fantaosha/lpp

Header only logging library to standardize ros and glog output at compile time.

Log++ Logging framework

---

Features

• Framework to standardize ros and glog output at compile time.
• Uses ros/glog's native log calls depending on selected mode.
• Customize log output
• All log calls are thread-safe.
• Lightweight with performance in mind
• Header only
• Recommended to use with C++17, but also works with C++11 when compiling with GCC.

Example

src/demo.cpp

#include <log++.h>

int main(int argc, char **argv) {
  LOG_INIT(argv[0]);
  int foo = 5;
  
  LOG(I, "Foo: " << foo);           //Log++ syntax
  ROS_INFO_STREAM("Foo: " << foo);  //ROS syntax
  LOG(INFO) << "Foo: " << foo;      //Glog syntax
  return 0;
}

Output with different flags

• MODE_DEFAULT:

INFO  Foo: 5
[ INFO] [1664445448.151401926]: Foo: 5
I0929 11:57:28.151427 1360708 main.cpp:8] Foo: 5

• MODE_LPP:

INFO  Foo: 5
INFO  Foo: 5
INFO  Foo: 5

• MODE_GLOG:

I0929 11:57:50.238454 1360823 main.cpp:6] Foo: 5
I0929 11:57:50.238514 1360823 main.cpp:7] Foo: 5
I0929 11:57:50.238536 1360823 main.cpp:8] Foo: 5

• MODE_ROSLOG:

[ INFO] [1664445486.584182057]: Foo: 5
[ INFO] [1664445486.584212352]: Foo: 5
[ INFO] [1664445486.584240476]: Foo: 5

Installation

Option 1: Copy the header

1. Copy the header file include/log++.h to your project.

2. Add the following line to CMakeLists.txt to select the desired mode for...

• a project:

# Valid modes are: MODE_LPP MODE_GLOG MODE_ROSLOG MODE_DEFAULT
# Use add_definitions(-DMODE_LPP) if cmake version <= 3.11

add_compile_definitions(MODE_LPP)

• a specific executable or library:

target_compile_definitions(my_executable PRIVATE MODE_LPP) 

Option 2: Add Log++ as a submodule

1. Add Log++ as a submodule with following command:

$ git submodule add [email protected]:ethz-asl/lpp.git

2. Add following lines in CMakeLists.txt

add_subdirectory(my_submodule_dir/lpp)
add_executable(my_executable main.cpp)
target_link_libraries(my_executable Log++)

3. To update Log++ to the latest commit, execute the following commands:

From submodule directory

$ git pull origin master

From parent directory

$ git add path/to/submodule_dir

Option 3: Build as catkin package

1. Clone the package into the catkin workspace

$ git clone [email protected]:ethz-asl/lpp.git

2. Build package

$ catkin build lpp

Usage

Modes

• MODE_LPP Log++ Logging output.
• MODE_GLOG: Google Logging output. Calls abort() if it logs a fatal error.
• MODE_ROSLOG: ROS Logging output.
• MODE_DEFAULT: Disables Logging standardization. Messages are logged according to their framework.
• MODE_NOLOG: Disables Logging completely. Useful for unittests or in some cases for release builds.

How severity levels should be used

• Debug: Everything too verbose during normal execution and can be ignored.
• Info: Everything that could be of interest during a normal execution, but could also be ignored.
• Warning: Things that may need attention, but are probably not dangerous.
• Error: Things that need attention and probably are dangerous if not handled.
• Fatal: Everything that should stop execution immediately.

Note for glog:

• When using with MODE_ROSLOG or MODE_LPP, the macros DLOG(severity) and VLOG() will get converted to debug severity.

• When using with MODE_GLOG, the Log++ and Roslog debug macros LOG(D) and ROS_DEBUG() will get converted to DLOG(INFO).

• Fatal log messages call abort(). (glog only)

Log++ Syntax

Log++ provides its own logging functions, if you want to use Log++ as the base logging framework

Default logging

int foo = 1;
int bar = 3;
LOG(I, "Values: " << foo " " << bar);

Conditional logging

int foo = 1;
int bar = 3;
LOG(I, foo != bar, "Values: " << foo << " " << bar)

Occasional logging

int foo = 1;
int bar = 3;

for (int i = 0; i < 50; i++) {
  LOG_EVERY(I, 20, "Values: " << foo << " " << bar) // Log every 20 calls.
}

Logging first N occurrences

int foo = 1;
int bar = 3;

for (int i = 0; i < 10; i++) {
  LOG_FIRST(I, 5, "Values: " << foo << " " << bar) //Log first 5 calls.
}

Log output customization

Log++ also allows you to customize the log output with a callback function when using MODE_LPP:

void logCallback(BaseSeverity severity, const std::string& str) {
  std::cout << str << std::endl;
}

int main(int argc, char **argv) {
  LOG_INIT(argv[0], logCallback);
  ...
}

Overview of logging methods

Method	Log++	Glog	ROS
Default logging	LOG(I, str)	LOG(INFO) << str	ROS_INFO(str)
Conditional logging	LOG(I, cond, str)	LOG_IF(INFO, cond) << str	ROS_INFO_COND(cond, str)
Occasional logging	LOG_EVERY(I, n, str)	LOG_EVERY_N(INFO, n) << str	-
Conditional occasional logging	-	LOG_IF_EVERY_N(INFO, cond, n) << str	-
Timed logging	LOG_TIMED(I, t, str)	LOG_EVERY_T(INFO, t) << str	ROS_INFO_THROTTLE(t, str)
First N occurrences	LOG_FIRST(I, n, str)	LOG_FIRST_N(INFO, n) << str	ROS_INFO_ONCE(str) (only 1)
Log to std::vector<string>	-	LOG_STRING(INFO, &vec) << str	-

TODOs

• Implement ROS_INFO_NAMED() etc.

Testing

• All modes (default, glog, lpp, roslog) have a separate test suite
• All severity levels (Debug, Info, Warning, Error, Fatal)
• All logging methods (Default, Conditional, Occasional, Timed, First N occurrences)
• Tests must run in debug mode in order to test debug log output

Naming Convention:

TEST(<mode>_<LoggingMethod>, <mode>_syntax_severity_<severity>) {
  //Test logic
}