How to call a logging function from a generic utility plugin from another plguin

Assuming that I have the utility plugin, and the my_error_log() function is there, how can I call it from anywhere in my other plugins?

By calling it, there are no special steps

How can I be sure I can call it? Are plugins functions available across my WordPress code?

Yes, plugins are not sandboxed, everything is loaded into the same melting pot. WordPress is aware a plugin exists but it doesn’t track/tag/sandbox code inside plugins. It’s just a mechanism for loading arbitrary PHP.

Should I somehow ensure that my utility plugin is loaded first?

Yes, you should test if the functions/classes exist. How you would do that though is generic PHP that has nothing to do with WordPress though, e.g. if ( function_exists(... etc

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