Address review comments

clients/rospy/src/rospy/core.py

@@ -37,11 +37,11 @@
 
 
 import atexit
-try:
-    import cPickle as pickle
-except ImportError:
-    import pickle
-import inspect
+try:
+    import cPickle as pickle
+except ImportError:
+    import pickle
+import inspect
 import logging
 import os
 import signal
@@ -72,7 +72,7 @@
 from rospy.impl.validators import ParameterInvalid
 
 from rosgraph_msgs.msg import Log
-from functools import partial
+from functools import partial
 
 _logger = logging.getLogger("rospy.core")
 
@@ -110,7 +110,7 @@ def parse_rosrpc_uri(uri):
     @raise ParameterInvalid: if uri is not a valid ROSRPC URI
     """
     if uri.startswith(ROSRPC):
-        dest_addr = uri[len(ROSRPC):]
+        dest_addr = uri[len(ROSRPC):]            
     else:
         raise ParameterInvalid("Invalid protocol for ROS service URL: %s"%uri)
     try:
@@ -123,7 +123,7 @@ def parse_rosrpc_uri(uri):
     return dest_addr, dest_port
 
 #########################################################
-
+        
 # rospy logger
 _rospy_logger = logging.getLogger("rospy.internal")
 
@@ -143,9 +143,23 @@ 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):
+
+    try:
+        name = kwargs.pop('_logger_name')
+    except KeyError:
+        name = None
 
-
-def _base_logger(msg, name=None, throttle=None, level='info'):
+    try:
+        throttle = int(kwargs.pop('_logger_throttle'))
+    except KeyError:
+        throttle = None
+
+    try:
+        level = kwargs.pop('_logger_level')
+    except KeyError:
+        level = None
 
     rospy_logger = logging.getLogger('rosout')
     if name:
@@ -156,78 +170,80 @@ def _base_logger(msg, name=None, throttle=None, level='info'):
         caller_id = _frame_record_to_caller_id(inspect.stack()[1])
         _logging_throttle(caller_id, logfunc, throttle, msg)
     else:
-        logfunc(msg)
+        logfunc(msg, *args, **kwargs)
 
 
-loginfo = partial(_base_logger, level='info')
+loginfo = partial(_base_logger, _logger_level='info')
 
 logout = loginfo # alias deprecated name
 
-logdebug = partial(_base_logger, level='debug')
+logdebug = partial(_base_logger, _logger_level='debug')
 
-logwarn = partial(_base_logger, level='warn')
+logwarn = partial(_base_logger, _logger_level='warn')
 
-logerr = partial(_base_logger, level='error')
+logerr = partial(_base_logger, _logger_level='error')
 
 logerror = logerr # alias logerr
 
-logfatal = partial(_base_logger, level='critical')
-
-
-class LoggingThrottle(object):
-
-    last_logging_time_table = {}
-
-    def __call__(self, caller_id, logging_func, period, msg):
-        """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)):
-            logging_func(msg)
-            self.last_logging_time_table[caller_id] = now
-
-
-_logging_throttle = LoggingThrottle()
-
-
-def _frame_record_to_caller_id(frame_record):
-    frame, _, lineno, _, code, _ = frame_record
-    caller_id = (
-        inspect.getabsfile(frame),
-        lineno,
-        frame.f_lasti,
-    )
-    return pickle.dumps(caller_id)
-
-
-def logdebug_throttle(period, msg):
-    logdebug(msg, None, period)
-
-
-def loginfo_throttle(period, msg):
-    loginfo(msg, None, period)
-
-
-def logwarn_throttle(period, msg):
-    logwarn(msg, None, period)
-
-
-def logerr_throttle(period, msg):
-    logerr(msg, None, period)
-
-
-def logfatal_throttle(period, msg):
-    logfatal(msg, None, period)
-
+logfatal = partial(_base_logger, _logger_level='critical')
+
+
+
+class LoggingThrottle(object):
+
+    last_logging_time_table = {}
+
+    def __call__(self, caller_id, logging_func, period, msg):
+        """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)):
+            logging_func(msg)
+            self.last_logging_time_table[caller_id] = now
+
+
+_logging_throttle = LoggingThrottle()
+
+
+def _frame_record_to_caller_id(frame_record):
+    frame, _, lineno, _, code, _ = frame_record
+    caller_id = (
+        inspect.getabsfile(frame),
+        lineno,
+        frame.f_lasti,
+    )
+    return pickle.dumps(caller_id)
+
+
+def logdebug_throttle(period, msg):
+    logdebug(msg, _logger_name=None, _logger_throttle=period)
+
+
+def loginfo_throttle(period, msg):
+    loginfo(msg, _logger_name=None, _logger_throttle=period)
+
+
+def logwarn_throttle(period, msg):
+    logwarn(msg, _logger_name=None, _logger_throttle=period)
+
+
+def logerr_throttle(period, msg):
+    logerr(msg, _logger_name=None, _logger_throttle=period)
+
+
+def logfatal_throttle(period, msg):
+    logfatal(msg, _logger_name=None, _logger_throttle=period)
+
+
 
 #########################################################
 # CONSTANTS
@@ -315,10 +331,10 @@ def configure_logging(node_name, level=logging.INFO):
 class NullHandler(logging.Handler):
     def emit(self, record):
         pass
-
+    
 # keep logging happy until we have the node name to configure with
-logging.getLogger('rospy').addHandler(NullHandler())
-
+logging.getLogger('rospy').addHandler(NullHandler())    
+    
 
 #########################################################
 # Init/Shutdown/Exit API and Handlers
@@ -377,7 +393,7 @@ def is_shutdown_requested():
     received and continues until client shutdown handlers have been
     called.  After client shutdown handlers have been serviced, the
     is_shutdown state becomes true.
-
+    
     @return: True if shutdown has been requested (but possibly not yet initiated)
     @rtype: bool
     """
@@ -426,7 +442,7 @@ def add_client_shutdown_hook(h):
     Add client method to invoke when system shuts down. Unlike
     L{add_shutdown_hook} and L{add_preshutdown_hooks}, these methods
     will be called before any rospy internal shutdown code.
-
+    
     @param h: function with zero args
     @type  h: fn()
     """
@@ -437,7 +453,7 @@ def add_preshutdown_hook(h):
     Add method to invoke when system shuts down. Unlike
     L{add_shutdown_hook}, these methods will be called before any
     other shutdown hooks.
-
+    
     @param h: function that takes in a single string argument (shutdown reason)
     @type  h: fn(str)
     """
@@ -530,17 +546,17 @@ def register_signals():
     """
     _signalChain[signal.SIGTERM] = signal.signal(signal.SIGTERM, _ros_signal)
     _signalChain[signal.SIGINT]  = signal.signal(signal.SIGINT, _ros_signal)
-
+    
 # Validators ######################################
 
 def is_topic(param_name):
     """
     Validator that checks that parameter is a valid ROS topic name
-    """
+    """    
     def validator(param_value, caller_id):
         v = valid_name_validator_resolved(param_name, param_value, caller_id)
         if param_value == '/':
-            raise ParameterInvalid("ERROR: parameter [%s] cannot be the global namespace"%param_name)
+            raise ParameterInvalid("ERROR: parameter [%s] cannot be the global namespace"%param_name)            
         return v
     return validator
 
@@ -555,3 +571,4 @@ def xmlrpcapi(uri):
     if not uriValidate[0] or not uriValidate[1]:
         return None
     return xmlrpcclient.ServerProxy(uri)
+