Source Code for Module rospy.impl.rosout

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 33  # Revision $Id: rosout.py 12050 2010-11-09 08:13:53Z kwc $ 
 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 add_log_handler, 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 -def init_rosout(): 
 57      logger = logging.getLogger("rospy.rosout") 
 58      try: 
 59          global _rosout_pub 
 60          if _rosout_pub is None: 
 61              logger.info("initializing %s core topic"%_ROSOUT) 
 62              _rosout_pub = Publisher(_ROSOUT, Log, latch=True) 
 63              logger.info("connected to core topic %s"%_ROSOUT) 
 64          return True 
 65      except Exception, e: 
 66          logger.error("Unable to initialize %s: %s\n%s", _ROSOUT, e, traceback.format_exc()) 
 67          return False 
 68   
 69  _in_rosout = False 
 70  ## log an error to the /rosout topic 
 71 -def _rosout(level, msg): 
 72      global _in_rosout 
 73      try: 
 74          if _rosout_pub is not None: 
 75              # protect against infinite recursion 
 76              if not _in_rosout: 
 77                  try: 
 78                      _in_rosout = True 
 79                      msg = str(msg) 
 80                      topics = get_topic_manager().get_topics() 
 81                      l = Log(level=level, name=str(rospy.names.get_caller_id()), msg=str(msg), topics=topics) 
 82                      l.header.stamp = Time.now() 
 83                      _rosout_pub.publish(l) 
 84                  finally: 
 85                      _in_rosout = False 
 86      except Exception, e: 
 87          #traceback.print_exc() 
 88          # don't use logerr in this case as that is recursive here 
 89          logger = logging.getLogger("rospy.rosout")         
 90          logger.error("Unable to report rosout: %s\n%s", e, traceback.format_exc()) 
 91          return False 
 92   
 93 -def _rosout_debug(msg): 
 94      _rosout(Log.DEBUG, msg) 
 95 -def _rosout_info(msg): 
 96      _rosout(Log.INFO, msg) 
 97 -def _rosout_warn(msg): 
 98      _rosout(Log.WARN, msg) 
 99 -def _rosout_error(msg): 
100      _rosout(Log.ERROR, msg) 
101 -def _rosout_fatal(msg): 
102      _rosout(Log.FATAL, msg) 
103   
104  ## Load loggers for publishing to /rosout 
105  ## @param level int: Log level. Loggers >= level will be loaded. 
106 -def load_rosout_handlers(level): 
107      if Log.DEBUG >= level: 
108          add_log_handler(Log.DEBUG, _rosout_debug) 
109      if Log.INFO >= level: 
110          add_log_handler(Log.INFO, _rosout_info) 
111      if Log.WARN >= level: 
112          add_log_handler(Log.WARN, _rosout_warn) 
113      if Log.ERROR >= level: 
114          add_log_handler(Log.ERROR, _rosout_error) 
115      if Log.FATAL >= level: 
116          add_log_handler(Log.FATAL, _rosout_fatal) 
117