set_loggers to change yasmin logs

yasmin/yasmin/__init__.py

@@ -1,4 +1,12 @@
-from .state import State
-from .cb_state import CbState
-from .blackboard import Blackboard
-from .state_machine import StateMachine
+from yasmin.state import State
+from yasmin.cb_state import CbState
+from yasmin.blackboard import Blackboard
+from yasmin.state_machine import StateMachine
+
+from yasmin.yasmin_logs import (
+    set_loggers,
+    YASMIN_LOG_ERROR,
+    YASMIN_LOG_WARN,
+    YASMIN_LOG_INFO,
+    YASMIN_LOG_DEBUG,
+)

yasmin/yasmin/state_machine.py

@@ -16,8 +16,9 @@
 
 from typing import Dict, List, Union
 from threading import Lock
-from yasmin.state import State
-from yasmin.yasmin_logs import YASMIN_LOG_INFO
+
+import yasmin
+from yasmin import State
 from yasmin.blackboard import Blackboard
 
 
@@ -153,11 +154,8 @@ def execute(self, blackboard: Blackboard) -> str:
 
             # translate outcome using transitions
             if outcome in state["transitions"]:
-                YASMIN_LOG_INFO(
-                    "%s: %s --> %s",
-                    self.__current_state,
-                    outcome,
-                    state["transitions"][outcome],
+                yasmin.YASMIN_LOG_INFO(
+                    f"{self.__current_state}: {outcome} --> {state['transitions'][outcome]}"
                 )
                 outcome = state["transitions"][outcome]
 

yasmin/yasmin/yasmin_logs.py

@@ -13,24 +13,42 @@
 # You should have received a copy of the GNU General Public License
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-
+import yasmin
 import logging
 
+import yasmin.yasmin_logs
+
+__all__ = [
+    "set_loggers",
+    "YASMIN_LOG_ERROR",
+    "YASMIN_LOG_WARN",
+    "YASMIN_LOG_INFO",
+    "YASMIN_LOG_DEBUG",
+]
+
+
 # Define the logging configuration
 logging.basicConfig(level=logging.NOTSET, format="%(message)s")
 
 
-def YASMIN_LOG_ERROR(text: str, *args) -> None:
-    logging.error("[ERROR] " + text, *args)
+def YASMIN_LOG_ERROR(text: str) -> None:
+    logging.error("[ERROR] " + text)
+
+
+def YASMIN_LOG_WARN(text: str) -> None:
+    logging.warning("[WARN] " + text)
 
 
-def YASMIN_LOG_WARN(text: str, *args) -> None:
-    logging.warning("[WARN] " + text, *args)
+def YASMIN_LOG_INFO(text: str) -> None:
+    logging.info("[INFO] " + text)
 
 
-def YASMIN_LOG_INFO(text: str, *args) -> None:
-    logging.info("[INFO] " + text, *args)
+def YASMIN_LOG_DEBUG(text: str) -> None:
+    logging.debug("[DEBUG] " + text)
 
 
-def YASMIN_LOG_DEBUG(text: str, *args) -> None:
-    logging.info("[DEBUG] " + text, *args)
+def set_loggers(info, warn, debug, error):
+    yasmin.YASMIN_LOG_ERROR = error
+    yasmin.YASMIN_LOG_WARN = warn
+    yasmin.YASMIN_LOG_INFO = info
+    yasmin.YASMIN_LOG_DEBUG = debug

yasmin_ros/yasmin_ros/__init__.py

@@ -1,3 +1,3 @@
-from .action_state import ActionState
-from .service_state import ServiceState
-from .monitor_state import MonitorState
+from yasmin_ros.action_state import ActionState
+from yasmin_ros.service_state import ServiceState
+from yasmin_ros.monitor_state import MonitorState

yasmin_ros/yasmin_ros/yasmin_node.py

@@ -20,6 +20,8 @@
 from rclpy.node import Node
 from rclpy.executors import MultiThreadedExecutor
 
+import yasmin
+
 
 class YasminNode(Node):
 
@@ -44,6 +46,13 @@ def __init__(self) -> None:
 
         super().__init__(f"yasmin_{str(uuid.uuid4()).replace('-', '_')}_node")
 
+        yasmin.set_loggers(
+            self.get_logger().info,
+            self.get_logger().warn,
+            self.get_logger().debug,
+            self.get_logger().error,
+        )
+
         # executor
         self._executor = MultiThreadedExecutor()
         self._executor.add_node(self)

yasmin_viewer/yasmin_viewer/__init__.py

@@ -1 +1 @@
-from .yasmin_viewer_pub import YasminViewerPub
+from yasmin_viewer.yasmin_viewer_pub import YasminViewerPub