❓ How to enable rclc debug logging? #733

#include <Arduino.h>

#include <micro_ros_platformio.h>
#include <micro_ros_utilities/type_utilities.h>
#include <rclc/executor.h>
#include <rclc/rclc.h>
#include <rosidl_runtime_c/string_functions.h>

#include <rcl_interfaces/msg/log.h>

#include "drivers/gpio.h"


rcl_node_t node;
rclc_support_t support;
rcl_allocator_t allocator;
rclc_executor_t executor_main;

rcl_timer_t low_freq_timer;

rcl_publisher_t rosout_publisher;


#define ARRAY_LEN(x) (sizeof(x) / sizeof((x)[0]))
#define RCCHECK(fn) {rcl_ret_t temp_rc = fn; if ((temp_rc != RCL_RET_OK)) {error_loop();}}
#define RCSOFTCHECK(fn) {rcl_ret_t temp_rc = fn; if ((temp_rc != RCL_RET_OK)) {Serial.println( \
        "Soft check fail")}}

/**
 * @brief loop to indicate error
 * @todo Add explicit error codes
 */
void error_loop(void)
{
  while (true) {
    delay(100);
    gpio_state_toggle(GPIO_LED_ONBOARD);
    Serial.println("Hard check fail");
  }
}


void low_freq_timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
  gpio_state_toggle(GPIO_LED_ONBOARD);

  RCUTILS_LOG_DEBUG_NAMED("", "test log debug print");
}

// cppcheck-suppress unusedFunction
void setup()
{
  Serial.begin(115200);
  // Trap until USB VCOM port attached to microROS prior to proceeding
  SerialUSB.dtr(true);
  while (!SerialUSB.dtr()) {
    delay(100);
  }
  SerialUSB.begin();
  set_microros_serial_transports(SerialUSB);
  delay(1000);

  const uint64_t low_freq_timer_timeout = 400;
  gpio_init();
  allocator = rcl_get_default_allocator();
  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
  RCCHECK(rcl_init_options_init(&init_options, allocator));
  #ifdef ROS_DOMAIN_OVERRIDE
  RCCHECK(rcl_init_options_set_domain_id(&init_options, ROS_DOMAIN_OVERRIDE));
  #endif
  RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
  RCCHECK(rcutils_logging_set_logger_level("", RCUTILS_LOG_SEVERITY_DEBUG));
  RCCHECK(rclc_node_init_default(&node, "micro_ros_node", "hardware", &support));

  RCCHECK(
    rclc_publisher_init_default(
      &rosout_publisher,
      &node,
      ROSIDL_GET_MSG_TYPE_SUPPORT(rcl_interfaces, msg, Log),
      "/rosout"
    )
  );

  RCCHECK(
    rclc_timer_init_default(
      &low_freq_timer,
      &support,
      RCL_MS_TO_NS(low_freq_timer_timeout),
      low_freq_timer_callback
    )
  );

  // handles_num is the total num of subscriptions, timers, services, clients and guard conditions
  const size_t handles_num = 1;
  RCCHECK(rclc_executor_init(&executor_main, &support.context, handles_num, &allocator));
  RCCHECK(rclc_executor_add_timer(&executor_main, &low_freq_timer));
}

void loop()
{
  RCCHECK(rclc_executor_spin_some(&executor_main, RCL_MS_TO_NS(1)));
}