Add named loggers to rospy, this change will create (named) child log…

…gers under rospy.rosout. This allows for each named logger to have seperate verbosity setting, this will allow for two different verboisty settings for logging in a single node. Two named loggers can log to rosout at two different verbosity setings, which can help noisy debug logs.

clients/rospy/src/rospy/core.py

@@ -37,11 +37,11 @@
 
 
 import atexit
-try:
-    import cPickle as pickle
-except ImportError:
-    import pickle
-import inspect
+try:
+    import cPickle as pickle
+except ImportError:
+    import pickle
+import inspect
 import logging
 import os
 import signal
@@ -72,6 +72,8 @@
 from rospy.impl.validators import ParameterInvalid
 
 from rosgraph_msgs.msg import Log
+from functools import partial
+from collections import namedtuple
 
 _logger = logging.getLogger("rospy.core")
 
@@ -143,78 +145,107 @@ def rospywarn(msg, *args):
     """Internal rospy client library warn logging"""
     _rospy_logger.warn(msg, *args)
 
-logdebug = logging.getLogger('rosout').debug
 
-logwarn = logging.getLogger('rosout').warning
+def _base_logger(msg, *args, **kwargs):
+
+    try:
+        name = kwargs.pop('logger_name')
+    except KeyError:
+        name = None
+
+    try:
+        throttle = kwargs.pop('logger_throttle')
+    except KeyError:
+        throttle = None
+
+    try:
+        level = kwargs.pop('logger_level')
+    except KeyError:
+        level = None
+
+    rospy_logger = logging.getLogger('rosout')
+    if name:
+        rospy_logger = rospy_logger.getChild(name)
+    logfunc = getattr(rospy_logger, level)
+
+    if throttle:
+        caller_id = _frame_record_to_caller_id(inspect.stack()[2])
+        _logging_throttle(caller_id, logfunc, throttle, msg, *args)
+    else:
+        logfunc(msg, *args)
+
+
+loginfo = partial(_base_logger, logger_level='info')
 
-loginfo = logging.getLogger('rosout').info
 logout = loginfo # alias deprecated name
 
-logerr = logging.getLogger('rosout').error
+logdebug = partial(_base_logger, logger_level='debug')
+
+logwarn = partial(_base_logger, logger_level='warn')
+
+logerr = partial(_base_logger, logger_level='error')
+
 logerror = logerr # alias logerr
 
-logfatal = logging.getLogger('rosout').critical
-
-
-class LoggingThrottle(object):
-
-    last_logging_time_table = {}
-
-    def __call__(self, caller_id, logging_func, period, msg):
-        """Do logging specified message periodically.
-
-        - caller_id (str): Id to identify the caller
-        - logging_func (function): Function to do logging.
-        - period (float): Period to do logging in second unit.
-        - msg (object): Message to do logging.
-        """
-        now = rospy.Time.now()
-
-        last_logging_time = self.last_logging_time_table.get(caller_id)
-
-        if (last_logging_time is None or
-              (now - last_logging_time) > rospy.Duration(period)):
-            logging_func(msg)
-            self.last_logging_time_table[caller_id] = now
-
-
-_logging_throttle = LoggingThrottle()
-
-
-def _frame_record_to_caller_id(frame_record):
-    frame, _, lineno, _, code, _ = frame_record
-    caller_id = (
-        inspect.getabsfile(frame),
-        lineno,
-        frame.f_lasti,
-    )
-    return pickle.dumps(caller_id)
-
-
-def logdebug_throttle(period, msg):
-    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
-    _logging_throttle(caller_id, logdebug, period, msg)
-
-
-def loginfo_throttle(period, msg):
-    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
-    _logging_throttle(caller_id, loginfo, period, msg)
-
-
-def logwarn_throttle(period, msg):
-    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
-    _logging_throttle(caller_id, logwarn, period, msg)
-
-
-def logerr_throttle(period, msg):
-    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
-    _logging_throttle(caller_id, logerr, period, msg)
-
-
-def logfatal_throttle(period, msg):
-    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
-    _logging_throttle(caller_id, logfatal, period, msg)
-
+logfatal = partial(_base_logger, logger_level='critical')
+
+
+class LoggingThrottle(object):
+
+    LogEntry = namedtuple("LogEntry", "time digest")
+
+    last_log_entry = {}
+
+    def __call__(self, caller_id, logging_func, period, msg, *args):
+        """Do logging specified message periodically. Messages with different contents will bypass throttling
+
+        - caller_id (str): Id to identify the caller
+        - logging_func (function): Function to do logging.
+        - period (float): Period to do logging in seconds.
+        - msg (object): Message to do logging.
+        """
+        now = rospy.Time.now()
+
+        last = self.last_log_entry.get(caller_id, self.LogEntry(time=None, digest=None))
+        digest = hash(*args + tuple([str(msg)]))
+
+        if (last.time is None or (now - last.time) > rospy.Duration(period) or digest != last.digest):
+            logging_func(msg, *args)
+            self.last_log_entry[caller_id] = self.LogEntry(time=now, digest=digest)
+
+
+_logging_throttle = LoggingThrottle()
+
+
+def _frame_record_to_caller_id(frame_record):
+    frame, _, lineno, _, code, _ = frame_record
+    caller_id = (
+        inspect.getabsfile(frame),
+        lineno,
+        frame.f_lasti,
+    )
+    return pickle.dumps(caller_id)
+
+
+def logdebug_throttle(period, msg):
+    logdebug(msg, logger_name=None, logger_throttle=period)
+
+
+def loginfo_throttle(period, msg):
+    loginfo(msg, logger_name=None, logger_throttle=period)
+
+
+def logwarn_throttle(period, msg):
+    logwarn(msg, logger_name=None, logger_throttle=period)
+
+
+def logerr_throttle(period, msg):
+    logerr(msg, logger_name=None, logger_throttle=period)
+
+
+def logfatal_throttle(period, msg):
+    logfatal(msg, logger_name=None, logger_throttle=period)
+
 
 #########################################################
 # CONSTANTS