Log debug

Signed-off-by: Yadunund <[email protected]>
ros2 · Jan 15, 2024 · 248803c · 248803c
1 parent 73d5e0f
commit 248803c
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Showing 3 changed files with 20 additions and 20 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.cpp b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
@@ -76,7 +76,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
         entity.type() != EntityType::Service &&
         entity.type() != EntityType::Client)
       {
-        RCUTILS_LOG_WARN_NAMED(
+        RCUTILS_LOG_DEBUG_NAMED(
           "rmw_zenoh_cpp",
           "add_topic_data() for invalid EntityType. Report this.");
         return;
@@ -85,7 +85,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
       if (!entity.topic_info().has_value()) {
         // This should not happen as add_topic_data() is called after validating the existence
         // of topic_info.
-        RCUTILS_LOG_WARN_NAMED(
+        RCUTILS_LOG_DEBUG_NAMED(
           "rmw_zenoh_cpp",
           "add_topic_data() called without valid TopicInfo. Report this.");
         return;
@@ -173,7 +173,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
         }
       }
 
-      RCUTILS_LOG_INFO_NAMED(
+      RCUTILS_LOG_DEBUG_NAMED(
         "rmw_zenoh_cpp",
         "Added %s on topic %s with type %s to node /%s.",
         entity_desc.c_str(),
@@ -212,7 +212,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
     NodeMap node_map = {
       {entity.node_name(), make_graph_node(entity)}};
     graph_.emplace(std::make_pair(entity.node_namespace(), std::move(node_map)));
-    RCUTILS_LOG_WARN_NAMED(
+    RCUTILS_LOG_DEBUG_NAMED(
       "rmw_zenoh_cpp", "Added node /%s to a new namespace %s in the graph.",
       entity.node_name().c_str(),
       entity.node_namespace().c_str());
@@ -238,7 +238,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
     NodeMap::iterator insertion_it =
       ns_it->second.insert(std::make_pair(entity.node_name(), make_graph_node(entity)));
     if (insertion_it != ns_it->second.end()) {
-      RCUTILS_LOG_INFO_NAMED(
+      RCUTILS_LOG_DEBUG_NAMED(
         "rmw_zenoh_cpp",
         "Added a new node /%s with id %s to an existing namespace %s in the graph.",
         entity.node_name().c_str(),
@@ -332,7 +332,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
         entity.type() != EntityType::Service &&
         entity.type() != EntityType::Client)
       {
-        RCUTILS_LOG_WARN_NAMED(
+        RCUTILS_LOG_DEBUG_NAMED(
           "rmw_zenoh_cpp",
           "remove_topic_data() for invalid EntityType. Report this.");
         return;
@@ -341,7 +341,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
       if (!entity.topic_info().has_value()) {
         // This should not happen as add_topic_data() is called after validating the existence
         // of topic_info.
-        RCUTILS_LOG_WARN_NAMED(
+        RCUTILS_LOG_DEBUG_NAMED(
           "rmw_zenoh_cpp",
           "remove_topic_data() called without valid TopicInfo. Report this.");
         return;
@@ -407,7 +407,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
       // Bookkeeping: Update graph_topic_ which keeps track of topics across all nodes in the graph.
       update_graph_topics(topic_info, entity.type(), pub_count, sub_count);
 
-      RCUTILS_LOG_INFO_NAMED(
+      RCUTILS_LOG_DEBUG_NAMED(
         "rmw_zenoh_cpp",
         "Removed %s on topic %s with type %s to node /%s.",
         entity_desc.c_str(),
@@ -437,7 +437,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
     });
   if (node_it == range.second) {
     // Node does not exist.
-    RCUTILS_LOG_WARN_NAMED(
+    RCUTILS_LOG_DEBUG_NAMED(
       "rmw_zenoh_cpp",
       "Received liveliness token to remove unknown node /%s from the graph. Ignoring...",
       entity.node_name().c_str()
@@ -452,7 +452,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
     // the node below, we should update the count in graph_topics_.
     const GraphNodePtr graph_node = node_it->second;
     if (!graph_node->pubs_.empty() || !graph_node->subs_.empty()) {
-      RCUTILS_LOG_WARN_NAMED(
+      RCUTILS_LOG_DEBUG_NAMED(
         "rmw_zenoh_cpp",
         "Received liveliness token to remove node /%s from the graph before all pub/subs for this "
         "node have been removed. Removing all pub/subs first...",
@@ -477,7 +477,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
       remove_topics(graph_node->clients_, EntityType::Client);
     }
     ns_it->second.erase(node_it);
-    RCUTILS_LOG_WARN_NAMED(
+    RCUTILS_LOG_DEBUG_NAMED(
       "rmw_zenoh_cpp",
       "Removed node /%s from the graph.",
       entity.node_name().c_str()

diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -46,7 +46,7 @@ static void graph_sub_data_handler(
 {
   (void)data;
   z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-  RCUTILS_LOG_WARN_NAMED(
+  RCUTILS_LOG_DEBUG_NAMED(
     "rmw_zenoh_cpp",
     "[graph_sub_data_handler] Received key '%s'",
     z_loan(keystr)
@@ -56,7 +56,7 @@ static void graph_sub_data_handler(
   rmw_context_impl_s * context_impl = static_cast<rmw_context_impl_s *>(
     data);
   if (context_impl == nullptr) {
-    RCUTILS_LOG_WARN_NAMED(
+    RCUTILS_LOG_DEBUG_NAMED(
       "rmw_zenoh_cpp",
       "[graph_sub_data_handler] Unable to convert data into context_impl"
     );
@@ -250,7 +250,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   const std::string liveliness_str = liveliness::subscription_token(context->actual_domain_id);
 
   // Query router/liveliness participants to get graph information before this session was started.
-  RCUTILS_LOG_WARN_NAMED(
+  RCUTILS_LOG_DEBUG_NAMED(
     "rmw_zenoh_cpp",
     "Sending Query '%s' to fetch discovery data...",
     liveliness_str.c_str()
@@ -275,9 +275,9 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
     if (z_reply_is_ok(&reply)) {
       z_sample_t sample = z_reply_ok(&reply);
       z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
-      printf(
-        ">> [discovery] Received ('%s': '%.*s')\n", z_loan(keystr),
-        static_cast<int>(sample.payload.len), sample.payload.start);
+      // printf(
+      //   ">> [discovery] Received ('%s': '%.*s')\n", z_loan(keystr),
+      //   static_cast<int>(sample.payload.len), sample.payload.start);
       context->impl->graph_cache.parse_put(z_loan(keystr));
       z_drop(z_move(keystr));
     } else {
@@ -288,7 +288,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   z_drop(z_move(channel));
 
   // TODO(Yadunund): Switch this to a liveliness subscriptions once the API is available.
-  RCUTILS_LOG_WARN_NAMED(
+  RCUTILS_LOG_DEBUG_NAMED(
     "rmw_zenoh_cpp",
     "Setting up liveliness subscription on key: %s",
     liveliness_str.c_str()

diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -3023,7 +3023,7 @@ rmw_wait(
     return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
 
   // TODO(yadunund): Switch to debug log level.
-  RCUTILS_LOG_WARN_NAMED(
+  RCUTILS_LOG_DEBUG_NAMED(
     "rmw_zenoh_cpp",
     "[rmw_wait] %ld subscriptions, %ld services, %ld clients, %ld events, %ld guard conditions",
     subscriptions->subscriber_count,
@@ -3034,7 +3034,7 @@ rmw_wait(
 
   // TODO(yadunund): Switch to debug log level.
   if (wait_timeout) {
-    RCUTILS_LOG_WARN_NAMED(
+    RCUTILS_LOG_DEBUG_NAMED(
       "rmw_zenoh_common_cpp", "[rmw_wait] TIMEOUT: %ld s %ld ns",
       wait_timeout->sec,
       wait_timeout->nsec);