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Give nodes a logger #148

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merged 4 commits into from
Nov 22, 2017
Merged

Give nodes a logger #148

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8d6ddbc
Add test for dots in name in case behaviour ever changes beneath us
dhood Nov 14, 2017
40bfac5
Include logging with rclpy includes
dhood Nov 15, 2017
d1c1aa8
Give nodes a logger with their name
dhood Nov 15, 2017
a48d6b6
Revert "Include logging with rclpy includes"
dhood Nov 15, 2017
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6 changes: 6 additions & 0 deletions rclpy/rclpy/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
from rclpy.expand_topic_name import expand_topic_name
from rclpy.guard_condition import GuardCondition
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
from rclpy.logging import get_named_logger
from rclpy.publisher import Publisher
from rclpy.qos import qos_profile_default, qos_profile_services_default
from rclpy.service import Service
Expand Down Expand Up @@ -52,6 +53,8 @@ class Node:

def __init__(self, node_name, *, namespace=None):
self._handle = None
# TODO(dhood): get logger name from rcl, use namespace (with slashes converted)
self._logger = get_named_logger(node_name)
self.publishers = []
self.subscriptions = []
self.clients = []
Expand Down Expand Up @@ -91,6 +94,9 @@ def get_name(self):
def get_namespace(self):
return _rclpy.rclpy_get_node_namespace(self.handle)

def get_logger(self):
return self._logger

def _validate_topic_or_service_name(self, topic_or_service_name, *, is_service=False):
name = self.get_name()
namespace = self.get_namespace()
Expand Down
6 changes: 6 additions & 0 deletions rclpy/test/test_node.py
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Expand Up @@ -89,6 +89,12 @@ def test_node_names(self):
# test that it doesn't raise
self.node.get_node_names()

def test_node_logger(self):
node_logger = self.node.get_logger()
self.assertEqual(node_logger.name, 'my_node')
node_logger.set_severity_threshold(rclpy.logging.LoggingSeverity.INFO)
node_logger.debug('test')


if __name__ == '__main__':
unittest.main()
3 changes: 3 additions & 0 deletions rclpy/test/test_validate_node_name.py
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Expand Up @@ -32,6 +32,9 @@ def test_validate_node_name_failures(self):
# node name must not be empty
with self.assertRaisesRegex(InvalidNodeNameException, 'must not be empty'):
validate_node_name('')
# node name may not contain '.'
with self.assertRaisesRegex(InvalidNodeNameException, 'must not contain characters'):
validate_node_name('invalid_node.')
# node name may not contain '?'
with self.assertRaisesRegex(InvalidNodeNameException, 'must not contain characters'):
validate_node_name('invalid_node?')
Expand Down