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adding test changes, resolving merge conflicts #8

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adding test changes, resolving merge conflicts #8

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1 change: 1 addition & 0 deletions clients/rospy/src/rospy/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@
get_node_uri, get_ros_root, \
logdebug, logwarn, loginfo, logout, logerr, logfatal, \
logdebug_throttle, logwarn_throttle, loginfo_throttle, logerr_throttle, logfatal_throttle, \
logdebug_throttle_identical, logwarn_throttle_identical, loginfo_throttle_identical, logerr_throttle_identical, logfatal_throttle_identical, \
logdebug_once, logwarn_once, loginfo_once, logerr_once, logfatal_once, \
parse_rosrpc_uri
from .exceptions import *
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308 changes: 165 additions & 143 deletions clients/rospy/src/rospy/core.py
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Original file line number Diff line number Diff line change
Expand Up @@ -144,105 +144,6 @@ def rospyerr(msg, *args):
def rospywarn(msg, *args):
"""Internal rospy client library warn logging"""
_rospy_logger.warn(msg, *args)


def _base_logger(msg, *args, **kwargs):

name = kwargs.pop('logger_name', None)
throttle = kwargs.pop('logger_throttle', None)
level = kwargs.pop('logger_level', None)
once = kwargs.pop('logger_once', False)
throttle_identical = kwargs.pop('logger_throttle_identical', False)

rospy_logger = logging.getLogger('rosout')
if name:
rospy_logger = rospy_logger.getChild(name)
logfunc = getattr(rospy_logger, level)

if once:
caller_id = _frame_to_caller_id(inspect.currentframe().f_back.f_back)
if _logging_once(caller_id):
logfunc(msg, *args)
elif throttle_identical:
caller_id = _frame_to_caller_id(inspect.currentframe().f_back.f_back)
throttle_elapsed = False
if throttle is not None:
throttle_elapsed = _logging_throttle(caller_id, throttle)
if _logging_identical(caller_id, msg) or throttle_elapsed:
logfunc(msg, *args)
elif throttle:
caller_id = _frame_to_caller_id(inspect.currentframe().f_back.f_back)
if _logging_throttle(caller_id, throttle):
logfunc(msg, *args)
else:
logfunc(msg, *args)


def logdebug(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='debug', **kwargs)

def loginfo(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='info', **kwargs)

def logwarn(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='warn', **kwargs)

def logerr(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='error', **kwargs)

def logfatal(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='critical', **kwargs)

logout = loginfo # alias deprecated name

logerror = logerr # alias logerr


class LoggingThrottle(object):

last_logging_time_table = {}

def __call__(self, caller_id, period):
"""Do logging specified message periodically.

- caller_id (str): Id to identify the caller
- logging_func (function): Function to do logging.
- period (float): Period to do logging in second unit.
- msg (object): Message to do logging.
"""
now = rospy.Time.now()

last_logging_time = self.last_logging_time_table.get(caller_id)

if (last_logging_time is None or
(now - last_logging_time) > rospy.Duration(period)):
self.last_logging_time_table[caller_id] = now
return True
return False


_logging_throttle = LoggingThrottle()


class LoggingIdentical(object):

last_logging_msg_table = {}

def __call__(self, caller_id, msg):
"""Do logging specified message only if distinct from last message.

- caller_id (str): Id to identify the caller
- msg (str): Contents of message to log
"""
msg_hash = md5(msg).hexdigest()

if msg_hash != self.last_logging_msg_table.get(caller_id):
self.last_logging_msg_table[caller_id] = msg_hash
return True
return False


_logging_identical = LoggingIdentical()


def _frame_to_caller_id(frame):
Expand All @@ -253,50 +154,171 @@ def _frame_to_caller_id(frame):
)
return pickle.dumps(caller_id)


def logdebug_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='debug')

def loginfo_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='info')

def logwarn_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='warn')

def logerr_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='error')

def logfatal_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='critical')

class LoggingOnce(object):

called_caller_ids = set()

def __call__(self, caller_id):
if caller_id not in self.called_caller_ids:
self.called_caller_ids.add(caller_id)
return True
return False

_logging_once = LoggingOnce()


def logdebug_once(msg):
_base_logger(msg, logger_once=True, logger_level='debug')

def loginfo_once(msg):
_base_logger(msg, logger_once=True, logger_level='info')

def logwarn_once(msg):
_base_logger(msg, logger_once=True, logger_level='warn')

def logerr_once(msg):
_base_logger(msg, logger_once=True, logger_level='error')

def logfatal_once(msg):
_base_logger(msg, logger_once=True, logger_level='critical')


def _base_logger(msg, *args, **kwargs):

name = kwargs.pop('logger_name', None)
throttle = kwargs.pop('logger_throttle', None)
level = kwargs.pop('logger_level', None)
once = kwargs.pop('logger_once', False)
throttle_identical = kwargs.pop('logger_throttle_identical', False)

rospy_logger = logging.getLogger('rosout')
if name:
rospy_logger = rospy_logger.getChild(name)
logfunc = getattr(rospy_logger, level)

if once:
caller_id = _frame_to_caller_id(inspect.currentframe().f_back.f_back)
if _logging_once(caller_id):
logfunc(msg, *args)
elif throttle_identical:
caller_id = _frame_to_caller_id(inspect.currentframe().f_back.f_back)
throttle_elapsed = False
if throttle is not None:
throttle_elapsed = _logging_throttle(caller_id, throttle)
if _logging_identical(caller_id, msg) or throttle_elapsed:
logfunc(msg, *args)
elif throttle:
caller_id = _frame_to_caller_id(inspect.currentframe().f_back.f_back)
if _logging_throttle(caller_id, throttle):
logfunc(msg, *args)
else:
logfunc(msg, *args)


def logdebug(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='debug', **kwargs)

def loginfo(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='info', **kwargs)

def logwarn(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='warn', **kwargs)

def logerr(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='error', **kwargs)

def logfatal(msg, *args, **kwargs):
_base_logger(msg, *args, logger_level='critical', **kwargs)

logout = loginfo # alias deprecated name

logerror = logerr # alias logerr


class LoggingThrottle(object):

last_logging_time_table = {}

def __call__(self, caller_id, period):
"""Do logging specified message periodically.

- caller_id (str): Id to identify the caller
- logging_func (function): Function to do logging.
- period (float): Period to do logging in second unit.
- msg (object): Message to do logging.
"""
now = rospy.Time.now()

last_logging_time = self.last_logging_time_table.get(caller_id)

if (last_logging_time is None or
(now - last_logging_time) > rospy.Duration(period)):
self.last_logging_time_table[caller_id] = now
return True
return False


_logging_throttle = LoggingThrottle()


def logdebug_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='debug')

def loginfo_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='info')

def logwarn_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='warn')

def logerr_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='error')

def logfatal_throttle(period, msg):
_base_logger(msg, logger_throttle=period, logger_level='critical')


class LoggingIdentical(object):

last_logging_msg_table = {}

def __call__(self, caller_id, msg):
"""Do logging specified message only if distinct from last message.

- caller_id (str): Id to identify the caller
- msg (str): Contents of message to log
"""
msg_hash = md5(msg).hexdigest()

if msg_hash != self.last_logging_msg_table.get(caller_id):
self.last_logging_msg_table[caller_id] = msg_hash
return True
return False


_logging_identical = LoggingIdentical()


def logdebug_throttle_identical(period, msg):
_base_logger(msg, logger_throttle=period, logger_throttle_identical=True,
logger_level='debug')

def loginfo_throttle_identical(period, msg):
_base_logger(msg, logger_throttle=period, logger_throttle_identical=True,
logger_level='info')

def logwarn_throttle_identical(period, msg):
_base_logger(msg, logger_throttle=period, logger_throttle_identical=True,
logger_level='warn')

def logerr_throttle_identical(period, msg):
_base_logger(msg, logger_throttle=period, logger_throttle_identical=True,
logger_level='error')

def logfatal_throttle_identical(period, msg):
_base_logger(msg, logger_throttle=period, logger_throttle_identical=True,
logger_level='critical')


class LoggingOnce(object):

called_caller_ids = set()

def __call__(self, caller_id):
if caller_id not in self.called_caller_ids:
self.called_caller_ids.add(caller_id)
return True
return False

_logging_once = LoggingOnce()


def logdebug_once(msg):
_base_logger(msg, logger_once=True, logger_level='debug')

def loginfo_once(msg):
_base_logger(msg, logger_once=True, logger_level='info')

def logwarn_once(msg):
_base_logger(msg, logger_once=True, logger_level='warn')

def logerr_once(msg):
_base_logger(msg, logger_once=True, logger_level='error')

def logfatal_once(msg):
_base_logger(msg, logger_once=True, logger_level='critical')


#########################################################
# CONSTANTS
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