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int: replace the (e)println! with log

This commit is contained in:
Jiangeng Dong 2023-05-31 14:20:54 -07:00
parent c576ead3c1
commit fd13c82aa2
12 changed files with 68 additions and 67 deletions
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1
r2r/Cargo.toml
View File

@ -24,6 +24,7 @@ r2r_msg_gen = { path = "../r2r_msg_gen", version = "0.3.11" }
r2r_actions = { path = "../r2r_actions", version = "0.3.10" }
uuid = { version = "1.2.2", features = ["serde", "v4"] }
futures = "0.3.25"
log = "0.4.18"
[dev-dependencies]
serde_json = "1.0.89"

22
r2r/src/action_clients.rs
View File

@ -164,7 +164,7 @@ where
});
Ok(future)
} else {
eprintln!("coult not send goal request {}", result);
log::error!("could not send goal request {}", result);
Err(Error::from_rcl_error(result))
}
}
@ -260,7 +260,7 @@ where
});
Ok(future)
} else {
eprintln!("coult not send goal request {}", result);
log::error!("could not send goal request {}", result);
Err(Error::from_rcl_error(result))
}
}
@ -300,7 +300,7 @@ where
match sender.send((accept, stamp)) {
Ok(()) => {}
Err(e) => {
println!("error sending to action client: {:?}", e);
log::debug!("error sending to action client: {:?}", e);
}
}
} else {
@ -310,7 +310,7 @@ where
.map(|(id, _)| id.to_string())
.collect::<Vec<_>>()
.join(",");
eprintln!(
log::error!(
"no such req id: {}, we have [{}], ignoring",
request_id.sequence_number, we_have
);
@ -339,7 +339,7 @@ where
let (_, sender) = self.cancel_response_channels.swap_remove(idx);
let response = action_msgs::srv::CancelGoal::Response::from_native(&response_msg);
if let Err(e) = sender.send(response) {
eprintln!("warning: could not send cancel response msg ({:?})", e)
log::error!("warning: could not send cancel response msg ({:?})", e)
}
} else {
let we_have: String = self
@ -348,7 +348,7 @@ where
.map(|(id, _)| id.to_string())
.collect::<Vec<_>>()
.join(",");
eprintln!(
log::error!(
"no such req id: {}, we have [{}], ignoring",
request_id.sequence_number, we_have
);
@ -370,7 +370,7 @@ where
.find(|(uuid, _)| uuid == &msg_uuid)
{
if let Err(e) = sender.try_send(feedback) {
eprintln!("warning: could not send feedback msg ({})", e)
log::error!("warning: could not send feedback msg ({})", e)
}
}
}
@ -426,7 +426,7 @@ where
match sender.send((status, result)) {
Ok(()) => {}
Err(e) => {
println!("error sending result to action client: {:?}", e);
log::debug!("error sending result to action client: {:?}", e);
}
}
}
@ -437,7 +437,7 @@ where
.map(|(id, _)| id.to_string())
.collect::<Vec<_>>()
.join(",");
eprintln!(
log::error!(
"no such req id: {}, we have [{}], ignoring",
request_id.sequence_number, we_have
);
@ -461,7 +461,7 @@ where
if result == RCL_RET_OK as i32 {
self.result_requests.push((seq_no, uuid));
} else {
eprintln!("coult not send request {}", result);
log::error!("could not send request {}", result);
}
}
@ -576,7 +576,7 @@ pub fn action_server_available_helper(
if result == RCL_RET_OK as i32 {
Ok(avail)
} else {
eprintln!("coult not check if action server is available {}", result);
log::error!("could not check if action server is available {}", result);
Err(Error::from_rcl_error(result))
}
}

20
r2r/src/action_clients_untyped.rs
View File

@ -153,7 +153,7 @@ impl ActionClientUntyped {
});
Ok(future)
} else {
eprintln!("coult not send goal request {}", result);
log::error!("could not send goal request {}", result);
Err(Error::from_rcl_error(result))
}
}
@ -227,7 +227,7 @@ impl WrappedActionClientUntyped {
});
Ok(future)
} else {
eprintln!("coult not send goal request {}", result);
log::error!("could not send goal request {}", result);
Err(Error::from_rcl_error(result))
}
}
@ -262,7 +262,7 @@ impl ActionClient_ for WrappedActionClientUntyped {
match sender.send((accept, stamp)) {
Ok(()) => {}
Err(e) => {
println!("error sending to action client: {:?}", e);
log::debug!("error sending to action client: {:?}", e);
}
}
} else {
@ -272,7 +272,7 @@ impl ActionClient_ for WrappedActionClientUntyped {
.map(|(id, _)| id.to_string())
.collect::<Vec<_>>()
.join(",");
eprintln!(
log::error!(
"no such req id: {}, we have [{}], ignoring",
request_id.sequence_number, we_have
);
@ -301,7 +301,7 @@ impl ActionClient_ for WrappedActionClientUntyped {
let (_, sender) = self.cancel_response_channels.swap_remove(idx);
let response = action_msgs::srv::CancelGoal::Response::from_native(&response_msg);
if let Err(e) = sender.send(response) {
eprintln!("warning: could not send cancel response msg ({:?})", e)
log::error!("warning: could not send cancel response msg ({:?})", e)
}
} else {
let we_have: String = self
@ -310,7 +310,7 @@ impl ActionClient_ for WrappedActionClientUntyped {
.map(|(id, _)| id.to_string())
.collect::<Vec<_>>()
.join(",");
eprintln!(
log::error!(
"no such req id: {}, we have [{}], ignoring",
request_id.sequence_number, we_have
);
@ -332,7 +332,7 @@ impl ActionClient_ for WrappedActionClientUntyped {
.find(|(uuid, _)| uuid == &msg_uuid)
{
if let Err(e) = sender.try_send(feedback) {
eprintln!("warning: could not send feedback msg ({})", e)
log::error!("warning: could not send feedback msg ({})", e)
}
}
}
@ -385,7 +385,7 @@ impl ActionClient_ for WrappedActionClientUntyped {
match sender.send((status, result)) {
Ok(()) => {}
Err(e) => {
println!("error sending result to action client: {:?}", e);
log::debug!("error sending result to action client: {:?}", e);
}
}
}
@ -396,7 +396,7 @@ impl ActionClient_ for WrappedActionClientUntyped {
.map(|(id, _)| id.to_string())
.collect::<Vec<_>>()
.join(",");
eprintln!(
log::error!(
"no such req id: {}, we have [{}], ignoring",
request_id.sequence_number, we_have
);
@ -417,7 +417,7 @@ impl ActionClient_ for WrappedActionClientUntyped {
if result == RCL_RET_OK as i32 {
self.result_requests.push((seq_no, uuid));
} else {
eprintln!("coult not send request {}", result);
log::error!("could not send request {}", result);
}
}

36
r2r/src/action_servers.rs
View File

@ -44,13 +44,13 @@ impl ActionServerCancelRequest {
/// Accepts the cancel request. The action server should now cancel the corresponding goal.
pub fn accept(self) {
if self.response_sender.send((self.uuid, true)).is_err() {
eprintln!("warning: could not send goal canellation accept msg")
log::error!("warning: could not send goal canellation accept msg")
}
}
/// Rejects the cancel request.
pub fn reject(self) {
if self.response_sender.send((self.uuid, false)).is_err() {
eprintln!("warning: could not send goal cancellation rejection")
log::error!("warning: could not send goal cancellation rejection")
}
}
}
@ -195,7 +195,7 @@ where
let ret = unsafe { rcl_action_goal_handle_get_status(*handle, &mut state) };
if ret != RCL_RET_OK as i32 {
println!("action server: Failed to get goal handle state: {}", ret);
log::debug!("action server: Failed to get goal handle state: {}", ret);
return Err(Error::from_rcl_error(ret));
}
return Ok(state == action_msgs::msg::GoalStatus::STATUS_CANCELING as u8);
@ -213,7 +213,7 @@ where
};
if ret != RCL_RET_OK as i32 {
println!(
log::debug!(
"action server: could not cancel goal: {}",
Error::from_rcl_error(ret)
);
@ -239,7 +239,7 @@ where
unsafe { rcl_action_server_goal_exists(self.handle(), &*goal_info_native) };
if !goal_exists {
println!("tried to publish result without a goal");
log::debug!("tried to publish result without a goal");
return Err(Error::RCL_RET_ACTION_GOAL_HANDLE_INVALID);
}
@ -286,7 +286,7 @@ where
});
}
Err(oneshot::Canceled) => {
eprintln!("Warning, cancel request not handled!");
log::error!("Warning, cancel request not handled!");
return false; // skip this request.
}
}
@ -325,7 +325,7 @@ where
};
if ret != RCL_RET_OK as i32 {
println!("action server: could send cancel response. {}", ret);
log::debug!("action server: could send cancel response. {}", ret);
}
}
}
@ -364,7 +364,7 @@ where
// send out request.
if let Err(e) = self.goal_request_sender.try_send(gr) {
eprintln!("warning: could not send service request ({})", e)
log::error!("warning: could not send service request ({})", e)
}
}
@ -392,7 +392,7 @@ where
};
if ret != RCL_RET_OK as i32 {
println!("action server: could not process cancel request. {}", ret);
log::debug!("action server: could not process cancel request. {}", ret);
return;
}
@ -414,7 +414,7 @@ where
};
match cancel_sender.try_send(cr) {
Err(_) => {
eprintln!("warning: could not send goal cancellation request");
log::error!("warning: could not send goal cancellation request");
None
}
_ => Some(r),
@ -438,12 +438,12 @@ where
rcl_action_expire_goals(&self.rcl_handle, &mut *goal_info, 1, &mut num_expired)
};
if ret != RCL_RET_OK as i32 {
println!("action server: could not expire goal.");
log::debug!("action server: could not expire goal.");
return;
}
let gi = action_msgs::msg::GoalInfo::from_native(&goal_info);
let uuid = uuid_msg_to_uuid(&gi.goal_id);
println!("goal expired: {} - {}", uuid, num_expired);
log::debug!("goal expired: {} - {}", uuid, num_expired);
// todo
// self.goals.remove(&uuid);
self.result_msgs.remove(&uuid);
@ -456,7 +456,7 @@ where
let mut status = rcl_action_get_zero_initialized_goal_status_array();
let ret = rcl_action_get_goal_status_array(&self.rcl_handle, &mut status);
if ret != RCL_RET_OK as i32 {
println!(
log::debug!(
"action server: failed to get goal status array: {}",
Error::from_rcl_error(ret)
);
@ -467,7 +467,7 @@ where
&status as *const _ as *const std::os::raw::c_void,
);
if ret != RCL_RET_OK as i32 {
println!(
log::debug!(
"action server: failed to publish status: {}",
Error::from_rcl_error(ret)
);
@ -490,7 +490,7 @@ where
rcl_action_send_result_response(&self.rcl_handle, &mut req, msg.void_ptr_mut())
};
if ret != RCL_RET_OK as i32 {
println!(
log::debug!(
"action server: could send result request response. {}",
Error::from_rcl_error(ret)
);
@ -551,7 +551,7 @@ where
};
if ret != RCL_RET_OK as i32 {
println!(
log::debug!(
"action server: could send result request response. {}",
Error::from_rcl_error(ret)
);
@ -624,7 +624,7 @@ where
};
if ret != RCL_RET_OK as i32 {
eprintln!("coult not publish {}", Error::from_rcl_error(ret));
log::error!("could not publish {}", Error::from_rcl_error(ret));
}
Ok(()) // todo: error codes
}
@ -651,7 +651,7 @@ where
unsafe { rcl_action_server_goal_exists(action_server.handle(), &*goal_info_native) };
if !goal_exists {
println!("tried to publish result without a goal");
log::debug!("tried to publish result without a goal");
return Err(Error::RCL_RET_ACTION_GOAL_HANDLE_INVALID);
}

12
r2r/src/clients.rs
View File

@ -100,7 +100,7 @@ where
// instead of "canceled" we return invalid client.
Ok(receiver.map_err(|_| Error::RCL_RET_CLIENT_INVALID))
} else {
eprintln!("coult not send request {}", result);
log::error!("could not send request {}", result);
Err(Error::from_rcl_error(result))
}
}
@ -127,7 +127,7 @@ impl UntypedClient_ {
// instead of "canceled" we return invalid client.
Ok(receiver.map_err(|_| Error::RCL_RET_CLIENT_INVALID))
} else {
eprintln!("coult not send request {}", result);
log::error!("could not send request {}", result);
Err(Error::from_rcl_error(result))
}
}
@ -181,7 +181,7 @@ where
match sender.send(response) {
Ok(()) => {}
Err(e) => {
println!("error sending to client: {:?}", e);
log::debug!("error sending to client: {:?}", e);
}
}
} else {
@ -191,7 +191,7 @@ where
.map(|(id, _)| id.to_string())
.collect::<Vec<_>>()
.join(",");
eprintln!(
log::error!(
"no such req id: {}, we have [{}], ignoring",
request_id.sequence_number, we_have
);
@ -267,7 +267,7 @@ impl Client_ for UntypedClient_ {
match sender.send(response) {
Ok(()) => {}
Err(e) => {
println!("error sending to client: {:?}", e);
log::debug!("error sending to client: {:?}", e);
}
}
} else {
@ -277,7 +277,7 @@ impl Client_ for UntypedClient_ {
.map(|(id, _)| id.to_string())
.collect::<Vec<_>>()
.join(",");
eprintln!(
log::error!(
"no such req id: {}, we have [{}], ignoring",
request_id.sequence_number, we_have
);

4
r2r/src/clocks.rs
View File

@ -43,7 +43,7 @@ impl Clock {
)
};
if ret != RCL_RET_OK as i32 {
eprintln!("could not create {:?} clock: {}", ct, ret);
log::error!("could not create {:?} clock: {}", ct, ret);
return Err(Error::from_rcl_error(ret));
}
@ -60,7 +60,7 @@ impl Clock {
let ret = unsafe { rcl_clock_get_now(&mut *self.clock_handle, &mut tp) };
if ret != RCL_RET_OK as i32 {
eprintln!("could not create steady clock: {}", ret);
log::error!("could not create steady clock: {}", ret);
return Err(Error::from_rcl_error(ret));
}

14
r2r/src/nodes.rs
View File

@ -94,7 +94,7 @@ impl Node {
let ret =
unsafe { rcl_arguments_get_param_overrides(&ctx.global_arguments, params.as_mut()) };
if ret != RCL_RET_OK as i32 {
eprintln!("could not read parameters: {}", ret);
log::error!("could not read parameters: {}", ret);
return Err(Error::from_rcl_error(ret));
}
@ -192,7 +192,7 @@ impl Node {
node.load_params()?;
Ok(node)
} else {
eprintln!("could not create node{}", res);
log::error!("could not create node{}", res);
Err(Error::from_rcl_error(res))
}
}
@ -242,7 +242,7 @@ impl Node {
// if the value changed, send out new value on parameter event stream
if changed {
if let Err(e) = event_tx.try_send((p.name.clone(), val)) {
println!("Warning: could not send parameter event ({}).", e);
log::debug!("Warning: could not send parameter event ({}).", e);
}
}
}
@ -528,7 +528,7 @@ impl Node {
)
};
if ret != RCL_RET_OK as i32 {
eprintln!("could not create steady clock: {}", ret);
log::error!("could not create steady clock: {}", ret);
return Err(Error::from_rcl_error(ret));
}
let mut clock_handle = Box::new(unsafe { clock_handle.assume_init() });
@ -925,7 +925,7 @@ impl Node {
)
};
if ret != RCL_RET_OK as i32 {
eprintln!("could not get topic names and types {}", ret);
log::error!("could not get topic names and types {}", ret);
return Err(Error::from_rcl_error(ret));
}
@ -971,7 +971,7 @@ impl Node {
};
if ret != RCL_RET_OK as i32 {
eprintln!("could not create timer: {}", ret);
log::error!("could not create timer: {}", ret);
return Err(Error::from_rcl_error(ret));
}
@ -1023,7 +1023,7 @@ impl Timer_ {
return true;
}
if e.is_full() {
println!(
log::debug!(
"Warning: timer tick not handled in time - no wakeup will occur"
);
}

2
r2r/src/parameters.rs
View File

@ -90,7 +90,7 @@ impl ParameterValue {
8 => ParameterValue::DoubleArray(msg.double_array_value),
9 => ParameterValue::StringArray(msg.string_array_value),
_ => {
println!("warning: malformed parametervalue message");
log::debug!("warning: malformed parametervalue message");
ParameterValue::NotSet
}
}

14
r2r/src/publishers.rs
View File

@ -128,7 +128,7 @@ impl PublisherUntyped {
if result == RCL_RET_OK as i32 {
Ok(())
} else {
eprintln!("coult not publish {}", result);
log::error!("could not publish {}", result);
Err(Error::from_rcl_error(result))
}
}
@ -160,7 +160,7 @@ where
if result == RCL_RET_OK as i32 {
Ok(())
} else {
eprintln!("coult not publish {}", result);
log::error!("could not publish {}", result);
Err(Error::from_rcl_error(result))
}
}
@ -182,7 +182,7 @@ where
};
if ret != RCL_RET_OK as i32 {
// TODO: Switch to logging library
eprintln!("Failed getting loaned message");
log::error!("Failed getting loaned message");
return Err(Error::from_rcl_error(ret))
}
@ -208,11 +208,11 @@ where
Ok(msg)
} else {
static LOG_LOANED_ERROR: Once = Once::new();
LOG_LOANED_ERROR.call_once(|| {
LOG_LOANED_ERROR.call_once(|| {
// TODO: Switch to logging library
eprintln!("Currently used middleware can't loan messages. Local allocator will be used.");
log::error!("Currently used middleware can't loan messages. Local allocator will be used.");
});
Ok(WrappedNativeMsg::<T>::new())
}
}
@ -250,7 +250,7 @@ where
if result == RCL_RET_OK as i32 {
Ok(())
} else {
eprintln!("could not publish native {}", result);
log::error!("could not publish native {}", result);
Err(Error::from_rcl_error(result))
}
}

2
r2r/src/services.rs
View File

@ -104,7 +104,7 @@ where
if e.is_disconnected() {
return true;
}
eprintln!("warning: could not send service request ({})", e)
log::error!("warning: could not send service request ({})", e)
}
} // TODO handle failure.
false

6
r2r/src/subscribers.rs
View File

@ -63,7 +63,7 @@ where
// user dropped the handle to the stream, signal removal.
return true;
}
println!("error {:?}", e)
log::debug!("error {:?}", e)
}
}
false
@ -140,7 +140,7 @@ where
// user dropped the handle to the stream, signal removal.
return true;
}
eprintln!("error {:?}", e)
log::error!("error {:?}", e)
}
false
}
@ -176,7 +176,7 @@ impl Subscriber_ for UntypedSubscriber {
// user dropped the handle to the stream, signal removal.
return true;
}
println!("error {:?}", e)
log::debug!("error {:?}", e)
}
}
false

2
r2r/src/utils.rs
View File

@ -20,7 +20,7 @@ pub fn log(msg: &str, logger_name: &str, file: &str, line: u32, severity: LogSev
if !is_init {
let ret = unsafe { rcutils_logging_initialize() };
if ret != RCL_RET_OK as i32 {
eprintln!("could not create logging system (Err: {})", ret);
log::error!("could not create logging system (Err: {})", ret);
return;
}
}