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[Ninja][Launch] Modified monkey patch for roslaunch to show log messa…
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…ges with correct color.
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@sugihara-16
sugihara-16 committed Nov 18, 2024
1 parent 0a08de9 commit ab16840
Showing 1 changed file with 19 additions and 91 deletions.
110 changes: 19 additions & 91 deletions robots/ninja/script/roslaunch
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Original file line number Diff line number Diff line change
Expand Up @@ -13,93 +13,9 @@ from roslaunch.xmlloader import XmlLoader
from roslaunch.core import printlog, printerrlog, _printerrlog_handlers
from roslaunch.remoteprocess import SSHChildROSLaunchProcess

roslaunch.xmlloader._is_default = {'true': True, 'scope': False, 'parent': False, 'false': False, 'never': False }
roslaunch.xmlloader._assignable = {'true': True, 'scope': True, 'parent': True, 'false': True, 'never': False }
# maps machine 'default' attribute to whether this sets the default_machine in
# the loader context
roslaunch.xmlloader._is_context_default = {'true': True, 'scope': True, 'parent': True, 'false': False, 'never': False }

orig_node_tag = XmlLoader._node_tag


def patched_node_tag(self, tag, context, ros_config, default_machine, *args, **kwargs):
result = orig_node_tag(self, tag, context, ros_config, default_machine, *args, **kwargs)
if isinstance(result, roslaunch.Node):
machine, = self.opt_attrs(tag, context, ('machine',))
if not machine:
if context.default_machine:
machine = context.default_machine.name
elif default_machine:
machine = default_machine.name
result.machine_name = machine
return result


XmlLoader._node_tag = patched_node_tag

orig_machine_tag = XmlLoader._machine_tag


def patched_machine_tag(self, tag, context, *args, **kwargs):
m, is_default = orig_machine_tag(self, tag, context, *args, **kwargs)
default, = self.opt_attrs(tag, context, ('default',))
default = (default or 'false').lower()

try:
is_context_default = roslaunch.xmlloader._is_context_default[default]
except KeyError as e:
raise roslaunch.xmlloader.XmlParseException("Invalid value for 'attribute': %s" % default)

if is_context_default:
if default == 'parent':
context.parent.default_machine = m
else:
context.default_machine = m

return m, is_default


XmlLoader._machine_tag = patched_machine_tag

orig_loader_context_init = roslaunch.loader.LoaderContext.__init__


def patched_loader_context_init(self, *args, **kwargs):
default_machine = None
if 'default_machine' in kwargs:
default_machine = kwargs['default_machine']
del kwargs['default_machine']
orig_loader_context_init(self, *args, **kwargs)
self.default_machine = default_machine


roslaunch.loader.LoaderContext.__init__ = patched_loader_context_init


def patched_loader_context_child(self, ns):
if ns:
if ns[0] == '/': # global (discouraged)
child_ns = ns
elif ns == roslaunch.loader.PRIV_NAME: # ~name
# private names can only be scoped privately or globally
child_ns = roslaunch.loader.PRIV_NAME
else:
child_ns = roslaunch.loader.ns_join(self.ns, ns)
else:
child_ns = self.ns
return roslaunch.loader.LoaderContext(child_ns, self.filename, parent=self,
params=self.params, env_args=self.env_args[:],
resolve_dict=deepcopy(self.resolve_dict),
arg_names=self.arg_names[:], include_resolve_dict=self.include_resolve_dict,
default_machine=self.default_machine)


roslaunch.loader.LoaderContext.child = patched_loader_context_child

SSHChildROSLaunchProcess.line_buf_info = ""
SSHChildROSLaunchProcess.line_buf_err = ""


def printlog_raw(msg, file=sys.stderr):
for h in _printerrlog_handlers:
try:
Expand All @@ -120,6 +36,7 @@ def patched_is_alive(self):
:returns: ``True`` if the process is alive. is_alive needs to be
called periodically as it drains the SSH buffer, ``bool``
"""
filter_keywords = ["TF_REPEATED_DATA"]
if self.started and not self.ssh:
return False
elif not self.started:
Expand All @@ -128,12 +45,10 @@ def patched_is_alive(self):
s.channel.settimeout(0)
try:
# drain the pipes
data = s.read(128)
data = s.read(256)
if not len(data):
self.is_dead = True
return False
# #2012 il8n: ssh *should* be UTF-8, but often isn't
# (e.g. Japan)
data = data.decode('utf-8')
lines = data.split("\n")
if len(lines) > 0:
Expand All @@ -144,10 +59,16 @@ def patched_is_alive(self):
self.line_buf_err = lines[-1]
lines = lines[:-1]
for line in lines:
if any(keyword in line for keyword in filter_keywords):
continue
if line.startswith("\033") and len(line) >= 5:
printlog_raw(line[:(5 if line[4] == "m" else 4)] + "remote[%s]:\033[0m %s" % (self.name, line), file=sys.stderr)
print(line[:(5 if line[4] == "m" else 4)] + "remote[%s]:\033[0m %s" % (self.name, line))
elif len(ansi_escape.sub('', line).strip()) > 0:
printerrlog("remote[%s]: %s" % (self.name, line))
print("remote[%s]: %s" % (self.name, line))
# if line.startswith("\033") and len(line) >= 5:
# printlog_raw(line[:(5 if line[4] == "m" else 4)] + "remote[%s]:\033[0m %s" % (self.name, line), file=sys.stderr)
# elif len(ansi_escape.sub('', line).strip()) > 0:
# printerrlog("remote[%s]: %s" % (self.name, line))
except socket.timeout:
pass
except IOError:
Expand Down Expand Up @@ -177,10 +98,17 @@ def patched_is_alive(self):
self.line_buf_info = lines[-1]
lines = lines[:-1]
for line in lines:
if any(keyword in line for keyword in filter_keywords):
continue
if line.startswith("\033") and len(line) >= 5:
printlog_raw(line[:(5 if line[4] == "m" else 4)] + "remote[%s]:\033[0m %s" % (self.name, line), file=sys.stdout)
print(line[:(5 if line[4] == "m" else 4)] + "remote[%s]:\033[0m %s" % (self.name, line))
elif len(ansi_escape.sub('', line).strip()) > 0:
printerrlog("remote[%s]: %s" % (self.name, line))
print("remote[%s]: %s" % (self.name, line))
# print(line)
# if line.startswith("\033") and len(line) >= 5:
# printlog_raw(line[:(5 if line[4] == "m" else 4)] + "remote[%s]:\033[0m %s" % (self.name, line), file=sys.stdout)
# elif len(ansi_escape.sub('', line).strip()) > 0:
# printerrlog("remote[%s]: %s" % (self.name, line))
except socket.timeout:
pass
except IOError:
Expand Down

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