remove NodeLoggingInterface and parse Logger directly

hardware_interface/include/hardware_interface/actuator.hpp

@@ -47,9 +47,8 @@ class Actuator final
 
   HARDWARE_INTERFACE_PUBLIC
   const rclcpp_lifecycle::State & initialize(
-    const HardwareInfo & actuator_info,
-    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface);
+    const HardwareInfo & actuator_info, rclcpp::Logger logger,
+    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface);
 
   HARDWARE_INTERFACE_PUBLIC
   const rclcpp_lifecycle::State & configure();

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -75,7 +75,8 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
 public:
   ActuatorInterface()
   : lifecycle_state_(rclcpp_lifecycle::State(
-      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN))
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
+    actuator_logger_(rclcpp::get_logger("actuator_interface"))
   {
   }
 
@@ -100,12 +101,11 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    * \returns CallbackReturn::ERROR if any error happens or data are missing.
    */
   CallbackReturn init(
-    const HardwareInfo & hardware_info,
-    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
+    const HardwareInfo & hardware_info, rclcpp::Logger logger,
+    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
   {
     clock_interface_ = clock_interface;
-    logger_interface_ = logger_interface;
+    actuator_logger_ = logger.get_child("hardware_component.actuator." + hardware_info.name);
     info_ = hardware_info;
     return on_init(hardware_info);
   };
@@ -234,18 +234,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   /**
    * \return logger of the ActuatorInterface.
    */
-  rclcpp::Logger get_logger() const
-  {
-    if (logger_interface_)
-    {
-      return logger_interface_->get_logger().get_child(
-        "resource_manager.hardware_component.actuator." + info_.name);
-    }
-    else
-    {
-      return rclcpp::get_logger("resource_manager.hardware_component.actuator." + info_.name);
-    }
-  }
+  rclcpp::Logger get_logger() const { return actuator_logger_; }
 
   /// Get the clock of the ActuatorInterface.
   /**
@@ -268,7 +257,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
 
 private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface_;
+  rclcpp::Logger actuator_logger_;
 };
 
 }  // namespace hardware_interface

hardware_interface/include/hardware_interface/sensor.hpp

@@ -48,9 +48,8 @@ class Sensor final
 
   HARDWARE_INTERFACE_PUBLIC
   const rclcpp_lifecycle::State & initialize(
-    const HardwareInfo & sensor_info,
-    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface);
+    const HardwareInfo & sensor_info, rclcpp::Logger logger,
+    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface);
 
   HARDWARE_INTERFACE_PUBLIC
   const rclcpp_lifecycle::State & configure();

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -75,7 +75,8 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 public:
   SensorInterface()
   : lifecycle_state_(rclcpp_lifecycle::State(
-      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN))
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
+    sensor_logger_(rclcpp::get_logger("sensor_interface"))
   {
   }
 
@@ -100,12 +101,11 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    * \returns CallbackReturn::ERROR if any error happens or data are missing.
    */
   CallbackReturn init(
-    const HardwareInfo & hardware_info,
-    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
+    const HardwareInfo & hardware_info, rclcpp::Logger logger,
+    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
   {
     clock_interface_ = clock_interface;
-    logger_interface_ = logger_interface;
+    sensor_logger_ = logger.get_child("hardware_component.sensor." + hardware_info.name);
     info_ = hardware_info;
     return on_init(hardware_info);
   };
@@ -173,18 +173,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   /**
    * \return logger of the SensorInterface.
    */
-  rclcpp::Logger get_logger() const
-  {
-    if (logger_interface_)
-    {
-      return logger_interface_->get_logger().get_child(
-        "resource_manager.hardware_component.sensor." + info_.name);
-    }
-    else
-    {
-      return rclcpp::get_logger("resource_manager.hardware_component.sensor." + info_.name);
-    }
-  }
+  rclcpp::Logger get_logger() const { return sensor_logger_; }
 
   /// Get the clock of the SensorInterface.
   /**
@@ -207,7 +196,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
 private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface_;
+  rclcpp::Logger sensor_logger_;
 };
 
 }  // namespace hardware_interface

hardware_interface/include/hardware_interface/system.hpp

@@ -48,9 +48,8 @@ class System final
 
   HARDWARE_INTERFACE_PUBLIC
   const rclcpp_lifecycle::State & initialize(
-    const HardwareInfo & system_info,
-    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface);
+    const HardwareInfo & system_info, rclcpp::Logger logger,
+    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface);
 
   HARDWARE_INTERFACE_PUBLIC
   const rclcpp_lifecycle::State & configure();

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -76,7 +76,8 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 public:
   SystemInterface()
   : lifecycle_state_(rclcpp_lifecycle::State(
-      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN))
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
+    system_logger_(rclcpp::get_logger("system_interface"))
   {
   }
 
@@ -101,12 +102,11 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    * \returns CallbackReturn::ERROR if any error happens or data are missing.
    */
   CallbackReturn init(
-    const HardwareInfo & hardware_info,
-    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
+    const HardwareInfo & hardware_info, rclcpp::Logger logger,
+    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
   {
     clock_interface_ = clock_interface;
-    logger_interface_ = logger_interface;
+    system_logger_ = logger.get_child("hardware_component.system." + hardware_info.name);
     info_ = hardware_info;
     return on_init(hardware_info);
   };
@@ -235,18 +235,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   /**
    * \return logger of the SystemInterface.
    */
-  rclcpp::Logger get_logger() const
-  {
-    if (logger_interface_)
-    {
-      return logger_interface_->get_logger().get_child(
-        "resource_manager.hardware_component.system." + info_.name);
-    }
-    else
-    {
-      return rclcpp::get_logger("resource_manager.hardware_component.system." + info_.name);
-    }
-  }
+  rclcpp::Logger get_logger() const { return system_logger_; }
 
   /// Get the clock of the SystemInterface.
   /**
@@ -269,7 +258,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
 private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface_;
+  rclcpp::Logger system_logger_;
 };
 
 }  // namespace hardware_interface

hardware_interface/src/actuator.cpp

@@ -37,13 +37,12 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 Actuator::Actuator(std::unique_ptr<ActuatorInterface> impl) : impl_(std::move(impl)) {}
 
 const rclcpp_lifecycle::State & Actuator::initialize(
-  const HardwareInfo & actuator_info,
-  rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
+  const HardwareInfo & actuator_info, rclcpp::Logger logger,
+  rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN)
   {
-    switch (impl_->init(actuator_info, clock_interface, logger_interface))
+    switch (impl_->init(actuator_info, logger, clock_interface))
     {
       case CallbackReturn::SUCCESS:
         impl_->set_state(rclcpp_lifecycle::State(

hardware_interface/src/resource_manager.cpp

@@ -182,7 +182,7 @@ class ResourceStorage
     try
     {
       const rclcpp_lifecycle::State new_state =
-        hardware.initialize(hardware_info, clock_interface_, logger_interface_);
+        hardware.initialize(hardware_info, rm_logger_, clock_interface_);
       result = new_state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED;
 
       if (result)

hardware_interface/src/sensor.cpp

@@ -35,13 +35,12 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 Sensor::Sensor(std::unique_ptr<SensorInterface> impl) : impl_(std::move(impl)) {}
 
 const rclcpp_lifecycle::State & Sensor::initialize(
-  const HardwareInfo & sensor_info,
-  rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
+  const HardwareInfo & sensor_info, rclcpp::Logger logger,
+  rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN)
   {
-    switch (impl_->init(sensor_info, clock_interface, logger_interface))
+    switch (impl_->init(sensor_info, logger, clock_interface))
     {
       case CallbackReturn::SUCCESS:
         impl_->set_state(rclcpp_lifecycle::State(

hardware_interface/src/system.cpp

@@ -35,13 +35,12 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 System::System(std::unique_ptr<SystemInterface> impl) : impl_(std::move(impl)) {}
 
 const rclcpp_lifecycle::State & System::initialize(
-  const HardwareInfo & system_info,
-  rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
+  const HardwareInfo & system_info, rclcpp::Logger logger,
+  rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN)
   {
-    switch (impl_->init(system_info, clock_interface, logger_interface))
+    switch (impl_->init(system_info, logger, clock_interface))
     {
       case CallbackReturn::SUCCESS:
         impl_->set_state(rclcpp_lifecycle::State(

hardware_interface/test/test_component_interfaces.cpp

@@ -425,7 +425,8 @@ TEST(TestComponentInterfaces, dummy_actuator)
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = actuator_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_actuator_components");
+  auto state = actuator_hw.initialize(mock_hw_info, logger, nullptr);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -515,7 +516,8 @@ TEST(TestComponentInterfaces, dummy_sensor)
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensor>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = sensor_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_sensor_components");
+  auto state = sensor_hw.initialize(mock_hw_info, logger, nullptr);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -546,7 +548,8 @@ TEST(TestComponentInterfaces, dummy_system)
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = system_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_system_components");
+  auto state = system_hw.initialize(mock_hw_info, logger, nullptr);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -670,7 +673,8 @@ TEST(TestComponentInterfaces, dummy_command_mode_system)
   hardware_interface::System system_hw(
     std::make_unique<test_components::DummySystemPreparePerform>());
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = system_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_system_components");
+  auto state = system_hw.initialize(mock_hw_info, logger, nullptr);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -701,7 +705,8 @@ TEST(TestComponentInterfaces, dummy_actuator_read_error_behavior)
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = actuator_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_actuator_components");
+  auto state = actuator_hw.initialize(mock_hw_info, logger, nullptr);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -760,7 +765,8 @@ TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior)
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = actuator_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_actuator_components");
+  auto state = actuator_hw.initialize(mock_hw_info, logger, nullptr);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -819,7 +825,8 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensor>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = sensor_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_sensor_components");
+  auto state = sensor_hw.initialize(mock_hw_info, logger, nullptr);
 
   auto state_interfaces = sensor_hw.export_state_interfaces();
   // Updated because is is INACTIVE
@@ -883,7 +890,8 @@ TEST(TestComponentInterfaces, dummy_system_read_error_behavior)
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = system_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_system_components");
+  auto state = system_hw.initialize(mock_hw_info, logger, nullptr);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
@@ -947,7 +955,8 @@ TEST(TestComponentInterfaces, dummy_system_write_error_behavior)
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
-  auto state = system_hw.initialize(mock_hw_info, nullptr, nullptr);
+  rclcpp::Logger logger = rclcpp::get_logger("test_system_components");
+  auto state = system_hw.initialize(mock_hw_info, logger, nullptr);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());