Logger level update (#5494)

* address ordering Signed-off-by: Takamasa Horibe <[email protected]> * add grouping Signed-off-by: Takamasa Horibe <[email protected]> * remove unused comment Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]>
autowarefoundation · Nov 6, 2023 · 7789be4 · 7789be4
1 parent 6b0bbde
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diff --git a/common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml b/common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml
@@ -3,85 +3,85 @@
 # ============================================================
 # localization
 # ============================================================
+Localization:
+  ndt_scan_matcher:
+    - node_name: /localization/pose_estimator/ndt_scan_matcher
+      logger_name: localization.pose_estimator.ndt_scan_matcher
 
-ndt_scan_matcher:
-  - node_name: /localization/pose_estimator/ndt_scan_matcher
-    logger_name: localization.pose_estimator.ndt_scan_matcher
+  gyro_odometer:
+    - node_name: /localization/twist_estimator/gyro_odometer
+      logger_name: localization.twist_estimator.gyro_odometer
 
-gyro_odometer:
-  - node_name: /localization/twist_estimator/gyro_odometer
-    logger_name: localization.twist_estimator.gyro_odometer
+  pose_initializer:
+    - node_name: /localization/util/pose_initializer_node
+      logger_name: localization.util.pose_initializer_node
 
-pose_initializer:
-  - node_name: /localization/util/pose_initializer_node
-    logger_name: localization.util.pose_initializer_node
+  ekf_localizer:
+    - node_name: /localization/pose_twist_fusion_filter/ekf_localizer
+      logger_name: localization.pose_twist_fusion_filter.ekf_localizer
 
-ekf_localizer:
-  - node_name: /localization/pose_twist_fusion_filter/ekf_localizer
-    logger_name: localization.pose_twist_fusion_filter.ekf_localizer
-
-localization_error_monitor:
-  - node_name: /localization/localization_error_monitor
-    logger_name: localization.localization_error_monitor
+  localization_error_monitor:
+    - node_name: /localization/localization_error_monitor
+      logger_name: localization.localization_error_monitor
 
 # ============================================================
 # planning
 # ============================================================
-
-behavior_path_planner:
-  - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
-    logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner
-  - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
-    logger_name: tier4_autoware_utils
-
-behavior_path_planner_avoidance:
-  - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
-    logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.avoidance
-
-behavior_path_planner_lane_change:
-  - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
-    logger_name: lane_change
-
-behavior_velocity_planner:
-  - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
-    logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner
-  - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
-    logger_name: tier4_autoware_utils
-
-behavior_velocity_planner_intersection:
-  - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
-    logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection
-
-motion_obstacle_avoidance:
-  - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
-    logger_name: planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner
-  - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
-    logger_name: tier4_autoware_utils
-
-motion_velocity_smoother:
-  - node_name: /planning/scenario_planning/motion_velocity_smoother
-    logger_name: planning.scenario_planning.motion_velocity_smoother
-  - node_name: /planning/scenario_planning/motion_velocity_smoother
-    logger_name: tier4_autoware_utils
+Planning:
+  behavior_path_planner:
+    - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
+      logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner
+    - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
+      logger_name: tier4_autoware_utils
+
+  behavior_path_planner_avoidance:
+    - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
+      logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.avoidance
+
+  behavior_path_planner_lane_change:
+    - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
+      logger_name: lane_change
+
+  behavior_velocity_planner:
+    - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
+      logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner
+    - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
+      logger_name: tier4_autoware_utils
+
+  behavior_velocity_planner_intersection:
+    - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
+      logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection
+
+  motion_obstacle_avoidance:
+    - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
+      logger_name: planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner
+    - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
+      logger_name: tier4_autoware_utils
+
+  motion_velocity_smoother:
+    - node_name: /planning/scenario_planning/motion_velocity_smoother
+      logger_name: planning.scenario_planning.motion_velocity_smoother
+    - node_name: /planning/scenario_planning/motion_velocity_smoother
+      logger_name: tier4_autoware_utils
 
 # ============================================================
 # control
 # ============================================================
-
-lateral_controller:
-  - node_name: /control/trajectory_follower/controller_node_exe
-    logger_name: control.trajectory_follower.controller_node_exe.lateral_controller
-  - node_name: /control/trajectory_follower/controller_node_exe
-    logger_name: tier4_autoware_utils
-
-longitudinal_controller:
-  - node_name: /control/trajectory_follower/controller_node_exe
-    logger_name: control.trajectory_follower.controller_node_exe.longitudinal_controller
-  - node_name: /control/trajectory_follower/controller_node_exe
-    logger_name: tier4_autoware_utils
-
-vehicle_cmd_gate:
-  - node_name: /control/vehicle_cmd_gate
-    logger_name: control.vehicle_cmd_gate
-  - node_name: /control/vehicle_cmd_gate
-    logger_name: tier4_autoware_utils
+Control:
+  lateral_controller:
+    - node_name: /control/trajectory_follower/controller_node_exe
+      logger_name: control.trajectory_follower.controller_node_exe.lateral_controller
+    - node_name: /control/trajectory_follower/controller_node_exe
+      logger_name: tier4_autoware_utils
+
+  longitudinal_controller:
+    - node_name: /control/trajectory_follower/controller_node_exe
+      logger_name: control.trajectory_follower.controller_node_exe.longitudinal_controller
+    - node_name: /control/trajectory_follower/controller_node_exe
+      logger_name: tier4_autoware_utils
+
+  vehicle_cmd_gate:
+    - node_name: /control/vehicle_cmd_gate
+      logger_name: control.vehicle_cmd_gate
+    - node_name: /control/vehicle_cmd_gate
+      logger_name: tier4_autoware_utils
diff --git a/...rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp b/...rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp
@@ -34,7 +34,21 @@
 
 namespace rviz_plugin
 {
-
+struct LoggerInfo
+{
+  QString node_name;
+  QString logger_name;
+};
+struct ButtonInfo
+{
+  QString button_name;
+  std::vector<LoggerInfo> logger_info_vec;
+};
+struct LoggerNamespaceInfo
+{
+  QString ns;  // group namespace
+  std::vector<ButtonInfo> button_info_vec;
+};
 class LoggingLevelConfigureRvizPlugin : public rviz_common::Panel
 {
   Q_OBJECT  // This macro is needed for Qt to handle slots and signals
@@ -48,8 +62,7 @@ class LoggingLevelConfigureRvizPlugin : public rviz_common::Panel
   QMap<QString, QButtonGroup *> buttonGroups_;
   rclcpp::Node::SharedPtr raw_node_;
 
-  // node_logger_map_[button_name] = {node_name, logger_name}
-  std::map<QString, std::vector<std::pair<QString, QString>>> node_logger_map_;
+  std::vector<LoggerNamespaceInfo> display_info_vec_;
 
   // client_map_[node_name] = service_client
   std::unordered_map<QString, rclcpp::Client<logging_demo::srv::ConfigLogger>::SharedPtr>
@@ -62,6 +75,9 @@ class LoggingLevelConfigureRvizPlugin : public rviz_common::Panel
   int getMaxModuleNameWidth(QLabel * containerLabel);
   void setLoggerNodeMap();
 
+  ButtonInfo getButtonInfoFromNamespace(const QString & ns);
+  std::vector<LoggerInfo> getNodeLoggerNameFromButtonName(const QString button_name);
+
 private Q_SLOTS:
   void onButtonClick(QPushButton * button, const QString & name, const QString & level);
   void updateButtonColors(