log_node.h

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/*
 * Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License").
 * You may not use this file except in compliance with the License.
 * A copy of the License is located at
 *
 *  http://aws.amazon.com/apache2.0
 *
 * or in the "license" file accompanying this file. This file 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.
 */

#pragma once

#include <aws_common/sdk_utils/client_configuration_provider.h>
#include <aws_ros1_common/sdk_utils/logging/aws_ros_logger.h>
#include <aws_ros1_common/sdk_utils/ros1_node_parameter_reader.h>
#include <cloudwatch_logs_common/log_service.h>
#include <cloudwatch_logs_common/log_service_factory.h>
#include <ros/ros.h>
#include <rosgraph_msgs/Log.h>
#include <unordered_set>
#include <std_srvs/Trigger.h>
#include <std_srvs/Empty.h>

namespace Aws {
namespace CloudWatchLogs {
namespace Utils {

class LogNode : public Service
{
public:
  struct Options {
    Options() = default;

    template<class UnorderedSet>
    Options(int8_t severity, bool publish, UnorderedSet && nodes)
      : min_log_severity(severity),
        publish_topic_names(publish),
        ignore_nodes(std::forward<UnorderedSet>(nodes)) {}

    int8_t min_log_severity = rosgraph_msgs::Log::DEBUG;
    bool publish_topic_names = true;
    std::unordered_set<std::string> ignore_nodes;
  };

  explicit LogNode(const Options & options);

  explicit LogNode(int8_t min_log_severity, std::unordered_set<std::string> ignore_nodes);

  LogNode(const LogNode & other) = delete;

  LogNode & operator=(const LogNode & other) = delete;

  ~LogNode() override;

  void Initialize(const std::string & log_group, const std::string & log_stream,
                  const Aws::Client::ClientConfiguration & config, Aws::SDKOptions & sdk_options,
                  const Aws::CloudWatchLogs::CloudWatchOptions & cloudwatch_options,
                  const std::shared_ptr<LogServiceFactory>& log_service_factory = std::make_shared<LogServiceFactory>());

  bool start() override;
  bool shutdown() override;

  void RecordLogs(const rosgraph_msgs::Log::ConstPtr & log_msg);

  void TriggerLogPublisher(const ros::TimerEvent & /*unused*/);

  bool checkIfOnline(std_srvs::Trigger::Request& request, std_srvs::Trigger::Response& response);

private:
  bool ShouldSendToCloudWatchLogs(const int8_t log_severity_level);
  const std::string FormatLogs(const rosgraph_msgs::Log::ConstPtr & log_msg);

  std::shared_ptr<Aws::CloudWatchLogs::LogService> log_service_;
  int8_t min_log_severity_;
  std::unordered_set<std::string> ignore_nodes_;
  bool publish_topic_names_;
};

}  // namespace Utils
}  // namespace CloudWatchLogs
}  // namespace Aws