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Create sublogger for action server and action client #982

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Merged
merged 4 commits into from
Jul 28, 2022
Merged

Create sublogger for action server and action client #982

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54a820f
add global loggers
Jul 27, 2022
f5a05ea
get child logger
Jul 27, 2022
bb9162b
fix typo
Jul 27, 2022
e3bc8b1
remove import
Jul 27, 2022
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7 changes: 4 additions & 3 deletions rclpy/rclpy/action/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,7 @@ def __init__(

callback_group.add_entity(self)
self._node.add_waitable(self)
self._logger = self._node.get_logger().get_child('action_client')

def _generate_random_uuid(self):
return UUID(uuid=list(uuid.uuid4().bytes))
Expand Down Expand Up @@ -300,7 +301,7 @@ async def execute(self, taken_data):

self._pending_goal_requests[sequence_number].set_result(goal_handle)
else:
self._node.get_logger().warning(
self._logger.warning(
'Ignoring unexpected goal response. There may be more than '
f"one action server for the action '{self._action_name}'"
)
Expand All @@ -310,7 +311,7 @@ async def execute(self, taken_data):
if sequence_number in self._pending_cancel_requests:
self._pending_cancel_requests[sequence_number].set_result(cancel_response)
else:
self._node.get_logger().warning(
self._logger.warning(
'Ignoring unexpected cancel response. There may be more than '
f"one action server for the action '{self._action_name}'"
)
Expand All @@ -320,7 +321,7 @@ async def execute(self, taken_data):
if sequence_number in self._pending_result_requests:
self._pending_result_requests[sequence_number].set_result(result_response)
else:
self._node.get_logger().warning(
self._logger.warning(
'Ignoring unexpected result response. There may be more than '
f"one action server for the action '{self._action_name}'"
)
Expand Down
27 changes: 14 additions & 13 deletions rclpy/rclpy/action/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -262,14 +262,15 @@ def __init__(

callback_group.add_entity(self)
self._node.add_waitable(self)
self._logger = self._node.get_logger().get_child('action_server')

async def _execute_goal_request(self, request_header_and_message):
request_header, goal_request = request_header_and_message
goal_uuid = goal_request.goal_id
goal_info = GoalInfo()
goal_info.goal_id = goal_uuid

self._node.get_logger().debug('New goal request with ID: {0}'.format(goal_uuid.uuid))
self._logger.debug('New goal request with ID: {0}'.format(goal_uuid.uuid))

# Check if goal ID is already being tracked by this action server
with self._lock:
Expand All @@ -280,7 +281,7 @@ async def _execute_goal_request(self, request_header_and_message):
# Call user goal callback
response = await await_or_execute(self._goal_callback, goal_request.goal)
if not isinstance(response, GoalResponse):
self._node.get_logger().warning(
self._logger.warning(
'Goal request callback did not return a GoalResponse type. Rejecting goal.')
else:
accepted = GoalResponse.ACCEPT == response
Expand All @@ -294,7 +295,7 @@ async def _execute_goal_request(self, request_header_and_message):
with self._lock:
goal_handle = ServerGoalHandle(self, goal_info, goal_request.goal)
except RuntimeError as e:
self._node.get_logger().error(
self._logger.error(
'Failed to accept new goal with ID {0}: {1}'.format(goal_uuid.uuid, e))
accepted = False
else:
Expand All @@ -307,34 +308,34 @@ async def _execute_goal_request(self, request_header_and_message):
self._handle.send_goal_response(request_header, response_msg)

if not accepted:
self._node.get_logger().debug('New goal rejected: {0}'.format(goal_uuid.uuid))
self._logger.debug('New goal rejected: {0}'.format(goal_uuid.uuid))
return

self._node.get_logger().debug('New goal accepted: {0}'.format(goal_uuid.uuid))
self._logger.debug('New goal accepted: {0}'.format(goal_uuid.uuid))

# Provide the user a reference to the goal handle
await await_or_execute(self._handle_accepted_callback, goal_handle)

async def _execute_goal(self, execute_callback, goal_handle):
goal_uuid = goal_handle.goal_id.uuid
self._node.get_logger().debug('Executing goal with ID {0}'.format(goal_uuid))
self._logger.debug('Executing goal with ID {0}'.format(goal_uuid))

try:
# Execute user callback
execute_result = await await_or_execute(execute_callback, goal_handle)
except Exception as ex:
# Create an empty result so that we can still send a response to the client
execute_result = self._action_type.Result()
self._node.get_logger().error('Error raised in execute callback: {0}'.format(ex))
self._logger.error('Error raised in execute callback: {0}'.format(ex))
traceback.print_exc()

# If user did not trigger a terminal state, assume aborted
if goal_handle.is_active:
self._node.get_logger().warning(
self._logger.warning(
'Goal state not set, assuming aborted. Goal ID: {0}'.format(goal_uuid))
goal_handle.abort()

self._node.get_logger().debug(
self._logger.debug(
'Goal with ID {0} finished with state {1}'.format(goal_uuid, goal_handle.status))

# Set result
Expand All @@ -346,7 +347,7 @@ async def _execute_goal(self, execute_callback, goal_handle):
async def _execute_cancel_request(self, request_header_and_message):
request_header, cancel_request = request_header_and_message

self._node.get_logger().debug('Cancel request received: {0}'.format(cancel_request))
self._logger.debug('Cancel request received: {0}'.format(cancel_request))

with self._lock:
# Get list of goals that are requested to be canceled
Expand All @@ -370,7 +371,7 @@ async def _execute_cancel_request(self, request_header_and_message):
# that will generate an exception from invalid transition.
goal_handle._update_state(GoalEvent.CANCEL_GOAL)
except RCLError as ex:
self._node.get_logger().debug(
self._logger.debug(
'Failed to cancel goal in cancel callback: {0}'.format(ex))
# Remove from response since goal has been succeeded
cancel_response.goals_canceling.remove(goal_info)
Expand All @@ -384,12 +385,12 @@ async def _execute_get_result_request(self, request_header_and_message):
request_header, result_request = request_header_and_message
goal_uuid = result_request.goal_id.uuid

self._node.get_logger().debug(
self._logger.debug(
'Result request received for goal with ID: {0}'.format(goal_uuid))

# If no goal with the requested ID exists, then return UNKNOWN status
if bytes(goal_uuid) not in self._goal_handles:
self._node.get_logger().debug(
self._logger.debug(
'Sending result response for unknown goal ID: {0}'.format(goal_uuid))
result_response = self._action_type.Impl.GetResultService.Response()
result_response.status = GoalStatus.STATUS_UNKNOWN
Expand Down