Source Code for Module rospy.impl.rosout

  1  # Software License Agreement (BSD License) 
  2  # 
  3  # Copyright (c) 2008, Willow Garage, Inc. 
  4  # All rights reserved. 
  5  # 
  6  # Redistribution and use in source and binary forms, with or without 
  7  # modification, are permitted provided that the following conditions 
  8  # are met: 
  9  # 
 10  #  * Redistributions of source code must retain the above copyright 
 11  #    notice, this list of conditions and the following disclaimer. 
 12  #  * Redistributions in binary form must reproduce the above 
 13  #    copyright notice, this list of conditions and the following 
 14  #    disclaimer in the documentation and/or other materials provided 
 15  #    with the distribution. 
 16  #  * Neither the name of Willow Garage, Inc. nor the names of its 
 17  #    contributors may be used to endorse or promote products derived 
 18  #    from this software without specific prior written permission. 
 19  # 
 20  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 21  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
 22  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
 23  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
 24  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 
 25  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
 26  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
 27  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
 28  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
 29  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 
 30  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 31  # POSSIBILITY OF SUCH DAMAGE. 
 32  # 
 33  # Revision $Id$ 
 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                      topics = get_topic_manager().get_topics() 
 89                      l = Log(level=level, name=str(rospy.names.get_caller_id()), msg=str(msg), topics=topics, file=fname, line=line, function=func) 
 90                      l.header.stamp = Time.now() 
 91                      _rosout_pub.publish(l) 
 92                  finally: 
 93                      _in_rosout = False 
 94      except Exception as e: 
 95          #traceback.print_exc() 
 96          # don't use logerr in this case as that is recursive here 
 97          logger = logging.getLogger("rospy.rosout")         
 98          logger.error("Unable to report rosout: %s\n%s", e, traceback.format_exc()) 
 99          return False 
100   
101  _logging_to_rospy_levels = { 
102        logging.DEBUG: Log.DEBUG, 
103        logging.INFO: Log.INFO, 
104        logging.WARNING: Log.WARN, 
105        logging.ERROR: Log.ERROR, 
106        logging.CRITICAL: Log.FATAL, 
107        } 
108   
109 -class RosOutHandler(logging.Handler): 
110 -   def emit(self, record): 
111        _rosout(_logging_to_rospy_levels[record.levelno], record.getMessage(), 
112              record.filename, record.lineno, record.funcName) 
113   
114  ## Load loggers for publishing to /rosout 
115  ## @param level int: Log level. Loggers >= level will be loaded. 
116 -def load_rosout_handlers(level): 
117      logger = logging.getLogger('rosout') 
118      logger.addHandler(RosOutHandler()) 
119      if level != None: 
120          logger.setLevel(_rospy_to_logging_levels[level]) 
121