/usr/lib/python2.7/dist-packages/rospy/logger_level_service_caller.py is in python-rospy 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
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#
# Copyright (c) 2015, Chris Mansley, Open Source Robotics Foundation, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# POSSIBILITY OF SUCH DAMAGE.
import rosgraph
import rosnode
import rospy
import rosservice
class ROSConsoleException(Exception):
"""Base exception class of rosconsole-related errors."""
pass
class LoggerLevelServiceCaller(object):
"""
Handles service calls for getting lists of nodes and loggers.
Also handles sending requests to change logger levels.
"""
def __init__(self):
pass
def get_levels(self):
# Declare level names lower-case, because that's how they are returned
# from the service call.
return ['debug', 'info', 'warn', 'error', 'fatal']
def get_loggers(self, node):
self._refresh_loggers(node)
return self._current_loggers
def get_node_names(self):
"""
Get 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):
"""
Store a list of loggers available for passed in node.
:param node: name of the node to query, ''str''
:raises: :exc:`ROSTopicException` If topic type cannot be determined or loaded
"""
self._current_loggers = []
self._current_levels = {}
# Construct the service name, taking into account our namespace
servicename = rosgraph.names.ns_join(
rosgraph.names.ns_join(rosgraph.names.get_ros_namespace(), node),
'get_loggers')
# Construct the service name, taking into account our namespace
servicename = rosgraph.names.resolve_name(
servicename, rosgraph.names.get_ros_namespace())
try:
service = rosservice.get_service_class_by_name(servicename)
except rosservice.ROSServiceException as e:
raise ROSConsoleException(
"node '%s' doesn't exist or doesn't support query: %s" % (node, e))
request = service._request_class()
proxy = rospy.ServiceProxy(str(servicename), service)
try:
response = proxy(request)
except rospy.ServiceException as e:
raise ROSConsoleException("node '%s' logger request failed: %s" % (node, e))
if response._slot_types[0] == 'roscpp/Logger[]':
for logger in getattr(response, response.__slots__[0]):
self._current_loggers.append(logger.name)
self._current_levels[logger.name] = logger.level
else:
raise ROSConsoleException(repr(response))
def send_logger_change_message(self, node, logger, level):
"""
Send 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 state, ''bool''
"""
# Construct the service name, taking into account our namespace
servicename = rosgraph.names.ns_join(
rosgraph.names.ns_join(rosgraph.names.get_ros_namespace(), node),
'set_logger_level')
# Construct the service name, taking into account our namespace
servicename = rosgraph.names.resolve_name(
servicename, rosgraph.names.get_ros_namespace())
if self._current_levels[logger] == level:
return False
service = rosservice.get_service_class_by_name(servicename)
request = service._request_class()
request.logger = logger
request.level = level
proxy = rospy.ServiceProxy(str(servicename), service)
try:
proxy(request)
self._current_levels[logger] = level.upper()
except rospy.ServiceException as e:
raise ROSConsoleException("node '%s' logger request failed: %s" % (node, e))
return True
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