Source Code for Module rospy.logger_level_service_caller

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  3  # Copyright (c) 2015, Chris Mansley, Open Source Robotics Foundation, Inc. 
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 32   
 33  import rosgraph 
 34  import rosnode 
 35  import rospy 
 36  import rosservice 
 37   
 38   
 39 -class ROSConsoleException(Exception): 
 40   
 41      """Base exception class of rosconsole-related errors.""" 
 42   
 43      pass 
 44   
 45   
 46 -class LoggerLevelServiceCaller(object): 
 47   
 48      """ 
 49      Handles service calls for getting lists of nodes and loggers. 
 50   
 51      Also handles sending requests to change logger levels. 
 52      """ 
 53   
 54 -    def __init__(self): 
 55          pass 
 56   
 57 -    def get_levels(self): 
 58          # Declare level names lower-case, because that's how they are returned 
 59          # from the service call. 
 60          return ['debug', 'info', 'warn', 'error', 'fatal'] 
 61   
 62 -    def get_loggers(self, node): 
 63          self._refresh_loggers(node) 
 64          return self._current_loggers 
 65   
 66 -    def get_node_names(self): 
 67          """ 
 68          Get a list of available services via a ros service call. 
 69   
 70          :returns: a list of all nodes that provide the set_logger_level service, ''list(str)'' 
 71          """ 
 72          set_logger_level_nodes = [] 
 73          nodes = rosnode.get_node_names() 
 74          for name in sorted(nodes): 
 75              for service in rosservice.get_service_list(name): 
 76                  if service == name + '/set_logger_level': 
 77                      set_logger_level_nodes.append(name) 
 78          return set_logger_level_nodes 
 79   
 80 -    def _refresh_loggers(self, node): 
 81          """ 
 82          Store a list of loggers available for passed in node. 
 83   
 84          :param node: name of the node to query, ''str'' 
 85          :raises: :exc:`ROSTopicException` If topic type cannot be determined or loaded 
 86          """ 
 87          self._current_loggers = [] 
 88          self._current_levels = {} 
 89          # Construct the service name, taking into account our namespace 
 90          servicename = rosgraph.names.ns_join( 
 91              rosgraph.names.ns_join(rosgraph.names.get_ros_namespace(), node), 
 92              'get_loggers') 
 93          # Construct the service name, taking into account our namespace 
 94          servicename = rosgraph.names.resolve_name( 
 95              servicename, rosgraph.names.get_ros_namespace()) 
 96          try: 
 97              service = rosservice.get_service_class_by_name(servicename) 
 98          except rosservice.ROSServiceException as e: 
 99              raise ROSConsoleException( 
100                  "node '%s' doesn't exist or doesn't support query: %s" % (node, e)) 
101   
102          request = service._request_class() 
103          proxy = rospy.ServiceProxy(str(servicename), service) 
104          try: 
105              response = proxy(request) 
106          except rospy.ServiceException as e: 
107              raise ROSConsoleException("node '%s' logger request failed: %s" % (node, e)) 
108   
109          if response._slot_types[0] == 'roscpp/Logger[]': 
110              for logger in getattr(response, response.__slots__[0]): 
111                  self._current_loggers.append(logger.name) 
112                  self._current_levels[logger.name] = logger.level 
113          else: 
114              raise ROSConsoleException(repr(response)) 
115   
116 -    def send_logger_change_message(self, node, logger, level): 
117          """ 
118          Send a logger level change request to 'node'. 
119   
120          :param node: name of the node to chaange, ''str'' 
121          :param logger: name of the logger to change, ''str'' 
122          :param level: name of the level to change, ''str'' 
123          :returns: True if the response is valid, ''bool'' 
124          :returns: False if the request raises an exception or would not change the state, ''bool'' 
125          """ 
126          # Construct the service name, taking into account our namespace 
127          servicename = rosgraph.names.ns_join( 
128              rosgraph.names.ns_join(rosgraph.names.get_ros_namespace(), node), 
129              'set_logger_level') 
130          # Construct the service name, taking into account our namespace 
131          servicename = rosgraph.names.resolve_name( 
132              servicename, rosgraph.names.get_ros_namespace()) 
133          if self._current_levels[logger] == level: 
134              return False 
135   
136          service = rosservice.get_service_class_by_name(servicename) 
137          request = service._request_class() 
138          request.logger = logger 
139          request.level = level 
140          proxy = rospy.ServiceProxy(str(servicename), service) 
141          try: 
142              proxy(request) 
143              self._current_levels[logger] = level.upper() 
144          except rospy.ServiceException as e: 
145              raise ROSConsoleException("node '%s' logger request failed: %s" % (node, e)) 
146   
147          return True 
148