/usr/lib/python2.7/dist-packages/rosgraph/roslogging.py is in python-rosgraph 1.11.16-3.
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#
# Copyright (c) 2008, Willow Garage, Inc.
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#
# 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
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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"""
Library for configuring python logging to standard ROS locations (e.g. ROS_LOG_DIR).
"""
import os
import sys
import time
import logging
import logging.config
import rospkg
from rospkg.environment import ROS_LOG_DIR
class LoggingException: pass
def renew_latest_logdir(logfile_dir):
log_dir = os.path.dirname(logfile_dir)
latest_dir = os.path.join(log_dir, 'latest')
if os.path.lexists(latest_dir):
if not os.path.islink(latest_dir):
return False
os.remove(latest_dir)
os.symlink(logfile_dir, latest_dir)
return True
def configure_logging(logname, level=logging.INFO, filename=None, env=None):
"""
Configure Python logging package to send log files to ROS-specific log directory
:param logname str: name of logger, ``str``
:param filename: filename to log to. If not set, a log filename
will be generated using logname, ``str``
:param env: override os.environ dictionary, ``dict``
:returns: log file name, ``str``
:raises: :exc:`LoggingException` If logging cannot be configured as specified
"""
if env is None:
env = os.environ
logname = logname or 'unknown'
log_dir = rospkg.get_log_dir(env=env)
# if filename is not explicitly provided, generate one using logname
if not filename:
log_filename = os.path.join(log_dir, '%s-%s.log'%(logname, os.getpid()))
else:
log_filename = os.path.join(log_dir, filename)
logfile_dir = os.path.dirname(log_filename)
if not os.path.exists(logfile_dir):
try:
makedirs_with_parent_perms(logfile_dir)
except OSError:
# cannot print to screen because command-line tools with output use this
sys.stderr.write("WARNING: cannot create log directory [%s]. Please set %s to a writable location.\n"%(logfile_dir, ROS_LOG_DIR))
return None
elif os.path.isfile(logfile_dir):
raise LoggingException("Cannot save log files: file [%s] is in the way"%logfile_dir)
if sys.platform not in ['win32']:
try:
success = renew_latest_logdir(logfile_dir)
if not success:
sys.stderr.write("INFO: cannot create a symlink to latest log directory\n")
except OSError as e:
sys.stderr.write("INFO: cannot create a symlink to latest log directory: %s\n" % e)
if 'ROS_PYTHON_LOG_CONFIG_FILE' in os.environ:
config_file = os.environ['ROS_PYTHON_LOG_CONFIG_FILE']
else:
# search for logging config file in /etc/. If it's not there,
# look for it package-relative.
fname = 'python_logging.conf'
rosgraph_d = rospkg.RosPack().get_path('rosgraph')
for f in [os.path.join(rospkg.get_ros_home(), 'config', fname),
'/etc/ros/%s'%(fname),
os.path.join(rosgraph_d, 'conf', fname)]:
if os.path.isfile(f):
config_file = f
break
else:
config_file = None
if config_file is None or not os.path.isfile(config_file):
# logging is considered soft-fail
sys.stderr.write("WARNING: cannot load logging configuration file, logging is disabled\n")
logging.getLogger(logname).setLevel(logging.CRITICAL)
return log_filename
# pass in log_filename as argument to pylogging.conf
os.environ['ROS_LOG_FILENAME'] = log_filename
# #3625: disabling_existing_loggers=False
logging.config.fileConfig(config_file, disable_existing_loggers=False)
return log_filename
def makedirs_with_parent_perms(p):
"""
Create the directory using the permissions of the nearest
(existing) parent directory. This is useful for logging, where a
root process sometimes has to log in the user's space.
:param p: directory to create, ``str``
"""
p = os.path.abspath(p)
parent = os.path.dirname(p)
# recurse upwards, checking to make sure we haven't reached the
# top
if not os.path.exists(p) and p and parent != p:
makedirs_with_parent_perms(parent)
s = os.stat(parent)
os.mkdir(p)
# if perms of new dir don't match, set anew
s2 = os.stat(p)
if s.st_uid != s2.st_uid or s.st_gid != s2.st_gid:
os.chown(p, s.st_uid, s.st_gid)
if s.st_mode != s2.st_mode:
os.chmod(p, s.st_mode)
_logging_to_rospy_names = {
'DEBUG': ('DEBUG', '\033[32m'),
'INFO': ('INFO', None),
'WARNING': ('WARN', '\033[33m'),
'ERROR': ('ERROR', '\033[31m'),
'CRITICAL': ('FATAL', '\033[31m')
}
_color_reset = '\033[0m'
class RosStreamHandler(logging.Handler):
def __init__(self, colorize=True):
super(RosStreamHandler, self).__init__()
self._colorize = colorize
try:
from rospy.rostime import get_time, is_wallclock
self._get_time = get_time
self._is_wallclock = is_wallclock
except ImportError:
self._get_time = None
self._is_wallclock = None
def emit(self, record):
level, color = _logging_to_rospy_names[record.levelname]
if 'ROSCONSOLE_FORMAT' in os.environ.keys():
msg = os.environ['ROSCONSOLE_FORMAT']
msg = msg.replace('${severity}', level)
msg = msg.replace('${message}', str(record.getMessage()))
msg = msg.replace('${walltime}', '%f' % time.time())
msg = msg.replace('${thread}', str(record.thread))
msg = msg.replace('${logger}', str(record.name))
msg = msg.replace('${file}', str(record.pathname))
msg = msg.replace('${line}', str(record.lineno))
msg = msg.replace('${function}', str(record.funcName))
try:
from rospy import get_name
node_name = get_name()
except ImportError:
node_name = '<unknown_node_name>'
msg = msg.replace('${node}', node_name)
if self._get_time is not None and not self._is_wallclock():
t = self._get_time()
else:
t = time.time()
msg = msg.replace('${time}', '%f' % t)
msg += '\n'
else:
msg = '[%s] [WallTime: %f]' % (level, time.time())
if self._get_time is not None and not self._is_wallclock():
msg += ' [%f]' % self._get_time()
msg += ' %s\n' % record.getMessage()
if record.levelno < logging.WARNING:
self._write(sys.stdout, msg, color)
else:
self._write(sys.stderr, msg, color)
def _write(self, fd, msg, color):
if self._colorize and color and hasattr(fd, 'isatty') and fd.isatty():
msg = color + msg + _color_reset
fd.write(msg)
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