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Ros logging #508

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Ros logging #508

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77 changes: 77 additions & 0 deletions examples/Logging.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="../build/roslib.js"></script>

<script>
// Connecting to ROS
// -----------------
var ros = new ROSLIB.Ros();

// If there is an error on the backend, an 'error' emit will be emitted.
ros.on('error', function(error) {
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('error').style.display = 'inline';
console.log(error);
});

// Find out exactly when we made a connection.
ros.on('connection', function() {
console.log('Connection made!');
document.getElementById('connecting').style.display = 'none';
document.getElementById('error').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('connected').style.display = 'inline';
});

ros.on('close', function() {
console.log('Connection closed.');
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'inline';
});

// Create a connection to the rosbridge WebSocket server.
ros.connect('ws://localhost:9090');
</script>

<!-- This script needs to imported after roslib has been initialized -->
<script src="ros_log.js"></script>

</head>

<body>
<h1>Simple Logging Example</h1>
<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
console and the terminal for the output.</p>
<ol>
<li><tt>roscore</tt></li>
<li><tt>rostopic echo /rosout</tt></li>
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
</ol>
<div id="statusIndicator">
<p id="connecting">
Connecting to rosbridge...
</p>
<p id="connected" style="color:#00D600; display:none">
Connected
</p>
<p id="error" style="color:#FF0000; display:none">
Error in the backend!
</p>
<p id="closed" style="display:none">
Connection closed.
</p>
</div>

<button onclick="logDebug('This is a DEBUG message!')">DEBUG</button>
<button onclick="logInfo('This is an INFO message!')">INFO</button>
<button onclick="logWarn('This is a WARN message!')">WARN</button>
<button onclick="logErr('This is an ERROR message!')">ERROR</button>
<button onclick="logFatal('This is a FATAL message!')">FATAL</button>
</body>
</html>
144 changes: 144 additions & 0 deletions examples/ros_log.js
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/**
* Implements ROS logging capability with functions
* that are called similarly to the python logging functions.
*
* This script must be imported after ROSLIB.ros() has been created
* and a ROS connection has been established.
*
* @author Joshua Glazer - github.com/vashmata
*/



// ROS logging severity level constants
const ROSDEBUG = 1 // debug level
const ROSINFO = 2 // general level
const ROSWARN = 4 // warning level
const ROSERROR = 8 // error level
const ROSFATAL = 16 // fatal/critical level

// create a publisher to send log messages to /rosout
ros_logger = new ROSLIB.Topic({
ros: ros,
name: 'rosout',
messageType: 'rosgraph_msgs/Log'
})

/**
* Gets the current time and formats it for ROS and the console.
* @return array of two variables: ROS time object, string containing hh:mm:ss
*/
function rosTimestamp () {
// next few lines taken and adjusted from roslibjs action server example
let currentTime = new Date()
let secs = currentTime.getTime()/1000 // seconds before truncating the decimal
let secsFloored = Math.floor(secs) // seconds after truncating
let nanoSecs = Math.round(1000000000*(secs-secsFloored)) // nanoseconds since the previous second

// return a dictionary for the ROS log and a string for the console
let stampTime = currentTime.toString().split(' ')[4] // hh:mm:ss from date object
return [{secs : secsFloored, nsecs : nanoSecs}, stampTime]
}

/**
* Creates and publishes a ROS log message to /rosout based on the parameters
* @param logLevel one of the ROS loglevel constants defined above
* @param timestamp ros time object containing seconds and nanoseconds
* @param message the log message
*/
function publishRosLog (logLevel, timestamp, message) {
ros_logger.publish(
new ROSLIB.Message({
// I'm only publishing the essentials. We could include more info if so desired
header : {
// seq // uint32: sequence ID, seems to increment automatically
stamp : timestamp // dictionary: contains truncated seconds and nanoseconds
// frame_id // string: probably only useful for tf
},
level : logLevel, // int: see log level constants above
// name : '/web_gui', // name of the node (proposed)
msg : message, // string: this is the log message
// file // string: we could specify the js file that generated the log
// function // string: we could specify the parent function that generated the log
// line // uint32: we could specify the specific line of code that generated the log
// topics // string[]: topic names that the node publishes
})
)
}

/**
* Publishes the log message and prints it to the chrome console.
* @param logLevel one of the ROS loglevel constants defined above
* @param message the log message
*/
function rosLog (logLevel, message) {
logData = {}
logData[ROSDEBUG] = {prefix : '[DEBUG]', type : 'log'}
logData[ROSINFO] = {prefix : '[INFO]', type : 'log'}
logData[ROSWARN] = {prefix : '[WARN]', type : 'warn'}
logData[ROSERROR] = {prefix : '[ERROR]', type : 'error'}
logData[ROSFATAL] = {prefix : '[FATAL]', type : 'error'}

stamps = rosTimestamp()
consoleMsg = logData[logLevel].prefix + ' [' + stamps[1] + ']: ' + message

if (logData[logLevel].type === 'log') {
console.log(consoleMsg)
} else if (logData[logLevel].type === 'warn') {
console.warn(consoleMsg)
} else if (logData[logLevel].type === 'error') {
console.error(consoleMsg)
}

// log messages go to log file: currently rosout.log
publishRosLog(logLevel, stamps[0], message)
}


// these functions mimic the rospy logging functions

/**
* Sends a debug message with timestamp to the GUI and chrome consoles.
* Also publishes it to /rosout.
* @param message the log message
*/
function logDebug (message) {
// unlike rospy, (currently) the debug messages we generate will get published
rosLog(ROSDEBUG, message)
}

/**
* Sends an info message with timestamp to the GUI and chrome consoles.
* Also publishes it to /rosout.
* @param message the log message
*/
function logInfo (message) {
rosLog(ROSINFO, message)
}

/**
* Sends a warning message with timestamp to the GUI and chrome consoles.
* Also publishes it to /rosout.
* @param message the log message
*/
function logWarn (message) {
rosLog(ROSWARN, message)
}

/**
* Sends an error message with timestamp to the GUI and chrome consoles.
* Also publishes it to /rosout.
* @param message the log message
*/
function logErr (message) {
rosLog(ROSERROR, message)
}

/**
* Sends a fatal error message with timestamp to the GUI and chrome consoles.
* Also publishes it to /rosout.
* @param message the log message
*/
function logFatal (message) {
rosLog(ROSFATAL, message)
}