From 73af6701512578f96103e2060aa5bd6ce3ebb2d7 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@intrinsic.ai>
Date: Tue, 2 Jul 2024 04:28:06 +0800
Subject: [PATCH] Implement rmw_set_log_severity

Signed-off-by: Yadunund <yadunund@intrinsic.ai>
---
 rmw_zenoh_cpp/src/detail/logging_macros.hpp |  4 ++--
 rmw_zenoh_cpp/src/rmw_zenoh.cpp             | 22 +++++++++++++++++++--
 2 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/logging_macros.hpp b/rmw_zenoh_cpp/src/detail/logging_macros.hpp
index 89f0184c..1e6ac74f 100644
--- a/rmw_zenoh_cpp/src/detail/logging_macros.hpp
+++ b/rmw_zenoh_cpp/src/detail/logging_macros.hpp
@@ -23,12 +23,12 @@
 // which can lead to deadlocks in rmw_zenoh especially when multiple threads
 // invoke GraphCache::parse_put() and GraphCache::parse_del() functions.
 // See https://github.com/ros2/rmw_zenoh/issues/182 for more details.
-// Note: Consider adding a set_rmw_log_level() API to rmw which can override the
-// default log level at the RMW layer.
 #define RMW_ZENOH_LOG_DEBUG_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
       RCUTILS_LOG_SEVERITY_DEBUG, __VA_ARGS__);}
 #define RMW_ZENOH_LOG_ERROR_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
       RCUTILS_LOG_SEVERITY_ERROR, __VA_ARGS__);}
+#define RMW_ZENOH_LOG_FATAL_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
+      RCUTILS_LOG_SEVERITY_FATAL, __VA_ARGS__);}
 #define RMW_ZENOH_LOG_INFO_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
       RCUTILS_LOG_SEVERITY_INFO, __VA_ARGS__);}
 #define RMW_ZENOH_LOG_WARN_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index a139f191..adf61edd 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -3874,8 +3874,26 @@ rmw_service_server_is_available(
 rmw_ret_t
 rmw_set_log_severity(rmw_log_severity_t severity)
 {
-  static_cast<void>(severity);
-  return RMW_RET_UNSUPPORTED;
+  switch (severity) {
+    case RMW_LOG_SEVERITY_DEBUG:
+      rmw_zenoh_cpp::Logger::get().set_log_level(RCUTILS_LOG_SEVERITY_DEBUG);
+      break;
+    case RMW_LOG_SEVERITY_INFO:
+      rmw_zenoh_cpp::Logger::get().set_log_level(RCUTILS_LOG_SEVERITY_INFO);
+      break;
+    case RMW_LOG_SEVERITY_WARN:
+      rmw_zenoh_cpp::Logger::get().set_log_level(RCUTILS_LOG_SEVERITY_WARN);
+      break;
+    case RMW_LOG_SEVERITY_ERROR:
+      rmw_zenoh_cpp::Logger::get().set_log_level(RCUTILS_LOG_SEVERITY_ERROR);
+      break;
+    case RMW_LOG_SEVERITY_FATAL:
+      rmw_zenoh_cpp::Logger::get().set_log_level(RCUTILS_LOG_SEVERITY_FATAL);
+      break;
+    default:
+      return RMW_RET_UNSUPPORTED;
+  }
+  return RMW_RET_OK;
 }
 
 //==============================================================================