Command to monitor and pretty print the rosout logs ros2#849

Creation of a rosout print command that generates pretty prints of the content of the `/rosout` topic. The commands also allows for the filtering of nodes based on a regular expression applied to the node name itself. Output color can be disabled (enabled by default) and the function information detail can also be displayed.

issue: ros2#849

ros2rosout/README.md

@@ -0,0 +1,19 @@
+# ros2rosout
+
+This is the `ros2 rosout print` utility command which displaies the content of `/rosout` topic in a nicely formatted and colorized output.
+
+## Usage 
+
+Run `ros2 rosout print` to get the live stream of the logs.
+
+Run `ros2 rosout print -h/--help` to print all available command arguments.
+
+
+## Output format
+
+The command outputs the log line with the following format: 
+`[` _datetime_ `] [` _level_ `] [` _nodename_ `]: ` _log_ `:[` _file_ `:` _line_ `(` _function_ `)]` 
+
+File, line and function are all optional and are displays when the `-f/--function-detail` switch is provided. 
+
+

ros2rosout/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros2rosout</name>
+  <version>0.0.0</version>
+  <description>A command line tool to print the rosout logs in a ROS 2 system</description>
+
+  <maintainer email="[email protected]">Guillaume Autran</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Guillaume Autran</author>
+
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>ros2cli</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_ros</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2rosout/ros2rosout/command/rosout.py

@@ -0,0 +1,37 @@
+# Copyright 2023 Clearpath Robotics 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.
+
+from ros2cli.command import add_subparsers_on_demand
+from ros2cli.command import CommandExtension
+
+
+class RosoutCommand(CommandExtension):
+    """Prints the '/rosout' log stream """
+
+    def add_arguments(self, parser, cli_name):
+        self._subparser = parser
+        # add arguments and sub-commands of verbs
+        add_subparsers_on_demand(
+            parser, cli_name, '_verb', 'ros2rosout.verb', required=False)
+
+    def main(self, *, parser, args):
+        if not hasattr(args, '_verb'):
+            # in case no verb was passed
+            self._subparser.print_help()
+            return 0
+
+        extension = getattr(args, '_verb')
+
+        # call the verb's main method
+        return extension.main(args=args)

ros2rosout/ros2rosout/verb/__init__.py

@@ -0,0 +1,43 @@
+# Copyright 2023 Clearpath Robotics 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.
+from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
+from ros2cli.plugin_system import satisfies_version
+
+
+class VerbExtension:
+    """
+    The extension point for 'print' verb extensions.
+
+    The following properties must be defined:
+    * `NAME` (will be set to the entry point name)
+
+    The following methods must be defined:
+    * `main`
+
+    The following methods can be defined:
+    * `add_arguments`
+    """
+
+    NAME = None
+    EXTENSION_POINT_VERSION = '0.1'
+
+    def __init__(self):
+        super(VerbExtension, self).__init__()
+        satisfies_version(PLUGIN_SYSTEM_VERSION, '^0.1')
+
+    def add_arguments(self, parser, cli_name):
+        pass
+
+    def main(self, *, args):
+        raise NotImplementedError()

ros2rosout/ros2rosout/verb/print.py

@@ -0,0 +1,124 @@
+# Copyright 2023 Clearpath Robotics
+#
+# 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.
+from datetime import datetime
+from rcl_interfaces.msg import Log
+from ros2cli.node.strategy import NodeStrategy
+from ros2cli.node.strategy import add_arguments
+from ros2rosout.verb import VerbExtension
+import rclpy
+import re
+
+
+class PrintVerb(VerbExtension):
+    """Outputs the '/rosout' content in a nicely formatted way"""
+
+    BLACK_TEXT = "\033[30;1m"
+    BLUE_TEXT = "\033[34;1m"
+    BOLD_TEXT = "\033[1m"
+    CYAN_TEXT = "\033[36;1m"
+    GREEN_TEXT = "\033[32;1m"
+    MAGENTA_TEXT = "\033[35;1m"
+    RED_TEXT = "\033[31;1m"
+    WHITE_TEXT = "\033[37;1m"
+    YELLOW_TEXT = "\033[33;1m"
+
+    COLOR_RESET = "\033[0m"
+
+    def add_arguments(self, parser, cli_name):
+        add_arguments(parser)
+        parser.add_argument(
+            '-l', '--level', default=int.from_bytes(Log.INFO, 'big'), type=int,
+            help='Print log statement with priority level greater than this value')
+        parser.add_argument(
+            '-n', '--node-regex', default=None,
+            help='Only print log statements from node(s) matching the regular expression provided')
+        parser.add_argument(
+            '--no-color', action='store_true', default=False,
+            help='Disables the use of ASCII colors for the output of the command')
+        parser.add_argument(
+            '-f', '--function-detail', action='store_true', default=False,
+            help='Output function name, file, and line number')
+
+    def level_to_string(self, level):
+        if type(level) is not bytes:
+            level = level.to_bytes(1, 'big')
+
+        match level:
+            case Log.DEBUG:
+                return "DEBUG"
+            case Log.INFO:
+                return "INFO "
+            case Log.WARN:
+                return "WARN "
+            case Log.ERROR:
+                return "ERROR"
+            case Log.FATAL:
+                return "FATAL"
+            case _:
+                return "_____"
+
+    def stamp_to_string(self, stamp):
+        dt = datetime.fromtimestamp(stamp.sec)
+        s = dt.strftime('%Y-%m-%d %H:%M:%S')
+        s += '.' + str(int(stamp.nanosec % 1000000000)).zfill(9)
+        return f"{s}"
+
+    def add_color(self, txt, color=WHITE_TEXT):
+        if self.args_.no_color:
+            return txt
+
+        return f"{color}{txt}{self.COLOR_RESET}"
+
+    def get_color(self, level):
+        if type(level) is not bytes:
+            level = level.to_bytes(1, 'big')
+
+        match level:
+            case Log.DEBUG:
+                return self.GREEN_TEXT
+            case Log.INFO:
+                return self.WHITE_TEXT
+            case Log.WARN:
+                return self.YELLOW_TEXT
+            case Log.ERROR:
+                return self.RED_TEXT
+            case Log.FATAL:
+                return f"{self.RED_TEXT}{self.BOLD_TEXT}"
+            case _:
+                return self.BOLD_TEXT
+
+    def rosout_cb(self, msg):
+        if msg.level < self.args_.level:
+            return
+        if self.args_.node_regex and not re.search(self.args_.node_regex, msg.name):
+            return
+        color = self.get_color(msg.level)
+        lvl = self.add_color(self.level_to_string(msg.level), color)
+        dt = self.add_color(self.stamp_to_string(msg.stamp), color)
+        name = self.add_color(msg.name, color)
+        mmsg = self.add_color(msg.msg, color)
+        text = f"[{dt}] [{lvl}] [{name}]: {mmsg}"
+        if self.args_.function_detail:
+            file = self.add_color(msg.file, self.BLUE_TEXT)
+            line = self.add_color(msg.line, self.BLUE_TEXT)
+            function = self.add_color(msg.function, self.CYAN_TEXT)
+            text += f" [{file}:{line}({function})]"
+        print(f"{text}")
+
+    def main(self, *, args):
+        self.args_ = args
+
+        with NodeStrategy(args) as node:
+            self.rosout_ = node.node.create_subscription(Log, '/rosout', self.rosout_cb, 10)
+            rclpy.spin(node)

ros2rosout/setup.py

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+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'ros2rosout'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['ros2cli'],
+    zip_safe=True,
+    author='Guillaume Autran',
+    author_email='[email protected]',
+    maintainer='Guillaume Autran',
+    maintainer_email='[email protected]',
+    url='',
+    download_url='',
+    keywords=[],
+    classifiers=[
+        'Environment :: Console',
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+    ],
+    description='A convenient command to display the /rosout logs for ROS 2 command line tools',
+    long_description="""\
+    The package provides a cli tool to print the `/rosout` logs in a ROS 2 system""",
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'ros2cli.command': [
+            'rosout = ros2rosout.command.rosout:RosoutCommand',
+        ],
+        'ros2cli.extension_point': [
+            'ros2rosout.verb = ros2rosout.verb:VerbExtension',
+        ],
+        'ros2rosout.verb': [
+            'print = ros2rosout.verb.print:PrintVerb'
+        ]
+    }
+)

ros2rosout/test/test_copyright.py

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+# Copyright 2017 Open Source Robotics Foundation, 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2rosout/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

ros2rosout/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=[])
+    assert rc == 0, 'Found code style errors / warnings'

ros2rosout/test/test_xmllint.py

@@ -0,0 +1,23 @@
+# Copyright 2019 Open Source Robotics Foundation, 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.
+
+from ament_xmllint.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.xmllint
+def test_xmllint():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'