logger_level_service_caller.py

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import rosnode
import rospy
import rosservice

from python_qt_binding.QtCore import QObject, qWarning


class LoggerLevelServiceCaller(QObject):

    """
    Handles service calls for getting lists of nodes and loggers
    Also handles sending requests to change logger levels
    """

    def __init__(self):
        super(LoggerLevelServiceCaller, self).__init__()

    def get_levels(self):
        return [self.tr('Debug'), self.tr('Info'), self.tr('Warn'), self.tr('Error'), self.tr('Fatal')]

    def get_loggers(self, node):
        if self._refresh_loggers(node):
            return self._current_loggers
        else:
            return []

    def get_node_names(self):
        """
        Gets a list of available services via a ros service call.
        :returns: a list of all nodes that provide the set_logger_level service, ''list(str)''
        """
        set_logger_level_nodes = []
        nodes = rosnode.get_node_names()
        for name in sorted(nodes):
            for service in rosservice.get_service_list(name):
                if service == name + '/set_logger_level':
                    set_logger_level_nodes.append(name)
        return set_logger_level_nodes

    def _refresh_loggers(self, node):
        """
        Stores a list of loggers available for passed in node
        :param node: name of the node to query, ''str''
        """
        self._current_loggers = []
        self._current_levels = {}
        servicename = node + '/get_loggers'
        try:
            service = rosservice.get_service_class_by_name(servicename)
        except rosservice.ROSServiceIOException as e:
            qWarning('During get_service_class_by_name "%s":\n%s' % (servicename, e))
            return False
        request = service._request_class()
        proxy = rospy.ServiceProxy(str(servicename), service)
        try:
            response = proxy(request)
        except rospy.ServiceException as e:
            qWarning('SetupDialog.get_loggers(): request:\n%s' % (type(request)))
            qWarning('SetupDialog.get_loggers() "%s":\n%s' % (servicename, e))
            return False

        if response._slot_types[0] == 'roscpp/Logger[]':
            for logger in getattr(response, response.__slots__[0]):
                self._current_loggers.append(getattr(logger, 'name'))
                self._current_levels[getattr(logger, 'name')] = getattr(logger, 'level')
        else:
            qWarning(repr(response))
            return False
        return True

    def send_logger_change_message(self, node, logger, level):
        """
        Sends a logger level change request to 'node'.
        :param node: name of the node to chaange, ''str''
        :param logger: name of the logger to change, ''str''
        :param level: name of the level to change, ''str''
        :returns: True if the response is valid, ''bool''
        :returns: False if the request raises an exception or would not change the cached state, ''bool''
        """
        servicename = node + '/set_logger_level'
        if self._current_levels[logger].lower() == level.lower():
            return False

        service = rosservice.get_service_class_by_name(servicename)
        request = service._request_class()
        setattr(request, 'logger', logger)
        setattr(request, 'level', level)
        proxy = rospy.ServiceProxy(str(servicename), service)
        try:
            proxy(request)
            self._current_levels[logger] = level.upper()
        except rospy.ServiceException as e:
            qWarning('SetupDialog.level_changed(): request:\n%r' % (request))
            qWarning('SetupDialog.level_changed() "%s":\n%s' % (servicename, e))
            return False
        return True