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feat: add trace log level

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Xuwznln
2025-08-04 20:27:02 +08:00
parent 5cd0f72fbd
commit 98ce360088
8 changed files with 81 additions and 36 deletions
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23
unilabos/ros/nodes/base_device_node.py
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@@ -51,7 +51,7 @@ from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
from unilabos.ros.x.rclpyx import get_event_loop
from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
from unilabos.utils.async_util import run_async_func
from unilabos.utils.log import info, debug, warning, error, critical, logger
from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
T = TypeVar("T")
@@ -82,6 +82,7 @@ class ROSLoggerAdapter:
self.level_2_logger_func = {
"info": info,
"debug": debug,
"trace": trace,
"warning": warning,
"error": error,
"critical": critical,
@@ -96,6 +97,10 @@ class ROSLoggerAdapter:
ros_log_func(msg)
self.level_2_logger_func[level](msg, *args, stack_level=1, **kwargs)
def trace(self, msg, *args, **kwargs):
"""记录TRACE级别日志"""
self._log("trace", msg, *args, **kwargs)
def debug(self, msg, *args, **kwargs):
"""记录DEBUG级别日志"""
self._log("debug", msg, *args, **kwargs)
@@ -175,12 +180,12 @@ class PropertyPublisher:
self.timer = node.create_timer(self.timer_period, self.publish_property)
self.__loop = get_event_loop()
str_msg_type = str(msg_type)[8:-2]
self.node.lab_logger().debug(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
def get_property(self):
if asyncio.iscoroutinefunction(self.get_method):
# 如果是异步函数，运行事件循环并等待结果
self.node.lab_logger().debug(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
loop = self.__loop
if loop:
future = asyncio.run_coroutine_threadsafe(self.get_method(), loop)
@@ -191,28 +196,28 @@ class PropertyPublisher:
return None
else:
# 如果是同步函数，直接调用并返回结果
self.node.lab_logger().debug(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
self._value = self.get_method()
return self._value
async def get_property_async(self):
try:
# 获取异步属性值
self.node.lab_logger().debug(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
self.node.lab_logger().trace(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
self._value = await self.get_method()
except Exception as e:
self.node.lab_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
def publish_property(self):
try:
self.node.lab_logger().debug(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
value = self.get_property()
if self.print_publish:
self.node.lab_logger().info(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
if value is not None:
msg = convert_to_ros_msg(self.msg_type, value)
self.publisher_.publish(msg)
self.node.lab_logger().debug(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
except Exception as e:
self.node.lab_logger().error(f"【PropertyPublisher.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}")
@@ -606,7 +611,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
callback_group=ReentrantCallbackGroup(),
)
self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
def get_real_function(self, instance, attr_name):
if hasattr(instance.__class__, attr_name):