Enable logging level manipulation from rmw_fastrtps

rmw_fastrtps_cpp/CMakeLists.txt

@@ -58,6 +58,7 @@ add_library(rmw_fastrtps_cpp
   src/identifier.cpp
   src/namespace_prefix.cpp
   src/qos.cpp
+  src/rmw_logging.cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
   src/rmw_count.cpp

rmw_fastrtps_cpp/src/rmw_logging.cpp

@@ -0,0 +1,56 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License 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.
+
+#include "rmw/rmw.h"
+
+#include "fastrtps/log/Log.h"
+
+extern "C"
+{
+using eprosima::fastrtps::Log;
+
+eprosima::fastrtps::Log::Kind convert_rmw_severity_type(rmw_log_severity_t severity)
+{
+  switch(severity)
+  {
+  case RMW_LOG_SEVERITY_WARN:
+       return Log::Kind::Warning;
+  case RMW_LOG_SEVERITY_INFO:
+       return Log::Kind::Info;
+/* Fast-RTPS supports the following logging 'Kind's.
+ * Error : Max priority
+ * Warning : Medium priority
+ * Info : Low priority
+ * From rmw logging severity there are FATAL & DEBUG types as well
+ * We map them to ERROR type of Fast-RTPS which has maximum priority
+ */
+  case RMW_LOG_SEVERITY_ERROR:
+  case RMW_LOG_SEVERITY_FATAL:
+  case RMW_LOG_SEVERITY_DEBUG:
+       return Log::Kind::Error;
+  default:
+       // Fallback to Info if undefined types
+       return Log::Kind::Info;
+  }
+}
+
+rmw_ret_t
+rmw_set_log_severity(rmw_log_severity_t severity)
+{
+  Log::Kind _severity = convert_rmw_severity_type(severity);
+  eprosima::fastrtps::Log::SetVerbosity(_severity);
+
+  return RMW_RET_OK;
+}
+}  // extern "C"

rmw_fastrtps_cpp/src/rmw_node.cpp

@@ -64,8 +64,6 @@ create_node(
     return nullptr;
   }
 
-  eprosima::fastrtps::Log::SetVerbosity(eprosima::fastrtps::Log::Error);
-
   // Declare everything before beginning to create things.
   rmw_guard_condition_t * graph_guard_condition = nullptr;
   CustomParticipantInfo * node_impl = nullptr;