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Replace print statements with python standard library logging #924

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Replace print statements with python standard library logging #924

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899d8c4
replaced print statements with logger.info
ThomasDavid0 Feb 28, 2024
74bd4b2
Merge branch 'ArduPilot:master' into logger
ThomasDavid0 Feb 28, 2024
864e2a1
py35 fix
ThomasDavid0 Feb 28, 2024
dbeb6e2
Merge branch 'logger' of github.com:ThomasDavid0/pymavlink into logger
ThomasDavid0 Feb 28, 2024
89dff71
Merge branch 'master' into logger
ThomasDavid0 Jul 14, 2024
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7 changes: 4 additions & 3 deletions mavextra.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,8 @@
from __future__ import absolute_import
from builtins import object
from builtins import sum as builtin_sum

import logging
logger = logging.getLogger('pymavlink')
from math import *

try:
Expand Down Expand Up @@ -573,7 +574,7 @@ def distance_two(MSG1, MSG2, horizontal=True):
try:
return _distance_two(MSG1, MSG2)
except Exception as ex:
print(ex)
logger.info(ex)
return None

first_fix = None
Expand Down Expand Up @@ -620,7 +621,7 @@ def airspeed(VFR_HUD, ratio=None, used_ratio=None, offset=None):
if 'ARSPD_RATIO' in mav.params:
used_ratio = mav.params['ARSPD_RATIO']
else:
print("no ARSPD_RATIO in mav.params")
logger.info("no ARSPD_RATIO in mav.params")
used_ratio = ratio
if hasattr(VFR_HUD,'airspeed'):
airspeed = VFR_HUD.airspeed
Expand Down
33 changes: 17 additions & 16 deletions mavparm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,8 @@

import fnmatch, math, time, struct
from pymavlink import mavutil

import logging
logger = logging.getLogger('pymavlink')
class MAVParmDict(dict):
def __init__(self, *args):
dict.__init__(self, args)
Expand Down Expand Up @@ -46,7 +47,7 @@ def mavset(self, mav, name, value, retries=3, parm_type=None):
elif parm_type == mavutil.mavlink.MAV_PARAM_TYPE_INT32:
vstr = struct.pack(">i", int(value))
else:
print("can't send %s of type %u" % (name, parm_type))
logger.info("can't send %s of type %u" % (name, parm_type))
return False
numeric_value, = struct.unpack(">f", vstr)
else:
Expand All @@ -69,7 +70,7 @@ def mavset(self, mav, name, value, retries=3, parm_type=None):
self.__setitem__(name, numeric_value)
break
if not got_ack:
print("timeout setting %s to %f" % (name, numeric_value))
logger.info("timeout setting %s to %f" % (name, numeric_value))
return False
return True

Expand All @@ -90,15 +91,15 @@ def save(self, filename, wildcard='*', verbose=False):
count += 1
f.close()
if verbose:
print("Saved %u parameters to %s" % (count, filename))
logger.info("Saved %u parameters to %s" % (count, filename))


def load(self, filename, wildcard='*', mav=None, check=True, use_excludes=True):
'''load parameters from a file'''
try:
f = open(filename, mode='r')
except Exception as e:
print("Failed to open file '%s': %s" % (filename, str(e)))
logger.info("Failed to open file '%s': %s" % (filename, str(e)))
return False
count = 0
changed = 0
Expand All @@ -109,7 +110,7 @@ def load(self, filename, wildcard='*', mav=None, check=True, use_excludes=True):
line = line.replace(',',' ')
a = line.split()
if len(a) != 2:
print("Invalid line: %s" % line)
logger.info("Invalid line: %s" % line)
continue
# some parameters should not be loaded from files
if use_excludes and a[0] in self.exclude_load:
Expand All @@ -125,30 +126,30 @@ def load(self, filename, wildcard='*', mav=None, check=True, use_excludes=True):
if mav is not None:
if check:
if a[0] not in list(self.keys()):
print("Unknown parameter %s" % a[0])
logger.info("Unknown parameter %s" % a[0])
continue
old_value = self.__getitem__(a[0])
if math.fabs(old_value - numeric_value) <= self.mindelta:
count += 1
continue
if self.mavset(mav, a[0], value):
print("changed %s from %f to %f" % (a[0], old_value, numeric_value))
logger.info("changed %s from %f to %f" % (a[0], old_value, numeric_value))
else:
print("set %s to %f" % (a[0], numeric_value))
logger.info("set %s to %f" % (a[0], numeric_value))
self.mavset(mav, a[0], value)
changed += 1
else:
self.__setitem__(a[0], numeric_value)
count += 1
f.close()
if mav is not None:
print("Loaded %u parameters from %s (changed %u)" % (count, filename, changed))
logger.info("Loaded %u parameters from %s (changed %u)" % (count, filename, changed))
else:
print("Loaded %u parameters from %s" % (count, filename))
logger.info("Loaded %u parameters from %s" % (count, filename))
return True

def show_param_value(self, name, value):
print("%-16.16s %s" % (name, value))
logger.info("%-16.16s %s" % (name, value))

def show(self, wildcard='*'):
'''show parameters'''
Expand All @@ -169,13 +170,13 @@ def diff(self, filename, wildcard='*', use_excludes=True, use_tabs=False, show_o
if not k in other:
value = float(self[k])
if show_only2:
print("%-16.16s %12.4f" % (k, value))
logger.info("%-16.16s %12.4f" % (k, value))
elif not k in self:
if show_only1:
print("%-16.16s %12.4f" % (k, float(other[k])))
logger.info("%-16.16s %12.4f" % (k, float(other[k])))
elif abs(self[k] - other[k]) > self.mindelta:
value = float(self[k])
if use_tabs:
print("%s\t%.4f\t%.4f" % (k, other[k], value))
logger.info("%s\t%.4f\t%.4f" % (k, other[k], value))
else:
print("%-16.16s %12.4f %12.4f" % (k, other[k], value))
logger.info("%-16.16s %12.4f %12.4f" % (k, other[k], value))
42 changes: 23 additions & 19 deletions mavutil.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
import re
import platform
from pymavlink import mavexpression
import logging
logger = logging.getLogger('pymavlink')

# We want to re-export x25crc here
from pymavlink.generator.mavcrc import x25crc as x25crc
Expand Down Expand Up @@ -410,7 +412,7 @@ def post_message(self, msg):
if seq != seq2 and last_seq != -1:
diff = (seq2 - seq) % 256
self.mav_loss += diff
#print("lost %u seq=%u seq2=%u last_seq=%u src_tupe=%s %s" % (diff, seq, seq2, last_seq, str(src_tuple), msg.get_type()))
#logger.info("lost %u seq=%u seq2=%u last_seq=%u src_tupe=%s %s" % (diff, seq, seq2, last_seq, str(src_tuple), msg.get_type()))
self.last_seq[src_tuple] = seq2
self.mav_count += 1

Expand Down Expand Up @@ -654,7 +656,7 @@ def set_mode_flag(self, flag, enable):
mode,
0, 0, 0, 0, 0, 0)
else:
print("Set mode flag not supported")
logger.info("Set mode flag not supported")

def set_mode_auto(self):
'''enter auto mode'''
Expand All @@ -680,7 +682,7 @@ def set_mode_apm(self, mode, custom_mode = 0, custom_sub_mode = 0):
if isinstance(mode, str):
mode_map = self.mode_mapping()
if mode_map is None or mode not in mode_map:
print("Unknown mode '%s'" % mode)
logger.info("Unknown mode '%s'" % mode)
return
mode = mode_map[mode]
# set mode by integer mode number for ArduPilot
Expand All @@ -701,7 +703,7 @@ def set_mode_px4(self, mode, custom_mode, custom_sub_mode):
if isinstance(mode, str):
mode_map = self.mode_mapping()
if mode_map is None or mode not in mode_map:
print("Unknown mode '%s'" % mode)
logger.info("Unknown mode '%s'" % mode)
return
# PX4 uses two fields to define modes
mode, custom_mode, custom_sub_mode = px4_map[mode]
Expand Down Expand Up @@ -744,7 +746,7 @@ def set_mode_fbwa(self):
mavlink.MAV_MODE_STABILIZE_ARMED,
0, 0, 0, 0, 0, 0)
else:
print("Forcing FBWA not supported")
logger.info("Forcing FBWA not supported")

def set_mode_loiter(self):
'''enter LOITER mode'''
Expand Down Expand Up @@ -779,7 +781,7 @@ def set_relay(self, relay_pin=0, state=True):
0, # param6
0) # param7
else:
print("Setting relays not supported.")
logger.info("Setting relays not supported.")

def calibrate_level(self):
'''calibrate accels (1D version)'''
Expand Down Expand Up @@ -1015,7 +1017,7 @@ def write(self, buf):
return self.port.write(bytes(buf))
except Exception:
if not self.portdead:
print("Device %s is dead" % self.device)
logger.info("Device %s is dead" % self.device)
self.portdead = True
if self.autoreconnect:
self.reset()
Expand All @@ -1034,7 +1036,7 @@ def reset(self):
return False
self.port.close()
self.port = newport
print("Device %s reopened OK" % self.device)
logger.info("Device %s reopened OK" % self.device)
self.portdead = False
try:
self.fd = self.port.fileno()
Expand Down Expand Up @@ -1225,6 +1227,7 @@ def __init__(self,
a = device.split(':')
if len(a) != 2:
raise ValueError("TCP ports must be specified as host:port")

self.destination_addr = (a[0], int(a[1]))

self.autoreconnect = autoreconnect
Expand Down Expand Up @@ -1254,7 +1257,7 @@ def do_connect(self):
self.port.close()
self.port = None
raise e
print(e, "sleeping")
logger.info(str(e) + " sleeping")
time.sleep(1)
self.port.setblocking(0)
set_close_on_exec(self.port.fileno())
Expand All @@ -1264,12 +1267,12 @@ def close(self):
self.port.close()

def handle_disconnect(self):
print("Connection reset or closed by peer on TCP socket")
logger.info("Connection reset or closed by peer on TCP socket")
self.reconnect()

def handle_eof(self):
# EOF
print("EOF on TCP socket")
logger.info("EOF on TCP socket")
self.reconnect()

def recv(self,n=None):
Expand Down Expand Up @@ -1307,7 +1310,7 @@ def write(self, buf):

def reconnect(self):
if self.autoreconnect:
print("Attempting reconnect")
logger.info("Attempting reconnect")
if self.port is not None:
self.port.close()
self.port = None
Expand All @@ -1320,6 +1323,7 @@ def __init__(self, device, source_system=255, source_component=0, retries=3, use
a = device.split(':')
if len(a) != 2:
raise ValueError("TCP ports must be specified as host:port")

self.listen = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.listen_addr = (a[0], int(a[1]))
self.listen.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
Expand Down Expand Up @@ -1810,7 +1814,7 @@ def mavlink_connection(device, baud=115200, source_system=255, source_component=
return mavudp(device, source_system=source_system, source_component=source_component, input=input, use_native=use_native)
if os.path.isfile(device):
if device.endswith(".elf") or device.find("/bin/") != -1:
print("executing '%s'" % device)
logger.info("executing '%s'" % device)
return mavchildexec(device, source_system=source_system, source_component=source_component, use_native=use_native)
elif not write and not append and not notimestamps:
return mavmmaplog(device, progress_callback=progress_callback)
Expand Down Expand Up @@ -1841,7 +1845,7 @@ def trigger(self):
tnow = time.time()

if tnow < self.last_time:
print("Warning, time moved backwards. Restarting timer.")
logger.info("Warning, time moved backwards. Restarting timer.")
self.last_time = tnow

if self.last_time + (1.0/self.frequency) <= tnow:
Expand Down Expand Up @@ -2150,7 +2154,7 @@ def mode_string_v09(msg):
_json_mode_map = json.load(f)
except json.decoder.JSONDecodeError as ex:
# inform the user of a malformed custom_mode_map.json
print("Error: pymavlink custom mode file ('" + _custom_mode_map_path + "') is not valid JSON.")
logger.info("Error: pymavlink custom mode file ('" + _custom_mode_map_path + "') is not valid JSON.")
raise
except Exception:
# file is not present, fall back to using default map
Expand All @@ -2163,7 +2167,7 @@ def mode_string_v09(msg):
_custom_mode_map[int(mav_type)] = { int(mode_num): str(mode_name) for mode_num, mode_name in mode_map.items() }
except Exception:
# inform the user of invalid custom mode map
print("Error: invalid pymavlink custom mode map dict in " + _custom_mode_map_path)
logger.info("Error: invalid pymavlink custom mode map dict in " + _custom_mode_map_path)
raise

AP_MAV_TYPE_MODE_MAP = AP_MAV_TYPE_MODE_MAP_DEFAULT.copy()
Expand Down Expand Up @@ -2338,7 +2342,7 @@ def __init__(self, portname, baudrate, devnum=0, devbaud=0, timeout=3, debug=0):
def debug(self, s, level=1):
'''write some debug text'''
if self._debug >= level:
print(s)
logger.info(s)

def write(self, b):
'''write some bytes'''
Expand Down Expand Up @@ -2379,7 +2383,7 @@ def _recv(self):
break
if m is not None:
if self._debug > 2:
print(m)
logger.info(m)
data = m.data[:m.count]
self.buf.extend(data)

Expand Down Expand Up @@ -2586,4 +2590,4 @@ def dump_message_verbose(f, m):
if __name__ == '__main__':
serial_list = auto_detect_serial(preferred_list=['*FTDI*',"*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*'])
for port in serial_list:
print("%s" % port)
logger.info("%s" % port)
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