From df2570d8480e93ce4a3219ad466894e8fa7f7bc7 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Nov 2024 13:15:00 +0900 Subject: [PATCH 1/2] feat(autoware_debug_tools): add rosout_log_reconstructor.py Signed-off-by: Takayuki Murooka --- .../rosout_log_reconstructor.py | 85 +++++++++++++++++++ 1 file changed, 85 insertions(+) create mode 100755 common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py diff --git a/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py b/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py new file mode 100755 index 00000000..bcebb05c --- /dev/null +++ b/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python3 + +# Copyright 2024 TIER IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +import sys + +import rcl_interfaces +from rcl_interfaces.msg import Log +import rclpy +from rclpy.node import Node + + +def get_rosout_format(): + try: + rosout_format = os.environ["RCUTILS_CONSOLE_OUTPUT_FORMAT"] + if rosout_format != "": + return rosout_format + except KeyError: + pass + + # use default rosout format + return "[{severity} {time}] [{name}]: {message} ({function_name}():{line_number})" + + +def get_logger_level_name(level): + if level == int.from_bytes(rcl_interfaces.msg.Log.DEBUG, byteorder="big"): + return "DEBUG" + if level == int.from_bytes(rcl_interfaces.msg.Log.INFO, byteorder="big"): + return "INFO" + if level == int.from_bytes(rcl_interfaces.msg.Log.WARN, byteorder="big"): + return "WARN" + if level == int.from_bytes(rcl_interfaces.msg.Log.ERROR, byteorder="big"): + return "ERROR" + return "FATAL" + + +class RosoutLogReconstructor(Node): + def __init__(self): + super().__init__("rosout_log_reconstructor") + + self.rosout_format = get_rosout_format() + + transient_local = rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL + transient_local_profile = rclpy.qos.QoSProfile(depth=1, durability=transient_local) + self.sub_rosout = self.create_subscription( + Log, "/rosout", self.on_rosout, transient_local_profile + ) + + def on_rosout(self, msg): + severity = get_logger_level_name(msg.level) + + text = self.rosout_format.format( + time=msg.stamp, + name=msg.name, + severity=severity, + function_name=msg.function, + message=msg.msg, + file_name=msg.file, + line_number=msg.line, + ) + if severity == "WARN": + sys.stderr.write("\x1b[33m" + text + "\x1b[0m" + "\n") + elif severity == "ERROR": + sys.stderr.write("\x1b[1;31m" + text + "\x1b[0m" + "\n") + else: + print(text) + + +if __name__ == "__main__": + rclpy.init() + node = RosoutLogReconstructor() + rclpy.spin(node) From 2d534c32ac1f14692f69e9172d789740eb451e6e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Nov 2024 13:21:22 +0900 Subject: [PATCH 2/2] update README.md Signed-off-by: Takayuki Murooka --- common/autoware_debug_tools/README.md | 12 ++++++++++++ .../rosout_log_reconstructor.py | 6 +++++- .../images/rosout_log_example.png | Bin 0 -> 233077 bytes common/autoware_debug_tools/setup.py | 1 + 4 files changed, 18 insertions(+), 1 deletion(-) create mode 100644 common/autoware_debug_tools/images/rosout_log_example.png diff --git a/common/autoware_debug_tools/README.md b/common/autoware_debug_tools/README.md index 23b29776..f06c3540 100644 --- a/common/autoware_debug_tools/README.md +++ b/common/autoware_debug_tools/README.md @@ -107,3 +107,15 @@ ros2 run autoware_debug_tools cpu_usage_plotter -n 20 ``` ![cpu_usage_plot_example](images/cpu_usage_plot_example.png) + +## Rosout Log Reconstructor + +This script shows the log from the `/rosout` topic on the terminal. + +### Usage + +```bash +ros2 run autoware_debug_tools rosout_log_reconstructor +``` + +![rosout_log_example](images/rosout_log_example.png) diff --git a/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py b/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py index bcebb05c..4007c669 100755 --- a/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py +++ b/common/autoware_debug_tools/autoware_debug_tools/rosout_log_reconstructor.py @@ -79,7 +79,11 @@ def on_rosout(self, msg): print(text) -if __name__ == "__main__": +def main(): rclpy.init() node = RosoutLogReconstructor() rclpy.spin(node) + + +if __name__ == "__main__": + main() diff --git a/common/autoware_debug_tools/images/rosout_log_example.png 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b/common/autoware_debug_tools/setup.py @@ -27,6 +27,7 @@ "memory_usage_plotter = autoware_debug_tools.system_performance_plotter.memory_usage_plotter:main", "topic_connection_checker = autoware_debug_tools.topic_connection_checker.topic_connection_checker_node:main", "topic_localizer = autoware_debug_tools.topic_connection_checker.localize_topic:main", + "rosout_log_reconstructor = autoware_debug_tools.rosout_log_reconstructor:main", ], }, )