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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 } 6365 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 False76 77 _in_rosout = False 78 ## log an error to the /rosout topic80 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 89 # check parameter server/cache for omit_topics flag 90 # the same parameter is checked in rosout_appender.cpp for the same purpose 91 disable_topics_ = rospy.get_param_cached("/rosout_disable_topics_generation", False) 92 93 if not disable_topics_: 94 topics = get_topic_manager().get_topics() 95 else: 96 topics = "" 97 98 l = Log(level=level, name=str(rospy.names.get_caller_id()), msg=str(msg), topics=topics, file=fname, line=line, function=func) 99 l.header.stamp = Time.now() 100 _rosout_pub.publish(l) 101 finally: 102 _in_rosout = False 103 except Exception as e: 104 #traceback.print_exc() 105 # don't use logerr in this case as that is recursive here 106 logger = logging.getLogger("rospy.rosout") 107 logger.error("Unable to report rosout: %s\n%s", e, traceback.format_exc()) 108 return False109 110 _logging_to_rospy_levels = { 111 logging.DEBUG: Log.DEBUG, 112 logging.INFO: Log.INFO, 113 logging.WARNING: Log.WARN, 114 logging.ERROR: Log.ERROR, 115 logging.CRITICAL: Log.FATAL, 116 } 117122 123 ## Load loggers for publishing to /rosout 124 ## @param level int: Log level. Loggers >= level will be loaded.120 _rosout(_logging_to_rospy_levels[record.levelno], self.format(record), 121 record.filename, record.lineno, record.funcName)126 logger = logging.getLogger('rosout') 127 logger.addHandler(RosOutHandler()) 128 if level != None: 129 logger.setLevel(_rospy_to_logging_levels[level])130
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