Core: add logging macros

The logging is activated by default in Debug mode, and can be
activated by defining the preprocessor macro `HPP_FCL_ENABLE_LOGGING`.

CMakeLists.txt

@@ -50,7 +50,11 @@ SET(DOXYGEN_USE_TEMPLATE_CSS TRUE)
 # Need to be set before including base.cmake
 # ----------------------------------------------------
 option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
-option(HPP_FCL_TURN_ASSERT_INTO_EXCEPTION "turn some critical HPP-FCL asserts to exception." FALSE)
+option(HPP_FCL_TURN_ASSERT_INTO_EXCEPTION "Turn some critical HPP-FCL asserts to exception." FALSE)
+option(HPP_FCL_ENABLE_LOGGING "Activate logging for warnings or error messages. Turned on by default in Debug." FALSE)
+if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+  set(HPP_FCL_ENABLE_LOGGING TRUE)
+endif()
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -116,8 +120,14 @@ SET_BOOST_DEFAULT_OPTIONS()
 EXPORT_BOOST_DEFAULT_OPTIONS()
 IF(WIN32)
   ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS chrono thread date_time serialization filesystem)
+  if (HPP_FCL_ENABLE_LOGGING)
+    ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS log)
+  endif()
 ELSE(WIN32)
   ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization filesystem)
+  if (HPP_FCL_ENABLE_LOGGING)
+    ADD_PROJECT_DEPENDENCY(Boost REQUIRED log)
+  endif()
 ENDIF(WIN32)
 if(BUILD_PYTHON_INTERFACE)
   find_package(Boost REQUIRED COMPONENTS system)
@@ -247,6 +257,7 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/collision_utility.h
   include/hpp/fcl/hfield.h
   include/hpp/fcl/fwd.hh
+  include/hpp/fcl/logging.h
   include/hpp/fcl/mesh_loader/assimp.h
   include/hpp/fcl/mesh_loader/loader.h
   include/hpp/fcl/internal/BV_fitter.h

include/hpp/fcl/logging.h

+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2024, INRIA
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Open Source Robotics Foundation nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/// This file defines basic logging macros for HPP-FCL, based on Boost.Log.
+/// To enable logging, define the preprocessor macro `HPP_FCL_ENABLE_LOGGING`.
+
+#ifndef HPP_FCL_LOGGING_H
+#define HPP_FCL_LOGGING_H
+
+#ifdef HPP_FCL_ENABLE_LOGGING
+#include <boost/log/trivial.hpp>
+#define HPP_FCL_LOG_INFO(message) BOOST_LOG_TRIVIAL(info) << message
+#define HPP_FCL_LOG_DEBUG(message) BOOST_LOG_TRIVIAL(debug) << message
+#define HPP_FCL_LOG_WARNING(message) BOOST_LOG_TRIVIAL(warning) << message
+#define HPP_FCL_LOG_ERROR(message) BOOST_LOG_TRIVIAL(error) << message
+#else
+#define HPP_FCL_LOG_INFO(message)
+#define HPP_FCL_LOG_DEBUG(message)
+#define HPP_FCL_LOG_WARNING(message)
+#define HPP_FCL_LOG_ERROR(message)
+#endif
+
+#endif  // HPP_FCL_LOGGING_H

src/CMakeLists.txt

@@ -202,6 +202,12 @@ TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
   Boost::filesystem
 )
 
+if (HPP_FCL_ENABLE_LOGGING)
+  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC Boost::log)
+  # The compile flag `BOOST_LOG_DYN_LINK` is required here.
+  target_compile_definitions(${LIBRARY_NAME} PUBLIC -DHPP_FCL_ENABLE_LOGGING -DBOOST_LOG_DYN_LINK)
+endif()
+
 IF(WIN32)
   TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
     INTERFACE