From a83e09e9a2e23af798388146ad0b115be5b24f9e Mon Sep 17 00:00:00 2001
From: Greg Gallagher <ggallagher@clearpath.ai>
Date: Thu, 19 Jan 2017 12:50:35 -0500
Subject: [PATCH] fix white space changes and add throttle digest to bypass
 throttle if message contents have changed

---
 clients/rospy/src/rospy/core.py | 62 +++++++++++++++++++--------------
 1 file changed, 36 insertions(+), 26 deletions(-)

diff --git a/clients/rospy/src/rospy/core.py b/clients/rospy/src/rospy/core.py
index d4ea0ede4c..e51e937cca 100644
--- a/clients/rospy/src/rospy/core.py
+++ b/clients/rospy/src/rospy/core.py
@@ -42,6 +42,7 @@
 except ImportError:
     import pickle
 import inspect
+import hashlib
 import logging
 import os
 import signal
@@ -73,6 +74,7 @@
 
 from rosgraph_msgs.msg import Log
 from functools import partial
+from collections import namedtuple
 
 _logger = logging.getLogger("rospy.core")
 
@@ -144,20 +146,21 @@ def rospywarn(msg, *args):
     """Internal rospy client library warn logging"""
     _rospy_logger.warn(msg, *args)
 
+
 def _base_logger(msg, *args, **kwargs):
 
     try:
-        name = kwargs.pop('_logger_name')
+        name = kwargs.pop('logger_name')
     except KeyError:
         name = None
 
     try:
-        throttle = int(kwargs.pop('_logger_throttle'))
+        throttle = kwargs.pop('logger_throttle')
     except KeyError:
         throttle = None
 
     try:
-        level = kwargs.pop('_logger_level')
+        level = kwargs.pop('logger_level')
     except KeyError:
         level = None
 
@@ -168,47 +171,55 @@ def _base_logger(msg, *args, **kwargs):
 
     if throttle:
         caller_id = _frame_record_to_caller_id(inspect.stack()[1])
-        _logging_throttle(caller_id, logfunc, throttle, msg)
+        _logging_throttle(caller_id, logfunc, throttle, msg, *args)
     else:
-        logfunc(msg, *args, **kwargs)
+        logfunc(msg, *args)
 
 
-loginfo = partial(_base_logger, _logger_level='info')
+loginfo = partial(_base_logger, logger_level='info')
 
 logout = loginfo # alias deprecated name
 
-logdebug = partial(_base_logger, _logger_level='debug')
+logdebug = partial(_base_logger, logger_level='debug')
 
-logwarn = partial(_base_logger, _logger_level='warn')
+logwarn = partial(_base_logger, logger_level='warn')
 
-logerr = partial(_base_logger, _logger_level='error')
+logerr = partial(_base_logger, logger_level='error')
 
 logerror = logerr # alias logerr
 
-logfatal = partial(_base_logger, _logger_level='critical')
-
+logfatal = partial(_base_logger, logger_level='critical')
 
 
 class LoggingThrottle(object):
 
-    last_logging_time_table = {}
+    LogEntry = namedtuple("LogEntry", "time digest")
+
+    last_log_entry = {}
 
-    def __call__(self, caller_id, logging_func, period, msg):
-        """Do logging specified message periodically.
+    def __call__(self, caller_id, logging_func, period, msg, *args):
+        """Do logging specified message periodically. Messages with different contents will bypass throttling
 
         - caller_id (str): Id to identify the caller
         - logging_func (function): Function to do logging.
-        - period (float): Period to do logging in second unit.
+        - period (float): Period to do logging in seconds.
         - msg (object): Message to do logging.
         """
         now = rospy.Time.now()
 
-        last_logging_time = self.last_logging_time_table.get(caller_id)
+        last = self.last_log_entry.get(caller_id, self.LogEntry(time=None, digest=None))
+        digest = _get_digest(msg, *args)
 
-        if (last_logging_time is None or
-              (now - last_logging_time) > rospy.Duration(period)):
-            logging_func(msg)
-            self.last_logging_time_table[caller_id] = now
+        if (last.time is None or (now - last.time) > rospy.Duration(period) or digest != last.digest):
+            logging_func(msg, *args)
+            self.last_log_entry[caller_id] = self.LogEntry(time=now, digest=digest)
+
+
+def _get_digest(*args):
+    m = hashlib.md5()
+    for arg in args:
+        m.update(str(args))
+    return m.hexdigest()
 
 
 _logging_throttle = LoggingThrottle()
@@ -225,24 +236,23 @@ def _frame_record_to_caller_id(frame_record):
 
 
 def logdebug_throttle(period, msg):
-    logdebug(msg, _logger_name=None, _logger_throttle=period)
+    logdebug(msg, logger_name=None, logger_throttle=period)
 
 
 def loginfo_throttle(period, msg):
-    loginfo(msg, _logger_name=None, _logger_throttle=period)
+    loginfo(msg, logger_name=None, logger_throttle=period)
 
 
 def logwarn_throttle(period, msg):
-    logwarn(msg, _logger_name=None, _logger_throttle=period)
+    logwarn(msg, logger_name=None, logger_throttle=period)
 
 
 def logerr_throttle(period, msg):
-    logerr(msg, _logger_name=None, _logger_throttle=period)
+    logerr(msg, logger_name=None, logger_throttle=period)
 
 
 def logfatal_throttle(period, msg):
-    logfatal(msg, _logger_name=None, _logger_throttle=period)
-
+    logfatal(msg, logger_name=None, logger_throttle=period)
 
 
 #########################################################