Source Code for Module rospy.rosconsole

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  2  # 
  3  # Copyright (c) 2015, Chris Mansley, Open Source Robotics Foundation, Inc. 
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 32   
 33  from __future__ import print_function 
 34   
 35  import os 
 36  import socket 
 37  import sys 
 38   
 39  import rosgraph 
 40  import rospy 
 41   
 42  from .logger_level_service_caller import LoggerLevelServiceCaller 
 43  from .logger_level_service_caller import ROSConsoleException 
 44   
 45  NAME = 'rosconsole' 
 46   
 47   
 48 -def error(status, msg): 
 49      print("%s: error: %s" % (NAME, msg), file=sys.stderr) 
 50      sys.exit(status) 
 51   
 52   
 53 -def _get_cmd_list_optparse(): 
 54      from optparse import OptionParser 
 55   
 56      usage = "usage: %prog list <node>" 
 57      parser = OptionParser(usage=usage, prog=NAME) 
 58   
 59      return parser 
 60   
 61   
 62 -def _rosconsole_cmd_list(argv): 
 63      args = argv[2:] 
 64      parser = _get_cmd_list_optparse() 
 65      (options, args) = parser.parse_args(args) 
 66   
 67      if not args: 
 68          parser.error("you must specify a node to list loggers") 
 69      elif len(args) > 1: 
 70          parser.error("you may only specify one node to list") 
 71   
 72      logger_level = LoggerLevelServiceCaller() 
 73   
 74      loggers = logger_level.get_loggers(args[0]) 
 75   
 76      output = '\n'.join(loggers) 
 77      print(output) 
 78   
 79   
 80 -def _get_cmd_set_optparse(): 
 81      from optparse import OptionParser 
 82   
 83      usage = "usage: %prog set <node> <logger> <level>" 
 84      levels = ', '.join(LoggerLevelServiceCaller().get_levels()) 
 85      usage += "\n\n <level> must be one of [" + levels + "]" 
 86      parser = OptionParser(usage=usage, prog=NAME) 
 87   
 88      return parser 
 89   
 90   
 91 -def _rosconsole_cmd_set(argv): 
 92      args = argv[2:] 
 93      parser = _get_cmd_set_optparse() 
 94      (options, args) = parser.parse_args(args) 
 95   
 96      if len(args) < 3: 
 97          parser.error("you must specify a node, a logger and a level") 
 98   
 99      logger_level = LoggerLevelServiceCaller() 
100      logger_level.get_loggers(args[0]) 
101   
102      if args[1] not in logger_level._current_levels: 
103          error(2, "node " + args[0] + " does not contain logger " + args[1]) 
104   
105      level = args[2].lower() 
106      if level not in logger_level.get_levels(): 
107          parser.error("invalid level") 
108   
109      logger_level.send_logger_change_message(args[0], args[1], args[2]) 
110   
111   
112 -def _get_cmd_get_optparse(): 
113      from optparse import OptionParser 
114   
115      usage = "usage: %prog get <node> <logger>" 
116      parser = OptionParser(usage=usage, prog=NAME) 
117   
118      return parser 
119   
120   
121 -def _rosconsole_cmd_get(argv): 
122      args = argv[2:] 
123      parser = _get_cmd_get_optparse() 
124      (options, args) = parser.parse_args(args) 
125   
126      if len(args) < 2: 
127          parser.error("you must specify a node and a logger") 
128   
129      logger_level = LoggerLevelServiceCaller() 
130      logger_level.get_loggers(args[0]) 
131   
132      if args[1] not in logger_level._current_levels: 
133          error(2, "node " + args[0] + " does not contain logger " + args[1]) 
134   
135      print(logger_level._current_levels[args[1]]) 
136   
137   
138 -def _fullusage(): 
139      print("""rosconsole is a command-line tool for configuring the logger level of ROS nodes. 
140   
141  Commands: 
142  \trosconsole get\tdisplay level for a logger 
143  \trosconsole list\tlist loggers for a node 
144  \trosconsole set\tset level for a logger 
145   
146  Type rosconsole <command> -h for more detailed usage, e.g. 'rosconsole list -h' 
147  """) 
148      sys.exit(getattr(os, 'EX_USAGE', 1)) 
149   
150   
151 -def main(argv=None): 
152      if argv is None: 
153          argv = sys.argv 
154   
155      # Initialize ourselves as a node, to ensure handling of namespace and 
156      # remapping arguments 
157      rospy.init_node('rosconsole', anonymous=True) 
158      argv = rospy.myargv(argv) 
159   
160      # process argv 
161      if len(argv) == 1: 
162          _fullusage() 
163   
164      try: 
165          command = argv[1] 
166          if command == 'get': 
167              _rosconsole_cmd_get(argv) 
168          elif command == 'list': 
169              _rosconsole_cmd_list(argv) 
170          elif command == 'set': 
171              _rosconsole_cmd_set(argv) 
172          else: 
173              _fullusage() 
174      except socket.error as e: 
175          error(1, 
176                "Network communication failed; most likely failed to communicate with master: %s" % e) 
177      except rosgraph.MasterException as e: 
178          # mainly for invalid master URI/rosgraph.masterapi 
179          error(1, str(e)) 
180      except ROSConsoleException as e: 
181          error(1, str(e)) 
182      except KeyboardInterrupt: 
183          pass 
184      except rospy.ROSInterruptException: 
185          pass 
186