[rospy] Write log for class method with class name for rospy

tools/rosgraph/src/rosgraph/roslogging.py

@@ -39,12 +39,43 @@
 import time
 import logging
 import logging.config
+import inspect
 
 import rospkg
 from rospkg.environment import ROS_LOG_DIR
 
 class LoggingException(Exception): pass
 
+class RospyLogger(logging.getLoggerClass()):
+    def findCaller(self):
+        """
+        Find the stack frame of the caller so that we can note the source
+        file name, line number, and function name with class name if possible.
+        """
+        file_name, lineno, func_name = super(RospyLogger, self).findCaller()
+
+        f = inspect.currentframe()
+        if f is not None:
+            f = f.f_back
+        while hasattr(f, "f_code"):
+            # we search the right frame using the data already found by parent class
+            # following python logging findCaller() implementation logic
+            co = f.f_code
+            filename = os.path.normcase(co.co_filename)
+            if filename != file_name or f.f_lineno != lineno or co.co_name != func_name:
+                f = f.f_back
+                continue
+            # we found  the correct frame, now extending func_name with class name
+            try:
+                class_name = f.f_locals['self'].__class__.__name__
+                func_name = '%s.%s' % (class_name, func_name)
+            except KeyError:  # if the function is unbound, there is no self.
+                pass
+            break
+        return file_name, lineno, func_name
+
+logging.setLoggerClass(RospyLogger)
+
 def renew_latest_logdir(logfile_dir):
     log_dir = os.path.dirname(logfile_dir)
     latest_dir = os.path.join(log_dir, 'latest')

tools/rosgraph/test/test_roslogging.py

@@ -0,0 +1,111 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2016, Kentaro Wada.
+# 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
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import logging
+import os
+from StringIO import StringIO
+import sys
+
+from nose.tools import assert_regexp_matches
+import rosgraph.roslogging
+
+
+os.environ['ROSCONSOLE_FORMAT'] = ' '.join([
+    '${severity}',
+    '${message}',
+    '${walltime}',
+    '${thread}',
+    '${logger}',
+    '${file}',
+    '${line}',
+    '${function}',
+    '${node}',
+    '${time}',
+])
+rosgraph.roslogging.configure_logging('test_rosgraph', logging.INFO)
+loginfo = logging.getLogger('rosout').info
+
+# Remap stdout for testing
+f = StringIO()
+sys.stdout = f
+
+
+loginfo('on module')
+
+
+def logging_on_function():
+    loginfo('on function')
+
+logging_on_function()
+
+
+class LoggingOnClass(object):
+
+    def __init__(self):
+        loginfo('on method')
+
+LoggingOnClass()
+
+
+def test_rosconsole__logging_format():
+    this_file = os.path.abspath(__file__)
+    # this is necessary to avoid test fails because of .pyc cache file
+    base, ext = os.path.splitext(this_file)
+    if ext == '.pyc':
+        this_file = base + '.py'
+
+    for i, loc in enumerate(['module', 'function', 'method']):
+        if loc == 'module':
+            function = '<module>'
+        elif loc == 'function':
+            function = 'logging_on_function'
+        elif loc == 'method':
+            function = 'LoggingOnClass.__init__'
+        else:
+            raise ValueError
+
+        log_out = ' '.join([
+            'INFO',
+            'on ' + loc,
+            '[0-9]*\.[0-9]*',
+            '[0-9]*',
+            'rosout',
+            this_file,
+            '[0-9]*',
+            function,
+            '/unnamed',
+            '[0-9]*\.[0-9]*',
+        ])
+        assert_regexp_matches(f.getvalue().splitlines()[i], log_out)
+
+
+sys.stdout = sys.__stdout__

tools/rosgraph/test/test_roslogging_user_logger.py

@@ -0,0 +1,118 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2016, Kentaro Wada.
+# 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
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""
+Test for rosgraph.roslogger with custom logger defined by user,
+to ensure the custom logger won't be overwritten by RospyLogger defined
+in rosgraph.roslogger.
+"""
+
+import logging
+import os
+from StringIO import StringIO
+import sys
+
+from nose.tools import assert_regexp_matches
+
+import rosgraph.roslogging
+
+
+# set user defined custom logger
+class UserCustomLogger(logging.Logger):
+    def findCaller(self):
+        """Returns static caller.
+
+        This method is being overwritten in rosgraph.roslogging.
+        """
+        return '<filename>', '<lineno>', '<func_name>'
+
+    def _log(self, level, msg, args, exc_info=None, extra=None):
+        """Write log with ROS_IP.
+
+        This method is not being overwritten in rosgraph.roslogging.
+        """
+        ros_ip = os.environ.get('ROS_IP', '<unknown ros_ip>')
+        msg = '%s %s' % (ros_ip, msg)
+        logging.Logger._log(self, level, msg, args, exc_info, extra)
+
+
+def setup_module():
+    logging.setLoggerClass(UserCustomLogger)
+
+
+def teardown_module():
+    logging.setLoggerClass(rosgraph.roslogging.RospyLogger)
+
+
+def test_roslogging_user_logger():
+    os.environ['ROS_IP'] = '127.0.0.1'
+    os.environ['ROSCONSOLE_FORMAT'] = ' '.join([
+        '${severity}',
+        '${message}',
+        '${walltime}',
+        '${thread}',
+        '${logger}',
+        '${file}',
+        '${line}',
+        '${function}',
+        '${node}',
+        '${time}',
+    ])
+    rosgraph.roslogging.configure_logging('test_rosgraph', logging.INFO)
+    loginfo = logging.getLogger('rosout.custom_logger_test').info
+
+    # Remap stdout for testing
+    f = StringIO()
+    sys.stdout = f
+
+    # Logging
+    msg = 'Hello world.'
+    loginfo(msg)
+
+    # Restore stdout
+    log_actual = f.getvalue().strip()
+    sys.stdout = sys.__stdout__
+
+    log_expected = ' '.join([
+        'INFO',
+        os.environ['ROS_IP'],
+        msg,
+        '[0-9]*\.[0-9]*',
+        '[0-9]*',
+        'rosout.custom_logger_test',
+        '<filename>',
+        '<lineno>',
+        '<func_name>',
+        '/unnamed',
+        '[0-9]*\.[0-9]*',
+    ])
+    assert_regexp_matches(log_actual, log_expected)