From 54235a2a1952eec5a79c46581df2dcf9a75543fe Mon Sep 17 00:00:00 2001 From: Josh Glazer Date: Sun, 13 Jun 2021 16:48:44 -0400 Subject: [PATCH] create js file and example webpage --- examples/Logging.html | 77 ++++++++++++++++++++++ examples/ros_log.js | 144 ++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 221 insertions(+) create mode 100644 examples/Logging.html create mode 100644 examples/ros_log.js diff --git a/examples/Logging.html b/examples/Logging.html new file mode 100644 index 000000000..cf5fcfc43 --- /dev/null +++ b/examples/Logging.html @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + +

Simple Logging Example

+

Run the following commands in the terminal then refresh this page. Check the JavaScript + console and the terminal for the output.

+
    +
  1. roscore
    2. +
  2. rostopic echo /rosout
    3. +
  3. roslaunch rosbridge_server rosbridge_websocket.launch
    4. +
+
+

+ Connecting to rosbridge... +

+ + + +
+ + + + + + + + diff --git a/examples/ros_log.js b/examples/ros_log.js new file mode 100644 index 000000000..9cce87f04 --- /dev/null +++ b/examples/ros_log.js @@ -0,0 +1,144 @@ +/** + * Implements ROS logging capability with functions + * that are called similarly to the python logging functions. + * + * This script must be imported after ROSLIB.ros() has been created + * and a ROS connection has been established. + * + * @author Joshua Glazer - github.com/vashmata + */ + + + +// ROS logging severity level constants +const ROSDEBUG = 1 // debug level +const ROSINFO = 2 // general level +const ROSWARN = 4 // warning level +const ROSERROR = 8 // error level +const ROSFATAL = 16 // fatal/critical level + +// create a publisher to send log messages to /rosout +ros_logger = new ROSLIB.Topic({ +ros: ros, +name: 'rosout', +messageType: 'rosgraph_msgs/Log' +}) + +/** + * Gets the current time and formats it for ROS and the console. + * @return array of two variables: ROS time object, string containing hh:mm:ss +*/ +function rosTimestamp () { + // next few lines taken and adjusted from roslibjs action server example + let currentTime = new Date() + let secs = currentTime.getTime()/1000 // seconds before truncating the decimal + let secsFloored = Math.floor(secs) // seconds after truncating + let nanoSecs = Math.round(1000000000*(secs-secsFloored)) // nanoseconds since the previous second + + // return a dictionary for the ROS log and a string for the console + let stampTime = currentTime.toString().split(' ')[4] // hh:mm:ss from date object + return [{secs : secsFloored, nsecs : nanoSecs}, stampTime] +} + +/** + * Creates and publishes a ROS log message to /rosout based on the parameters + * @param logLevel one of the ROS loglevel constants defined above + * @param timestamp ros time object containing seconds and nanoseconds + * @param message the log message +*/ +function publishRosLog (logLevel, timestamp, message) { + ros_logger.publish( + new ROSLIB.Message({ + // I'm only publishing the essentials. We could include more info if so desired + header : { + // seq // uint32: sequence ID, seems to increment automatically + stamp : timestamp // dictionary: contains truncated seconds and nanoseconds + // frame_id // string: probably only useful for tf + }, + level : logLevel, // int: see log level constants above + // name : '/web_gui', // name of the node (proposed) + msg : message, // string: this is the log message + // file // string: we could specify the js file that generated the log + // function // string: we could specify the parent function that generated the log + // line // uint32: we could specify the specific line of code that generated the log + // topics // string[]: topic names that the node publishes + }) + ) +} + +/** + * Publishes the log message and prints it to the chrome console. + * @param logLevel one of the ROS loglevel constants defined above + * @param message the log message +*/ +function rosLog (logLevel, message) { + logData = {} + logData[ROSDEBUG] = {prefix : '[DEBUG]', type : 'log'} + logData[ROSINFO] = {prefix : '[INFO]', type : 'log'} + logData[ROSWARN] = {prefix : '[WARN]', type : 'warn'} + logData[ROSERROR] = {prefix : '[ERROR]', type : 'error'} + logData[ROSFATAL] = {prefix : '[FATAL]', type : 'error'} + + stamps = rosTimestamp() + consoleMsg = logData[logLevel].prefix + ' [' + stamps[1] + ']: ' + message + + if (logData[logLevel].type === 'log') { + console.log(consoleMsg) + } else if (logData[logLevel].type === 'warn') { + console.warn(consoleMsg) + } else if (logData[logLevel].type === 'error') { + console.error(consoleMsg) + } + + // log messages go to log file: currently rosout.log + publishRosLog(logLevel, stamps[0], message) +} + + +// these functions mimic the rospy logging functions + +/** + * Sends a debug message with timestamp to the GUI and chrome consoles. + * Also publishes it to /rosout. + * @param message the log message +*/ +function logDebug (message) { + // unlike rospy, (currently) the debug messages we generate will get published + rosLog(ROSDEBUG, message) +} + +/** + * Sends an info message with timestamp to the GUI and chrome consoles. + * Also publishes it to /rosout. + * @param message the log message +*/ +function logInfo (message) { + rosLog(ROSINFO, message) +} + +/** + * Sends a warning message with timestamp to the GUI and chrome consoles. + * Also publishes it to /rosout. + * @param message the log message +*/ +function logWarn (message) { + rosLog(ROSWARN, message) +} + +/** + * Sends an error message with timestamp to the GUI and chrome consoles. + * Also publishes it to /rosout. + * @param message the log message +*/ +function logErr (message) { + rosLog(ROSERROR, message) +} + +/** + * Sends a fatal error message with timestamp to the GUI and chrome consoles. + * Also publishes it to /rosout. + * @param message the log message +*/ +function logFatal (message) { + rosLog(ROSFATAL, message) +} \ No newline at end of file