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| 1 | +/* |
| 2 | + * Copyright 2016 Rethink Robotics |
| 3 | + * |
| 4 | + * Copyright 2016 Chris Smith |
| 5 | + * |
| 6 | + * Licensed under the Apache License, Version 2.0 (the "License"); |
| 7 | + * you may not use this file except in compliance with the License. |
| 8 | + * You may obtain a copy of the License at |
| 9 | + * http://www.apache.org/licenses/LICENSE-2.0 |
| 10 | + * |
| 11 | + * Unless required by applicable law or agreed to in writing, software |
| 12 | + * distributed under the License is distributed on an "AS IS" BASIS, |
| 13 | + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 14 | + * See the License for the specific language governing permissions and |
| 15 | + * limitations under the License. |
| 16 | + */ |
| 17 | + |
| 18 | +'use strict'; |
| 19 | +const bunyan = require('bunyan'); |
| 20 | +const Logger = require('../utils/log/Logger.js'); |
| 21 | +const RosLogStream = require('../utils/log/RosLogStream.js'); |
| 22 | +const ConsoleLogStream = require('../utils/log/ConsoleLogStream.js'); |
| 23 | +const LogFormatter = require('../utils/log/LogFormatter.js'); |
| 24 | + |
| 25 | +//----------------------------------------------------------------------- |
| 26 | + |
| 27 | +const DEFAULT_LOGGER_NAME = 'ros'; |
| 28 | + |
| 29 | +//----------------------------------------------------------------------- |
| 30 | + |
| 31 | +class LoggingManager { |
| 32 | + constructor() { |
| 33 | + this.loggerMap = {}; |
| 34 | + |
| 35 | + // initialize the root logger with a console stream |
| 36 | + const rootLoggerOptions = { |
| 37 | + name: DEFAULT_LOGGER_NAME, |
| 38 | + streams: [{ |
| 39 | + type: 'raw', |
| 40 | + stream: new ConsoleLogStream({formatter: LogFormatter.ROS}), |
| 41 | + level: 'info' |
| 42 | + }] |
| 43 | + } |
| 44 | + this.rootLogger = new Logger(rootLoggerOptions); |
| 45 | + this._bindRootLoggerMethods(); |
| 46 | + |
| 47 | + this.DEFAULT_LOGGER_NAME = DEFAULT_LOGGER_NAME; |
| 48 | + } |
| 49 | + |
| 50 | + initializeOptions(rosnodejs, options) { |
| 51 | + const nh = rosnodejs.nh; |
| 52 | + const defaultOptions = { |
| 53 | + streams: [{ |
| 54 | + type: 'raw', |
| 55 | + level: 'info', |
| 56 | + stream: new RosLogStream(nh, rosnodejs.require('rosgraph_msgs').msg.Log) |
| 57 | + }] |
| 58 | + }; |
| 59 | + if (!options) { |
| 60 | + this.initializeOptions(rosnodejs, defaultOptions); |
| 61 | + return; |
| 62 | + } |
| 63 | + // else |
| 64 | + |
| 65 | + // try to set up logging services |
| 66 | + try { |
| 67 | + rosnodejs.require('roscpp'); |
| 68 | + const getLoggerSrv = '/' + nh.getNodeName() + '/get_loggers'; |
| 69 | + const setLoggerSrv = '/' + nh.getNodeName() + '/set_logger_level'; |
| 70 | + nh.advertiseService(getLoggerSrv, 'roscpp/GetLoggers', this._handleGetLoggers.bind(this)) |
| 71 | + nh.advertiseService(setLoggerSrv, 'roscpp/SetLoggerLevel', this._handleSetLoggerLevel.bind(this)) |
| 72 | + } |
| 73 | + catch (err) { |
| 74 | + this.rootLogger.warn('Unable to setup ros logging services'); |
| 75 | + } |
| 76 | + |
| 77 | + // setup desired streams |
| 78 | + if (options.hasOwnProperty('streams')) { |
| 79 | + options.streams.forEach((stream) => { |
| 80 | + this.addStream(stream); |
| 81 | + }); |
| 82 | + } |
| 83 | + // set desired log level |
| 84 | + if (options.hasOwnProperty('level')) { |
| 85 | + this.setLevel(options.level); |
| 86 | + } |
| 87 | + } |
| 88 | + |
| 89 | + generateLogger(options) { |
| 90 | + if (!options.hasOwnProperty('name')) { |
| 91 | + throw new Error('Unable to generate logger without name'); |
| 92 | + } |
| 93 | + const loggerName = options.name; |
| 94 | + |
| 95 | + // don't regenerate the logger if it exists |
| 96 | + if (this.loggerMap.hasOwnProperty(loggerName)) { |
| 97 | + return this.loggerMap[loggerName]; |
| 98 | + } |
| 99 | + // else |
| 100 | + // generate a child logger from root |
| 101 | + let newLogger = this._createChildLogger(loggerName, this.rootLogger, options); |
| 102 | + |
| 103 | + // stash the logger and return it |
| 104 | + this.loggerMap[loggerName] = newLogger; |
| 105 | + return newLogger; |
| 106 | + } |
| 107 | + |
| 108 | + getLogger(loggerName, options) { |
| 109 | + if (!loggerName) { |
| 110 | + return this.rootLogger; |
| 111 | + } |
| 112 | + else if (!this.hasLogger(loggerName)) { |
| 113 | + options = options || {}; |
| 114 | + options.name = loggerName; |
| 115 | + return this.generateLogger(options); |
| 116 | + } |
| 117 | + // else |
| 118 | + return this.loggerMap[loggerName]; |
| 119 | + } |
| 120 | + |
| 121 | + hasLogger(loggerName) { |
| 122 | + return this.loggerMap.hasOwnProperty(loggerName); |
| 123 | + } |
| 124 | + |
| 125 | + removeLogger(loggerName) { |
| 126 | + if (loggerName !== DEFAULT_LOGGER_NAME) { |
| 127 | + delete this.loggerMap[loggerName]; |
| 128 | + } |
| 129 | + } |
| 130 | + |
| 131 | + getLoggers() { |
| 132 | + return Object.keys(loggerMap); |
| 133 | + } |
| 134 | + |
| 135 | + setLevel(level) { |
| 136 | + this._forEachLogger((logger) => logger.setLevel(level), true); |
| 137 | + } |
| 138 | + |
| 139 | + addStream(stream) { |
| 140 | + this._forEachLogger((logger) => logger.addStream(stream), true); |
| 141 | + } |
| 142 | + |
| 143 | + clearStreams() { |
| 144 | + this._forEachLogger((logger) => logger.clearStreams(), true); |
| 145 | + } |
| 146 | + |
| 147 | + _handleGetLoggers(req, resp) { |
| 148 | + this._forEachLogger((logger) => { |
| 149 | + resp.loggers.push({ |
| 150 | + name: logger.getName(), |
| 151 | + level: bunyan.nameFromLevel[logger.getLevel()] |
| 152 | + }); |
| 153 | + }, true); |
| 154 | + |
| 155 | + return true; |
| 156 | + } |
| 157 | + |
| 158 | + _handleSetLoggerLevel(req, resp) { |
| 159 | + if (!this.hasLogger(req.logger)) { |
| 160 | + return false; |
| 161 | + } |
| 162 | + // else |
| 163 | + const logger = this.getLogger(req.logger); |
| 164 | + logger.setLevel(req.level); |
| 165 | + |
| 166 | + return true; |
| 167 | + } |
| 168 | + |
| 169 | + _bindRootLoggerMethods() { |
| 170 | + const rawMethods = ['trace', 'debug', 'info', 'warn', 'error', 'fatal']; |
| 171 | + let methods = []; |
| 172 | + rawMethods.forEach((method) => methods.push(method)); |
| 173 | + rawMethods.forEach((method) => methods.push(method + 'Throttle')); |
| 174 | + rawMethods.forEach((method) => methods.push(method + 'Once')); |
| 175 | + methods.forEach((method) => { |
| 176 | + this[method] = this.rootLogger[method].bind(this.rootLogger); |
| 177 | + }); |
| 178 | + } |
| 179 | + |
| 180 | + _forEachLogger(perLoggerCallback, includeRoot) { |
| 181 | + if (includeRoot) { |
| 182 | + perLoggerCallback(this.rootLogger); |
| 183 | + } |
| 184 | + Object.keys(this.loggerMap).forEach((loggerName) => { |
| 185 | + perLoggerCallback(this.loggerMap[loggerName]) |
| 186 | + }); |
| 187 | + } |
| 188 | + |
| 189 | + _createChildLogger(childLoggerName, parentLogger, options) { |
| 190 | + // setup options |
| 191 | + options = options || {}; |
| 192 | + options.name = childLoggerName; |
| 193 | + options.$parent = parentLogger._logger; |
| 194 | + |
| 195 | + // create logger |
| 196 | + const childLogger = new Logger(options); |
| 197 | + |
| 198 | + // cache in map |
| 199 | + this.loggerMap[childLoggerName] = childLogger; |
| 200 | + return childLogger; |
| 201 | + }; |
| 202 | +}; |
| 203 | + |
| 204 | +module.exports = new LoggingManager(); |
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