templatize loggerlevelconfigure

Signed-off-by: Koichi <koichi.imai.2@tier4.jp>

Author: Koichi98

autoware_utils_logging/CMakeLists.txt

@@ -4,16 +4,13 @@ project(autoware_utils_logging)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(${PROJECT_NAME} SHARED
-  "src/logger_level_configure.cpp"
-)
-
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
     "test/main.cpp"
     "test/cases/logger_level_configure.cpp"
   )
-  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
+  target_include_directories(test_${PROJECT_NAME} PRIVATE include)
+  ament_target_dependencies(test_${PROJECT_NAME} rclcpp logging_demo)
 endif()
 
 ament_auto_package()

autoware_utils_logging/include/autoware_utils_logging/logger_level_configure.hpp

@@ -44,26 +44,74 @@
 #include <logging_demo/srv/config_logger.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <rcutils/logging.h>
+
+#include <functional>
+#include <string>
+#include <utility>
+
 namespace autoware_utils_logging
 {
 
-class LoggerLevelConfigure
+template <typename NodeT = rclcpp::Node>
+class BasicLoggerLevelConfigure
 {
 private:
   using ConfigLogger = logging_demo::srv::ConfigLogger;
+  using CallbackT = std::function<void(
+    ConfigLogger::Request::SharedPtr, ConfigLogger::Response::SharedPtr)>;
+  using ServicePtr = decltype(std::declval<NodeT *>()->template create_service<ConfigLogger>(
+    std::declval<std::string>(), std::declval<CallbackT>()));
 
 public:
-  explicit LoggerLevelConfigure(rclcpp::Node * node);
+  explicit BasicLoggerLevelConfigure(NodeT * node) : ros_logger_(node->get_logger())
+  {
+    using std::placeholders::_1;
+    using std::placeholders::_2;
+
+    srv_config_logger_ = node->template create_service<ConfigLogger>(
+      "~/config_logger",
+      std::bind(&BasicLoggerLevelConfigure::on_logger_config_service, this, _1, _2));
+  }
 
 private:
   rclcpp::Logger ros_logger_;
-  rclcpp::Service<ConfigLogger>::SharedPtr srv_config_logger_;
+  ServicePtr srv_config_logger_;
 
   void on_logger_config_service(
     const ConfigLogger::Request::SharedPtr request,
-    const ConfigLogger::Response::SharedPtr response);
+    const ConfigLogger::Response::SharedPtr response)
+  {
+    int logging_severity;
+    const auto ret_level = rcutils_logging_severity_level_from_string(
+      request->level.c_str(), rcl_get_default_allocator(), &logging_severity);
+
+    if (ret_level != RCUTILS_RET_OK) {
+      response->success = false;
+      RCLCPP_WARN_STREAM(
+        ros_logger_, "Failed to change logger level for "
+                       << request->logger_name
+                       << " due to an invalid logging severity: " << request->level);
+      return;
+    }
+
+    const auto ret_set =
+      rcutils_logging_set_logger_level(request->logger_name.c_str(), logging_severity);
+
+    if (ret_set != RCUTILS_RET_OK) {
+      response->success = false;
+      RCLCPP_WARN_STREAM(ros_logger_, "Failed to set logger level for " << request->logger_name);
+      return;
+    }
+
+    response->success = true;
+    RCLCPP_INFO_STREAM(
+      ros_logger_, "Logger level [" << request->level << "] is set for " << request->logger_name);
+  }
 };
 
+using LoggerLevelConfigure = BasicLoggerLevelConfigure<rclcpp::Node>;
+
 }  // namespace autoware_utils_logging
 
 #endif  // AUTOWARE_UTILS_LOGGING__LOGGER_LEVEL_CONFIGURE_HPP_