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JiangengDong wants to merge 3 commits into from
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int: replace the (e)println! with log #51

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6632b7f
int: replace the (e)println! with log
May 31, 2023
e23f6ee
wip: revert the println in mod test
Jun 10, 2023
aad057a
wip: increase version
Jun 25, 2023
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3 changes: 2 additions & 1 deletion r2r/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[package]
name = "r2r"
version = "0.7.3"
version = "0.7.4"
authors = ["Martin Dahl <martin.dahl@gmail.com>"]
description = "Easy to use, runtime-agnostic, async rust bindings for ROS2."
license = "MIT AND Apache-2.0"
Expand All @@ -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"
Expand Down
22 changes: 11 additions & 11 deletions r2r/src/action_clients.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -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))
}
}
Expand Down Expand Up @@ -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))
}
}
Expand Down Expand Up @@ -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 {
Expand All @@ -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
);
Expand Down Expand Up @@ -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
Expand All @@ -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
);
Expand All @@ -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)
}
}
}
Expand Down Expand Up @@ -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);
}
}
}
Expand All @@ -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
);
Expand All @@ -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);
}
}

Expand Down Expand Up @@ -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 changes: 10 additions & 10 deletions r2r/src/action_clients_untyped.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -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))
}
}
Expand Down Expand Up @@ -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))
}
}
Expand Down Expand Up @@ -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 {
Expand All @@ -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
);
Expand Down Expand Up @@ -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
Expand All @@ -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
);
Expand All @@ -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)
}
}
}
Expand Down Expand Up @@ -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);
}
}
}
Expand All @@ -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
);
Expand All @@ -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);
}
}

Expand Down
36 changes: 18 additions & 18 deletions r2r/src/action_servers.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -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")
}
}
}
Expand Down Expand Up @@ -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);
Expand All @@ -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)
);
Expand All @@ -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);
}

Expand Down Expand Up @@ -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.
}
}
Expand Down Expand Up @@ -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);
}
}
}
Expand Down Expand Up @@ -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)
}
}

Expand Down Expand Up @@ -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;
}

Expand All @@ -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),
Expand All @@ -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);
Expand All @@ -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)
);
Expand All @@ -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)
);
Expand All @@ -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)
);
Expand Down Expand Up @@ -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)
);
Expand Down Expand Up @@ -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
}
Expand All @@ -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);
}

Expand Down
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