Expand logging utilities per the infinite wisdom of eholum

pyrobosim/examples/demo_pddl.py

@@ -47,6 +47,7 @@ def start_planner(world, args):
     # Wait for the GUI to load
     while not world.has_gui:
         time.sleep(1.0)
+    time.sleep(0.5)  # Extra time for log messages to not interfere with prompt
 
     if args.example == "01_simple":
         # Task specification for simple example.
@@ -77,7 +78,6 @@ def start_planner(world, args):
         print(f"Invalid example: {args.example}")
         return
 
-    time.sleep(0.5)
     input("Press Enter to start planning.")
     robot = world.robots[0]
     plan = planner.plan(

pyrobosim/pyrobosim/__init__.py

@@ -1,22 +1 @@
 """ ROS 2 enabled 2D mobile robot simulator for behavior prototyping. """
-
-import logging
-
-# Define a general PyRoboSim logger.
-global_logger = logging.getLogger("pyrobosim")
-global_logger.setLevel(logging.INFO)
-log_formatter = logging.Formatter("[%(name)s] %(levelname)s: %(message)s")
-console_handler = logging.StreamHandler()
-console_handler.setFormatter(log_formatter)
-global_logger.addHandler(console_handler)
-global_logger.propagate = True
-
-
-def get_global_logger():
-    """
-    Returns a global logger for PyRoboSim.
-
-    :return: The PyRoboSim global logger instance.
-    :rtype: :class:`logging.Logger`.
-    """
-    return global_logger

pyrobosim/pyrobosim/core/dynamics.py

@@ -5,7 +5,7 @@
 import copy
 import numpy as np
 
-from .. import get_global_logger
+from ..utils.logging import get_global_logger
 from ..utils.pose import Pose
 
 

pyrobosim/pyrobosim/core/robot.py

@@ -11,6 +11,7 @@
 from ..manipulation.grasping import Grasp
 from ..planning.actions import ExecutionResult, ExecutionStatus
 from ..utils.knowledge import query_to_entity
+from ..utils.logging import create_logger
 from ..utils.polygon import sample_from_polygon, transform_polygon
 from ..utils.pose import Pose
 
@@ -84,13 +85,7 @@ def __init__(
             raise ValueError("Robots cannot be named 'world'.")
 
         # Logger for this robot
-        self.logger = logging.getLogger(self.name)
-        self.logger.setLevel(logging.INFO)
-        log_formatter = logging.Formatter("[%(name)s] %(levelname)s: %(message)s")
-        console_handler = logging.StreamHandler()
-        console_handler.setFormatter(log_formatter)
-        self.logger.addHandler(console_handler)
-        self.logger.propagate = True
+        self.logger = create_logger(self.name)
 
         # Dynamics properties
         self.dynamics = RobotDynamics2D(

pyrobosim/pyrobosim/core/world.py

@@ -11,6 +11,7 @@
 from .robot import Robot
 from ..planning.actions import ExecutionResult, ExecutionStatus
 from ..utils.general import InvalidEntityCategoryException
+from ..utils.logging import create_logger
 from ..utils.pose import Pose
 from ..utils.knowledge import (
     apply_resolution_strategy,
@@ -42,15 +43,7 @@ def __init__(
         self.name = name
         self.wall_height = wall_height
         self.source_file = None
-
-        # Logger for the world
-        self.logger = logging.getLogger(self.name)
-        self.logger.setLevel(logging.INFO)
-        log_formatter = logging.Formatter("[%(name)s] %(levelname)s: %(message)s")
-        console_handler = logging.StreamHandler()
-        console_handler.setFormatter(log_formatter)
-        self.logger.addHandler(console_handler)
-        self.logger.propagate = True
+        self.logger = create_logger(self.name)
 
         # Connected apps
         self.has_gui = False

pyrobosim/pyrobosim/core/yaml_utils.py

@@ -6,10 +6,10 @@
 
 from .robot import Robot
 from .world import World
-from .. import get_global_logger
 from ..navigation import ConstantVelocityExecutor, get_planner_class
 from ..planning.actions import ExecutionOptions
 from ..utils.general import replace_special_yaml_tokens
+from ..utils.logging import get_global_logger
 from ..utils.pose import Pose
 
 

pyrobosim/pyrobosim/navigation/execution.py

@@ -4,7 +4,7 @@
 import threading
 
 from ..planning.actions import ExecutionResult, ExecutionStatus
-from .. import get_global_logger
+from ..utils.logging import get_global_logger
 from ..utils.motion import Path
 from ..utils.trajectory import get_constant_speed_trajectory, interpolate_trajectory
 

pyrobosim/pyrobosim/navigation/occupancy_grid.py

@@ -7,7 +7,7 @@
 from PIL import Image
 import yaml
 
-from .. import get_global_logger
+from ..utils.logging import get_global_logger
 
 
 class OccupancyGrid:

pyrobosim/pyrobosim/utils/knowledge.py

@@ -6,7 +6,7 @@
 import sys
 import numpy as np
 
-from .. import get_global_logger
+from ..utils.logging import get_global_logger
 
 
 def apply_resolution_strategy(entity_list, resolution_strategy, robot=None):

pyrobosim/pyrobosim/utils/logging.py

@@ -0,0 +1,55 @@
+"""
+Logging utilities for PyRoboSim.
+"""
+
+import logging
+
+
+def create_logger(name, level=logging.INFO):
+    """
+    Defines a general logger for use with PyRoboSim.
+
+    :param name: The name of the logger.
+    :type name: str
+    :param level: The level of the logger.
+    :type level: int
+    :return: A logger instance.
+    :rtype: :class:`logging.Logger`.
+    """
+    logger = logging.getLogger(name)
+    logger.setLevel(level)
+
+    # TODO: Consider configuring console vs. file logging at some point.
+    log_formatter = logging.Formatter("[%(name)s] %(levelname)s: %(message)s")
+    console_handler = logging.StreamHandler()
+    console_handler.setFormatter(log_formatter)
+    logger.addHandler(console_handler)
+
+    # Needed to propagate to unit tests via the caplog fixture.
+    logger.propagate = True
+
+    return logger
+
+
+PYROBOSIM_GLOBAL_LOGGER = create_logger("pyrobosim")
+
+
+def get_global_logger():
+    """
+    Returns the global logger for PyRoboSim.
+
+    :return: The PyRoboSim global logger instance.
+    :rtype: :class:`logging.Logger`.
+    """
+    return PYROBOSIM_GLOBAL_LOGGER
+
+
+def set_global_logger(logger):
+    """
+    Sets the global PyRoboSim logger to another specified logger.
+
+    :param logger: The logger to use as the new global logger.
+    :type logger: :class:`logging.Logger`
+    """
+    global PYROBOSIM_GLOBAL_LOGGER
+    PYROBOSIM_GLOBAL_LOGGER = logger

pyrobosim/pyrobosim/utils/polygon.py

@@ -16,7 +16,7 @@
 
 from .general import replace_special_yaml_tokens
 from .pose import Pose, rot2d
-from .. import get_global_logger
+from ..utils.logging import get_global_logger
 
 
 def add_coords(coords, offset):

pyrobosim/pyrobosim/utils/search_graph.py

@@ -4,7 +4,7 @@
 import numpy as np
 
 from .motion import Path
-from .. import get_global_logger
+from ..utils.logging import get_global_logger
 
 
 class Node:

pyrobosim/pyrobosim/utils/trajectory.py

@@ -5,7 +5,7 @@
 from scipy.spatial.transform import Slerp, Rotation
 
 from .pose import Pose, wrap_angle
-from .. import get_global_logger
+from ..utils.logging import get_global_logger
 
 
 class Trajectory:

pyrobosim_ros/pyrobosim_ros/ros_interface.py

@@ -15,6 +15,7 @@
 from rclpy.node import Node
 
 from geometry_msgs.msg import Twist
+from pyrobosim.utils.logging import set_global_logger
 from pyrobosim_msgs.action import (
     DetectObjects,
     ExecuteTaskAction,
@@ -169,6 +170,7 @@ def set_world(self, world):
         self.world.ros_node = self
         self.world.has_ros_node = True
 
+        set_global_logger(get_logger("pyrobosim"))
         self.world.logger = get_logger(self.world.name)
         self.world.logger.info("Configured ROS node.")