feat: Replace println with proper logging

Cargo.toml

@@ -23,6 +23,8 @@ builtin_interfaces = { version = "1.2.1" }
 voraus_interfaces = { version = "0.1.0" }
 rclrs = { version = "0.4.1" }
 rosidl_runtime_rs = { version = "0.4.1" }
+log = "0.4.22"
+env_logger = "0.11.5"
 
 [dev-dependencies]
 rclrs = { version = "0.4.1" }

README.md

@@ -44,6 +44,7 @@ Run `cargo build --release`
 ### Run the voraus-ros-bridge
 
 Run `cargo run --release`
+In order to get debug log output, run `RUST_LOG=DEBUG cargo run --release`
 
 ## via ROS:
 

examples/ros2/simple-subscriber.rs

@@ -1,3 +1,4 @@
+use log::debug;
 use rclrs::{create_node, Context, Node, RclrsError, Subscription, QOS_PROFILE_DEFAULT};
 use sensor_msgs::msg::JointState as JointStateMsg;
 use std::{
@@ -37,13 +38,13 @@ impl Subscriber {
     }
     fn callback(&self, msg: JointStateMsg) {
         self.num_messages.fetch_add(1, Ordering::SeqCst);
-        println!(
+        debug!(
             "[{}] I heard: '{:?}' with timestamp {}.",
             self.node.name(),
             msg.position,
             msg.header.stamp.nanosec
         );
-        println!(
+        debug!(
             "[{}] (Got {} messages so far)",
             self.node.name(),
             self.num_messages.load(Ordering::SeqCst)

src/main.rs

@@ -1,5 +1,7 @@
 mod simple_opc_ua_subscriber;
 
+use env_logger::{Builder, Env};
+use log::debug;
 use opcua::types::Variant;
 use rclrs::{create_node, Context, RclrsError};
 use ros_service_server::handle_service;
@@ -12,6 +14,9 @@ mod ros_service_server;
 use ros_publisher::{create_joint_state_msg, RosPublisher};
 
 fn main() -> Result<(), RclrsError> {
+    Builder::from_env(Env::default().default_filter_or("info"))
+        .filter_module("opcua", log::LevelFilter::Warn)
+        .init();
     let context = Context::new(env::args()).unwrap();
     let node = create_node(&context, "voraus_bridge_node")?;
     let node_copy = Arc::clone(&node);
@@ -20,8 +25,6 @@ fn main() -> Result<(), RclrsError> {
     let _server = node_copy
         .create_service::<voraus_interfaces::srv::Voraus, _>("add_two_ints", handle_service)?;
 
-    opcua::console_logging::init();
-
     let mut simple_subscriber = SimpleSubscriber::new("opc.tcp://127.0.0.1:4855");
     let Ok(_connection_result) = simple_subscriber.connect() else {
         panic!("Connection could not be established, but is required.");
@@ -30,7 +33,7 @@ fn main() -> Result<(), RclrsError> {
     let callback = {
         let provider = Arc::clone(&joint_state_publisher);
         move |x: Variant| {
-            println!("Value = {:?}", &x);
+            debug!("Value = {:?}", &x);
             let mut data_value: Vec<f64> = vec![];
             match x {
                 Variant::Array(unwrapped) => {

src/ros_service_server.rs

@@ -1,8 +1,10 @@
+use log::debug;
+
 pub fn handle_service(
     _request_header: &rclrs::rmw_request_id_t,
     request: voraus_interfaces::srv::Voraus_Request,
 ) -> voraus_interfaces::srv::Voraus_Response {
-    println!("request: {} + {}", request.a, request.b);
+    debug!("request: {} + {}", request.a, request.b);
     voraus_interfaces::srv::Voraus_Response {
         sum: request.a + request.b,
     }

src/simple_opc_ua_subscriber.rs

@@ -1,5 +1,6 @@
 use std::sync::Arc;
 
+use log::{debug, error};
 use opcua::client::prelude::{
     Client, ClientBuilder, DataChangeCallback, IdentityToken, MonitoredItem, MonitoredItemService,
     Session, SubscriptionService,
@@ -72,8 +73,8 @@ impl SimpleSubscriber {
         if self.session.is_none() {
             panic!("Not connected. Can't create subscriptions.");
         }
-        println!(
-            "Creating a subscription for ns={};{} to indirectly call the callback every {}ms.",
+        debug!(
+            "Creating a subscription for ns={};{} to indirectly call the callback every {} ms.",
             namespace, node_id, period_ms
         );
         let cloned_session_lock = self.session.clone().unwrap();
@@ -94,13 +95,13 @@ impl SimpleSubscriber {
             priority,
             publishing_enabled,
             DataChangeCallback::new(move |changed_monitored_items| {
-                println!("Data change from server:");
+                debug!("Data change from server:");
                 changed_monitored_items
                     .iter()
                     .for_each(|item| callback(extract_value(item)));
             }),
         )?;
-        println!("Created a subscription with id = {}", subscription_id);
+        debug!("Created a subscription with id = {}", subscription_id);
 
         // Create some monitored items
         let items_to_create: Vec<MonitoredItemCreateRequest> = [node_id]
@@ -120,7 +121,7 @@ impl SimpleSubscriber {
         match self.session {
             Some(session) => Session::run(session),
             None => {
-                eprintln!("Could not run inexistent session.");
+                error!("Could not run inexistent session.");
             }
         }
     }

tests/test_simple_opc_ua_subscriber.rs

@@ -19,15 +19,16 @@ async fn test_simple_subscriber_receives_data_changes() {
 
     let mut client_process = TokioCommand::new("cargo")
         .arg("run")
+        .env("RUST_LOG", "DEBUG")
         .stdout(Stdio::piped())
         .stderr(Stdio::piped())
         .spawn()
         .expect("Failed to start client");
 
     let client_stdout = client_process
-        .stdout
+        .stderr
         .take()
-        .expect("Failed to capture client stdout");
+        .expect("Failed to capture client stderr");
     let mut reader = BufReader::new(client_stdout).lines();
 
     let mut found_ticks_since_launch_changed_times = 0u32;
@@ -39,7 +40,7 @@ async fn test_simple_subscriber_receives_data_changes() {
             .await
             .expect("Failed to read line from client")
         {
-            println!("Subscriber stdout: {}", line);
+            println!("Subscriber stderr: {}", line);
             if line.contains("Value = Array(Array { value_type: Double") {
                 found_ticks_since_launch_changed_times += 1;
                 if found_ticks_since_launch_changed_times == expected_changed_times {