Merge pull request cram2#225 from AbdelrhmanBassiouny/log_level

[LoggingLevel] Adding setting log level.

src/pycram/datastructures/enums.py

@@ -164,6 +164,17 @@ class ImageEnum(Enum):
     CHAIR = 37
 
 
+class LoggerLevel(Enum):
+    """
+    Enum for the different logger levels.
+    """
+    DEBUG = 'debug'
+    INFO = 'info'
+    WARN = 'warn'
+    ERROR = 'error'
+    FATAL = 'fatal'
+
+
 class VirtualMobileBaseJointName(Enum):
     """
     Enum for the joint names of the virtual mobile base.

src/pycram/ros/logging.py

@@ -1,7 +1,19 @@
+from __future__ import annotations
+
 import rospy
+from rospy.logger_level_service_caller import LoggerLevelServiceCaller
 import inspect
 from pathlib import Path
 
+from typing_extensions import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from ..datastructures.enums import LoggerLevel
+
+
+PYCRAM_LOGGER_NAME = "pycram"
+logger_level_service_caller = LoggerLevelServiceCaller()
+
 
 def _get_caller_method_name():
     """
@@ -12,6 +24,7 @@ def _get_caller_method_name():
     """
     return inspect.stack()[2][3]
 
+
 def _get_caller_method_line():
     """
     Get the line of the method that called the function from which this function is called. It is intended as a helper
@@ -21,6 +34,7 @@ def _get_caller_method_line():
     """
     return inspect.stack()[2][2]
 
+
 def _get_caller_file_name():
     """
     Get the file name of the method that called the function from which this function is called. It is intended as a helper
@@ -32,33 +46,54 @@ def _get_caller_file_name():
     return path.name
 
 
+def set_logger_level(level: LoggerLevel):
+    """
+    Set the logger level for the pycram logger.
+
+    :param level: The level to set the logger to, possible values are: rospy.DEBUG, rospy.INFO, rospy.WARN, rospy.ERROR,
+    rospy.FATAL.
+    """
+    logger_level_service_caller.get_loggers(rospy.get_name())
+    logger_level_service_caller.send_logger_change_message(rospy.get_name(),
+                                                           f"rosout.{PYCRAM_LOGGER_NAME}",
+                                                           level.value)
+
+
 def logwarn(message: str):
-    rospy.logwarn(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}")
+    rospy.logwarn(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}",
+                  logger_name=PYCRAM_LOGGER_NAME)
 
 
 def loginfo(message: str):
-    rospy.loginfo(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}")
+    rospy.loginfo(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}",
+                  logger_name=PYCRAM_LOGGER_NAME)
 
 
 def logerr(message: str):
-    rospy.logerr(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}")
+    rospy.logerr(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}",
+                 logger_name=PYCRAM_LOGGER_NAME)
 
 
 def logdebug(message: str):
     rospy.logdebug(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}")
 
 
 def logwarn_once(message: str):
-    rospy.logwarn_once(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}")
+    rospy.logwarn_once(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}",
+                       logger_name=PYCRAM_LOGGER_NAME)
 
 
 def loginfo_once(message: str):
-    rospy.loginfo_once(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}")
+    rospy.loginfo_once(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}",
+                       logger_name=PYCRAM_LOGGER_NAME)
 
 
 def logerr_once(message: str):
-    rospy.logerr_once(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}")
+    rospy.logerr_once(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}",
+                      logger_name=PYCRAM_LOGGER_NAME)
 
 
 def logdebug_once(message: str):
-    rospy.logdebug_once(f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}")
+    rospy.logdebug_once(
+        f"[{_get_caller_file_name()}:{_get_caller_method_line()}:{_get_caller_method_name()}] {message}",
+        logger_name=PYCRAM_LOGGER_NAME)

test/test_logging.py

@@ -0,0 +1,14 @@
+from bullet_world_testcase import BulletWorldTestCase
+from pycram.ros.logging import set_logger_level, logwarn, logerr
+from pycram.datastructures.enums import LoggerLevel
+
+
+class TestLogging(BulletWorldTestCase):
+    """Testcase for the pycram logging functions."""
+
+    def test_set_logger_level(self):
+        logwarn("This is a warning, it should not be printed")
+        logerr("This is an error, it should be printed")
+        set_logger_level(LoggerLevel.ERROR)
+        logwarn("This is a warning, it should not be printed")
+        logerr("This is an error, it should be printed")