY include/${PROJECT_NAME}/
 ament_export_include_directories(include)
 ament_export_targets(${PROJECT_NAME})
 ament_export_dependencies(rcutils)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(rcpputils REQUIRED)
+  ament_add_gtest(test_get_logging_directory test/test_get_logging_directory.cpp)
+  if(TARGET test_get_logging_directory)
+    target_link_libraries(test_get_logging_directory ${PROJECT_NAME})
+    target_include_directories(test_get_logging_directory PRIVATE include)
+    ament_target_dependencies(test_get_logging_directory rcutils rcpputils)
+  endif()
+endif()
+
 ament_package()

rcl_logging_interface/include/rcl_logging_interface/rcl_logging_interface.h

@@ -17,6 +17,12 @@
 
 #include "rcl_logging_interface/visibility_control.h"
 #include "rcutils/allocator.h"
+#include "rcutils/error_handling.h"
+#include "rcutils/filesystem.h"
+#include "rcutils/find.h"
+#include "rcutils/get_env.h"
+#include "rcutils/repl_str.h"
+#include "rcutils/strdup.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -26,6 +32,7 @@ typedef enum
 {
   RCL_LOGGING_RET_OK = 0,
   RCL_LOGGING_RET_ERROR = 2,
+  RCL_LOGGING_RET_INVALID_ARGUMENT = 11,
   RCL_LOGGING_RET_CONFIG_FILE_DOESNT_EXIST = 21,
   RCL_LOGGING_RET_CONFIG_FILE_INVALID = 22,
 } rcl_logging_ret_t;
@@ -91,6 +98,73 @@ RCL_LOGGING_INTERFACE_PUBLIC
 RCUTILS_WARN_UNUSED
 rcl_logging_ret_t rcl_logging_external_set_logger_level(const char * name, int level);
 
+/// Get the logging directory.
+/**
+ * Uses various environment variables to construct a logging directory path.
+ *
+ * Use $ROS2_LOG_DIR if ROS2_LOG_DIR is set and not empty.
+ * Otherwise, use $ROS2_HOME/log, using ~/.ros for ROS2_HOME if not set or if empty.
+ *
+ * It also expands '~' to the current user's home directory.
+ *
+ * \param[in] allocator The allocator to use for memory allocation.
+ * \param[out] directory The C string pointer at which to write the directory path.
+ *   Only meaningful if the call is successful. Must not be null and must point to null.
+ * \return RCL_LOGGING_RET_OK if successful, or
+ * \return RCL_LOGGING_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return RCL_LOGGING_RET_ERROR if an unspecified error occurs.
+ */
+RCL_LOGGING_INTERFACE_PUBLIC
+inline
+rcl_logging_ret_t
+rcl_logging_get_logging_directory(const rcutils_allocator_t * allocator, const char ** directory)
+{
+  if (directory == NULL) {
+    RCUTILS_SET_ERROR_MSG("directory argument must not be null");
+    return RCL_LOGGING_RET_INVALID_ARGUMENT;
+  }
+  if (*directory != NULL) {
+    RCUTILS_SET_ERROR_MSG("directory argument must point to null");
+    return RCL_LOGGING_RET_INVALID_ARGUMENT;
+  }
+
+  const char * log_dir_env;
+  const char * err = rcutils_get_env("ROS2_LOG_DIR", &log_dir_env);
+  if (!err && *log_dir_env != '\0') {
+    *directory = log_dir_env;
+  } else {
+    const char * ros2_home_dir_env;
+    err = rcutils_get_env("ROS2_HOME", &ros2_home_dir_env);
+    if (err || *ros2_home_dir_env == '\0') {
+      ros2_home_dir_env = rcutils_join_path("~", ".ros", *allocator);
+      if (ros2_home_dir_env == NULL) {
+        RCUTILS_SET_ERROR_MSG("rcutils_join_path failed");
+        return RCL_LOGGING_RET_ERROR;
+      }
+    }
+    *directory = rcutils_join_path(ros2_home_dir_env, "log", *allocator);
+    if (*directory == NULL) {
+      RCUTILS_SET_ERROR_MSG("rcutils_join_path failed");
+      return RCL_LOGGING_RET_ERROR;
+    }
+  }
+
+  // Expand home directory
+  if (SIZE_MAX != rcutils_find(*directory, '~')) {
+    const char * homedir = rcutils_get_home_dir();
+    if (homedir == NULL) {
+      RCUTILS_SET_ERROR_MSG("failed to get the home directory");
+      return RCL_LOGGING_RET_ERROR;
+    }
+    *directory = rcutils_repl_str(*directory, "~", homedir, allocator);
+    if (*directory == NULL) {
+      RCUTILS_SET_ERROR_MSG("rcutils_repl_str failed");
+      return RCL_LOGGING_RET_ERROR;
+    }
+  }
+  return RCL_LOGGING_RET_OK;
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl_logging_interface/package.xml

@@ -12,6 +12,10 @@
 
   <depend>rcutils</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>rcpputils</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

rcl_logging_interface/test/test_get_logging_directory.cpp

@@ -0,0 +1,109 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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 <rcpputils/filesystem_helper.hpp>
+#include <rcpputils/get_env.hpp>
+#include <rcutils/allocator.h>
+#include <rcutils/env.h>
+
+#include <string>
+
+#include "gtest/gtest.h"
+#include "rcl_logging_interface/rcl_logging_interface.h"
+
+// This is a helper class that resets an environment
+// variable when leaving scope
+class RestoreEnvVar
+{
+public:
+  explicit RestoreEnvVar(const std::string & name)
+  : name_(name),
+    value_(rcpputils::get_env_var(name.c_str()))
+  {
+  }
+
+  ~RestoreEnvVar()
+  {
+    if (!rcutils_set_env(name_.c_str(), value_.c_str())) {
+      std::cerr << "Failed to restore value of environment variable: " << name_ << std::endl;
+    }
+  }
+
+private:
+  const std::string name_;
+  const std::string value_;
+};
+
+TEST(test_logging_directory, directory)
+{
+  RestoreEnvVar home_var("HOME");
+  RestoreEnvVar userprofile_var("USERPROFILE");
+  ASSERT_EQ(true, rcutils_set_env("HOME", nullptr));
+  ASSERT_EQ(true, rcutils_set_env("USERPROFILE", nullptr));
+  ASSERT_EQ(true, rcutils_set_env("ROS2_LOG_DIR", nullptr));
+  ASSERT_EQ(true, rcutils_set_env("ROS2_HOME", nullptr));
+
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+
+  // Fails without any relevant env vars at all (HOME included)
+  char * directory;
+  EXPECT_EQ(RCL_LOGGING_RET_ERROR, rcl_logging_get_logging_directory(&allocator, &directory));
+
+  // Default case without ROS2_LOG_DIR or ROS2_HOME being set (but with HOME)
+  rcpputils::fs::path fake_home("/fake_home_dir");
+  ASSERT_EQ(true, rcutils_set_env("HOME", fake_home.string().c_str()));
+  rcpputils::fs::path default_dir = fake_home / ".ros" / "log";
+  EXPECT_EQ(RCL_LOGGING_RET_OK, rcl_logging_get_logging_directory(&allocator, &directory));
+  EXPECT_STREQ(directory, default_dir.string().c_str());
+  allocator.deallocate(directory, allocator.state);
+
+  // Use $ROS2_LOG_DIR if it is set
+  ASSERT_EQ(true, rcutils_set_env("ROS2_LOG_DIR", "/my/ros2_log_dir"));
+  EXPECT_EQ(RCL_LOGGING_RET_OK, rcl_logging_get_logging_directory(&allocator, &directory));
+  EXPECT_STREQ(directory, "/my/ros2_log_dir");
+  allocator.deallocate(directory, allocator.state);
+  // Empty is considered unset
+  ASSERT_EQ(true, rcutils_set_env("ROS2_LOG_DIR", ""));
+  EXPECT_EQ(RCL_LOGGING_RET_OK, rcl_logging_get_logging_directory(&allocator, &directory));
+  EXPECT_STREQ(directory, default_dir.string().c_str());
+  allocator.deallocate(directory, allocator.state);
+  // Make sure '~' is expanded to the home directory
+  ASSERT_EQ(true, rcutils_set_env("ROS2_LOG_DIR", "~/logdir"));
+  EXPECT_EQ(RCL_LOGGING_RET_OK, rcl_logging_get_logging_directory(&allocator, &directory));
+  rcpputils::fs::path fake_log_dir = fake_home / "logdir";
+  EXPECT_STREQ(directory, fake_log_dir.string().c_str());
+  allocator.deallocate(directory, allocator.state);
+
+  ASSERT_EQ(true, rcutils_set_env("ROS2_LOG_DIR", nullptr));
+
+  // Without ROS2_LOG_DIR, use $ROS2_HOME/log
+  rcpputils::fs::path fake_ros_home = fake_home / ".fakeroshome";
+  ASSERT_EQ(true, rcutils_set_env("ROS2_HOME", fake_ros_home.string().c_str()));
+  EXPECT_EQ(RCL_LOGGING_RET_OK, rcl_logging_get_logging_directory(&allocator, &directory));
+  rcpputils::fs::path fake_ros_home_log_dir = fake_ros_home / "log";
+  EXPECT_STREQ(directory, fake_ros_home_log_dir.string().c_str());
+  allocator.deallocate(directory, allocator.state);
+  // Empty is considered unset
+  ASSERT_EQ(true, rcutils_set_env("ROS2_HOME", ""));
+  EXPECT_EQ(RCL_LOGGING_RET_OK, rcl_logging_get_logging_directory(&allocator, &directory));
+  EXPECT_STREQ(directory, default_dir.string().c_str());
+  allocator.deallocate(directory, allocator.state);
+  // Make sure '~' is expanded to the home directory
+  ASSERT_EQ(true, rcutils_set_env("ROS2_HOME", "~/.fakeroshome"));
+  EXPECT_EQ(RCL_LOGGING_RET_OK, rcl_logging_get_logging_directory(&allocator, &directory));
+  EXPECT_STREQ(directory, fake_ros_home_log_dir.string().c_str());
+  allocator.deallocate(directory, allocator.state);
+
+  ASSERT_EQ(true, rcutils_set_env("ROS2_HOME", nullptr));
+}

rcl_logging_log4cxx/src/rcl_logging_log4cxx/rcl_logging_log4cxx.cpp

@@ -102,12 +102,11 @@ rcl_logging_ret_t rcl_logging_external_initialize(
     // To be compatible with ROS 1, we want to construct a default filename of
     // the form ~/.ros/log/<exe>_<pid>_<milliseconds-since-epoch>.log
 
-    // First get the home directory.
-    const char * homedir = rcutils_get_home_dir();
-    if (homedir == nullptr) {
-      // We couldn't get the home directory; it is not really going to be
-      // possible to do logging properly, so get out of here without setting
-      // up logging.
+    char * logdir;
+    rcl_logging_ret_t dir_ret = rcl_logging_get_logging_directory(&allocator, &logdir);
+    if (dir_ret != RCL_LOGGING_RET_OK) {
+      // We couldn't get the log directory, so get out of here without setting up
+      // logging.
       return RCL_LOGGING_RET_ERROR;
     }
 
@@ -132,8 +131,9 @@ rcl_logging_ret_t rcl_logging_external_initialize(
     char log_name_buffer[512] = {0};
     int print_ret = rcutils_snprintf(
       log_name_buffer, sizeof(log_name_buffer),
-      "%s/.ros/log/%s_%i_%" PRId64 ".log", homedir, executable_name,
+      "%s/%s_%i_%" PRId64 ".log", logdir, executable_name,
       rcutils_get_pid(), ms_since_epoch);
+    allocator.deallocate(logdir, allocator.state);
     allocator.deallocate(executable_name, allocator.state);
     if (print_ret < 0) {
       RCUTILS_SET_ERROR_MSG("Failed to create log file name string");

rcl_logging_spdlog/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(rcl_logging_interface REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(spdlog_vendor REQUIRED) # Provides spdlog on platforms without it.
 find_package(spdlog REQUIRED)
@@ -26,6 +27,7 @@ target_link_libraries(${PROJECT_NAME} spdlog::spdlog)
 
 ament_target_dependencies(${PROJECT_NAME}
   rcl_logging_interface
+  rcpputils
   rcutils
   spdlog
 )
@@ -47,7 +49,6 @@ if(BUILD_TESTING)
     performance_test_fixture::performance_test_fixture INTERFACE_INCLUDE_DIRECTORIES)
 
   find_package(ament_cmake_gtest REQUIRED)
-  find_package(rcpputils REQUIRED)
   ament_add_gtest(test_logging_interface test/test_logging_interface.cpp)
   if(TARGET test_logging_interface)
     target_link_libraries(test_logging_interface ${PROJECT_NAME})

rcl_logging_spdlog/package.xml

@@ -14,6 +14,7 @@
   <build_depend>spdlog</build_depend>
 
   <depend>rcl_logging_interface</depend>
+  <depend>rcpputils</depend>
   <depend>rcutils</depend>
 
   <exec_depend>spdlog_vendor</exec_depend>
@@ -22,7 +23,6 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>performance_test_fixture</test_depend>
-  <test_depend>rcpputils</test_depend>
 
   <member_of_group>rcl_logging_packages</member_of_group>
 

rcl_logging_spdlog/src/rcl_logging_spdlog.cpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <rcpputils/filesystem_helper.hpp>
 #include <rcutils/allocator.h>
-#include <rcutils/filesystem.h>
 #include <rcutils/get_env.h>
 #include <rcutils/logging.h>
 #include <rcutils/process.h>
@@ -24,6 +24,7 @@
 #include <cinttypes>
 #include <memory>
 #include <mutex>
+#include <string>
 #include <utility>
 
 #include "spdlog/spdlog.h"
@@ -75,36 +76,18 @@ rcl_logging_ret_t rcl_logging_external_initialize(
     // To be compatible with ROS 1, we construct a default filename of
     // the form ~/.ros/log/<exe>_<pid>_<milliseconds-since-epoch>.log
 
-    // First get the home directory.
-    const char * homedir = rcutils_get_home_dir();
-    if (homedir == nullptr) {
-      // We couldn't get the home directory; it is not really going to be
-      // possible to do logging properly, so get out of here without setting
-      // up logging.
-      RCUTILS_SET_ERROR_MSG("Failed to get users home directory");
-      return RCL_LOGGING_RET_ERROR;
-    }
-
-    // SPDLOG doesn't automatically create the log directories, so make them
-    // by hand here.
-    char name_buffer[4096] = {0};
-    int print_ret = rcutils_snprintf(name_buffer, sizeof(name_buffer), "%s/.ros", homedir);
-    if (print_ret < 0) {
-      RCUTILS_SET_ERROR_MSG("Failed to create home directory string");
-      return RCL_LOGGING_RET_ERROR;
-    }
-    if (!rcutils_mkdir(name_buffer)) {
-      RCUTILS_SET_ERROR_MSG("Failed to create user .ros directory");
+    char * logdir;
+    rcl_logging_ret_t dir_ret = rcl_logging_get_logging_directory(&allocator, &logdir);
+    if (dir_ret != RCL_LOGGING_RET_OK) {
+      // We couldn't get the log directory, so get out of here without setting up
+      // logging.
       return RCL_LOGGING_RET_ERROR;
     }
 
-    print_ret = rcutils_snprintf(name_buffer, sizeof(name_buffer), "%s/.ros/log", homedir);
-    if (print_ret < 0) {
-      RCUTILS_SET_ERROR_MSG("Failed to create log directory string");
-      return RCL_LOGGING_RET_ERROR;
-    }
-    if (!rcutils_mkdir(name_buffer)) {
-      RCUTILS_SET_ERROR_MSG("Failed to create user log directory");
+    // SPDLOG doesn't automatically create the log directories, so create them
+    rcpputils::fs::path logdir_path(logdir);
+    if (!rcpputils::fs::create_directories(logdir_path)) {
+      RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING("Failed to create log directory: %s", logdir);
       return RCL_LOGGING_RET_ERROR;
     }
 
@@ -128,10 +111,12 @@ rcl_logging_ret_t rcl_logging_external_initialize(
       return RCL_LOGGING_RET_ERROR;
     }
 
-    print_ret = rcutils_snprintf(
+    char name_buffer[4096] = {0};
+    int print_ret = rcutils_snprintf(
       name_buffer, sizeof(name_buffer),
-      "%s/.ros/log/%s_%i_%" PRId64 ".log", homedir,
+      "%s/%s_%i_%" PRId64 ".log", logdir,
       basec, rcutils_get_pid(), ms_since_epoch);
+    allocator.deallocate(logdir, allocator.state);
     allocator.deallocate(basec, allocator.state);
     if (print_ret < 0) {
       RCUTILS_SET_ERROR_MSG("Failed to create log file name string");