Source Code for Module rospy.impl.rosout

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 34   
 35  """Internal use: support for /rosout logging in rospy""" 
 36   
 37  import logging 
 38  import sys 
 39  import traceback 
 40   
 41  import rospy.names  
 42   
 43  from rospy.core import get_caller_id 
 44  from rospy.exceptions import ROSException 
 45  from rospy.topics import Publisher, Subscriber 
 46  from rospy.rostime import Time 
 47   
 48  from rospy.impl.registration import get_topic_manager 
 49   
 50  #Log message for rosout 
 51  from rosgraph_msgs.msg import Log 
 52   
 53  _ROSOUT = '/rosout' 
 54  _rosout_pub = None 
 55   
 56  _rospy_to_logging_levels = { 
 57      Log.DEBUG: logging.DEBUG, 
 58      Log.INFO: logging.INFO, 
 59      Log.WARN: logging.WARNING, 
 60      Log.ERROR: logging.ERROR, 
 61      Log.FATAL: logging.CRITICAL, 
 62  } 
 63   
 64 -def init_rosout(): 
 65      logger = logging.getLogger("rospy.rosout") 
 66      try: 
 67          global _rosout_pub 
 68          if _rosout_pub is None: 
 69              logger.info("initializing %s core topic"%_ROSOUT) 
 70              _rosout_pub = Publisher(_ROSOUT, Log, latch=True, queue_size=100) 
 71              logger.info("connected to core topic %s"%_ROSOUT) 
 72          return True 
 73      except Exception as e: 
 74          logger.error("Unable to initialize %s: %s\n%s", _ROSOUT, e, traceback.format_exc()) 
 75          return False 
 76   
 77  _in_rosout = False 
 78  ## log an error to the /rosout topic 
 79 -def _rosout(level, msg, fname, line, func): 
 80      global _in_rosout 
 81      try: 
 82          if _rosout_pub is not None: 
 83              # protect against infinite recursion 
 84              if not _in_rosout: 
 85                  try: 
 86                      _in_rosout = True 
 87                      msg = str(msg) 
 88   
 89                      # check parameter server/cache for omit_topics flag 
 90                      # the same parameter is checked in rosout_appender.cpp for the same purpose 
 91                      disable_topics_ = rospy.get_param_cached("/rosout_disable_topics_generation", False) 
 92   
 93                      if not disable_topics_: 
 94                          topics = get_topic_manager().get_topics() 
 95                      else: 
 96                          topics = "" 
 97   
 98                      l = Log(level=level, name=str(rospy.names.get_caller_id()), msg=str(msg), topics=topics, file=fname, line=line, function=func) 
 99                      l.header.stamp = Time.now() 
100                      _rosout_pub.publish(l) 
101                  finally: 
102                      _in_rosout = False 
103      except Exception as e: 
104          #traceback.print_exc() 
105          # don't use logerr in this case as that is recursive here 
106          logger = logging.getLogger("rospy.rosout")         
107          logger.error("Unable to report rosout: %s\n%s", e, traceback.format_exc()) 
108          return False 
109   
110  _logging_to_rospy_levels = { 
111        logging.DEBUG: Log.DEBUG, 
112        logging.INFO: Log.INFO, 
113        logging.WARNING: Log.WARN, 
114        logging.ERROR: Log.ERROR, 
115        logging.CRITICAL: Log.FATAL, 
116        } 
117   
118 -class RosOutHandler(logging.Handler): 
119 -   def emit(self, record): 
120        _rosout(_logging_to_rospy_levels[record.levelno], self.format(record), 
121              record.filename, record.lineno, record.funcName) 
122   
123  ## Load loggers for publishing to /rosout 
124  ## @param level int: Log level. Loggers >= level will be loaded. 
125 -def load_rosout_handlers(level): 
126      logger = logging.getLogger('rosout') 
127      logger.addHandler(RosOutHandler()) 
128      if level != None: 
129          logger.setLevel(_rospy_to_logging_levels[level]) 
130