Implement a constructor that take as input an r-value rclpcpp::Logger

src/TextLogging/RosImplementation/include/BipedalLocomotion/TextLogging/RosLogger.h

@@ -1,7 +1,7 @@
 /**
  * @file RosLogger.h
  * @authors Giulio Romualdi
- * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
  */
 
@@ -17,7 +17,7 @@
 
 #include <BipedalLocomotion/TextLogging/Logger.h>
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/logging.hpp>
 
 namespace BipedalLocomotion
 {
@@ -36,7 +36,7 @@ template <typename Mutex> class RosSink : public spdlog::sinks::base_sink<Mutex>
     }
 
 private:
-    rclcpp::Logger m_rosLogger;
+    const rclcpp::Logger m_rosLogger;
 
 protected:
     void sink_it_(const spdlog::details::log_msg& msg) override
@@ -77,9 +77,8 @@ template <typename Mutex> class RosSink : public spdlog::sinks::base_sink<Mutex>
 using RosSink_mt = RosSink<std::mutex>;
 } // namespace sinks
 
-
 /**
- * RosLoggerFactory implements the factory you should use to enable the sink using yaro.
+ * RosLoggerFactory implements the factory you should use to enable the sink using ros2.
  * The ROS logger can be easily used as follows
  * \code{.cpp}
  * #include <BipedalLocomotion/TextLogging/Logger.h>
@@ -103,19 +102,30 @@ class RosLoggerFactory final : public LoggerFactory
 
     /**
      * Construct a new RosLoggerFactory object
-     * @param name the name of the logger which will be used inside the formatted messages
+     * @param logger a const ref to rclpcpp::Logger object for instance the output of
+     * `node->get_logger()`
      */
     RosLoggerFactory(const rclcpp::Logger& logger);
 
+    /**
+     * Construct a new RosLoggerFactory object
+     * @param logger r-value rclpcpp::Logger object for instance the output of `node->get_logger()`.
+     */
+    RosLoggerFactory(rclcpp::Logger&& logger);
+
     /**
      * Create the ROSLogger as a singleton
      * @return the pointer to TextLogging::Logger that streams the output using ROS
      */
     std::shared_ptr<TextLogging::Logger> const createLogger() final;
 
 private:
-    const std::string m_name; /** The name of the logger */
+    // the order matters here see
+    // https://stackoverflow.com/questions/1242830/constructor-initialization-list-evaluation-order
+
     const rclcpp::Logger m_rosLogger; /** Associated ros logger */
+
+    const std::string m_name; /** The name of the logger */
 };
 
 } // namespace TextLogging

src/TextLogging/RosImplementation/src/RosLogger.cpp

@@ -1,21 +1,23 @@
 /**
  * @file RosLogger.cpp
  * @authors Giulio Romualdi
- * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
  */
 
 #include <mutex>
+#include <utility>
 
 #include <BipedalLocomotion/TextLogging/RosLogger.h>
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/logging.hpp>
 
 namespace BipedalLocomotion
 {
 
 template <typename Factory = spdlog::synchronous_factory>
-inline std::shared_ptr<TextLogging::Logger> RosSink_mt(const std::string& loggerName, const rclcpp::Logger& rosLogger)
+inline std::shared_ptr<TextLogging::Logger>
+RosSink_mt(const std::string& loggerName, const rclcpp::Logger& rosLogger)
 {
     return Factory::template create<TextLogging::sinks::RosSink_mt>(loggerName, rosLogger);
 }
@@ -42,20 +44,26 @@ _createLogger(const std::string& name, const rclcpp::Logger& rosLogger)
 #endif // NDEBUG
 
         // set the custom pattern
-        logger->set_pattern("[%Y-%m-%d %H:%M:%S.%e] [thread: %t] [%n] %v");
+        logger->set_pattern("[%Y-%m-%d %H:%M:%S.%e] [thread: %t] %v");
     }
     return logger;
 }
 
 TextLogging::RosLoggerFactory::RosLoggerFactory(const std::string_view& name)
-    : m_name{name}
-    , m_rosLogger{rclcpp::get_logger(name.data())}
+    : m_rosLogger{rclcpp::get_logger(name.data())}
+    , m_name{m_rosLogger.get_name()}
 {
 }
 
 TextLogging::RosLoggerFactory::RosLoggerFactory(const rclcpp::Logger& logger)
-    : m_name{logger.get_name()}
-    , m_rosLogger{logger}
+    : m_rosLogger{std::forward(logger)}
+    , m_name{m_rosLogger.get_name()}
+{
+}
+
+TextLogging::RosLoggerFactory::RosLoggerFactory(rclcpp::Logger&& logger)
+    : m_rosLogger{std::forward(logger)}
+    , m_name{m_rosLogger.get_name()}
 {
 }