Fixup

ros2 · Dec 7, 2018 · f9029bf · f9029bf
1 parent 5998666
commit f9029bf
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Showing 2 changed files with 27 additions and 4 deletions.
diff --git a/rcl/include/rcl/logging_rosout.h b/rcl/include/rcl/logging_rosout.h
@@ -145,7 +145,7 @@ rcl_logging_rosout_fini_publisher_for_node(
  * <hr>
  * Attribute          | Adherence
  * ------------------ | -------------
- * Allocates Memory   | No
+ * Allocates Memory   | Yes
  * Thread-Safe        | No
  * Uses Atomics       | No
  * Lock-Free          | Yes
@@ -160,7 +160,7 @@ RCL_PUBLIC
 void rcl_logging_rosout_output_handler(
   const rcutils_log_location_t * location,
   int severity, const char * name, rcutils_time_point_value_t timestamp,
-  const char * log_str);
+  const char * format, va_list * args);
 
 #ifdef __cplusplus
 }

diff --git a/rcl/src/rcl/logging_rosout.c b/rcl/src/rcl/logging_rosout.c
@@ -179,7 +179,7 @@ rcl_ret_t rcl_logging_rosout_fini_publisher_for_node(
 void rcl_logging_rosout_output_handler(
   const rcutils_log_location_t * location,
   int severity, const char * name, rcutils_time_point_value_t timestamp,
-  const char * log_str)
+  const char * format, va_list * args)
 {
   rosout_map_entry_t entry;
   rcl_ret_t status = RCL_RET_OK;
@@ -188,20 +188,43 @@ void rcl_logging_rosout_output_handler(
   }
   status = rcutils_hash_map_get(&__logger_map, &name, &entry);
   if (RCL_RET_OK == status) {
+    char msg_buf[1024] = "";
+    rcutils_char_array_t msg_array = {
+      .buffer = msg_buf,
+      .owns_buffer = false,
+      .buffer_length = 0u,
+      .buffer_capacity = sizeof(msg_buf),
+      .allocator = __rosout_allocator
+    };
+
+    va_list args_clone;
+    va_copy(args_clone, *args);
+    status = rcutils_char_array_vsprintf(&msg_array, format, args_clone);
+    va_end(args_clone);
+
+
     rcl_interfaces__msg__Log * log_message = rcl_interfaces__msg__Log__create();
     if (NULL != log_message) {
       log_message->stamp.sec = (timestamp / 1000000000);
       log_message->stamp.nanosec = (timestamp % 1000000000);
       log_message->level = severity;
       log_message->line = location->line_number;
       rosidl_generator_c__String__assign(&log_message->name, name);
-      rosidl_generator_c__String__assign(&log_message->msg, log_str);
+      rosidl_generator_c__String__assign(&log_message->msg, msg_array.buffer);
       rosidl_generator_c__String__assign(&log_message->file, location->file_name);
       rosidl_generator_c__String__assign(&log_message->function, location->function_name);
       status = rcl_publish(&entry.publisher, log_message);
 
       rcl_interfaces__msg__Log__destroy(log_message);
     }
+
+    status = rcutils_char_array_fini(&msg_array);
+    if (RCL_RET_OK != status) {
+      RCUTILS_SAFE_FWRITE_TO_STDERR("failed to fini char_array: ");
+      RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
+      rcl_reset_error();
+      RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
+    }
   }
 }