From 2f74fda41dbabb3eec5815a3012696c316106223 Mon Sep 17 00:00:00 2001
From: Paul-Winpenny <92634321+Paul-Winpenny@users.noreply.github.com>
Date: Mon, 18 Nov 2024 15:48:51 +0000
Subject: [PATCH] Added logging statements.
---
ros2/src/robobin/robobin/api_node.py | 2 ++
ros2/src/robobin/robobin/connection_manager.py | 8 ++++----
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/ros2/src/robobin/robobin/api_node.py b/ros2/src/robobin/robobin/api_node.py
index db8b13fa..61b7b3e5 100644
--- a/ros2/src/robobin/robobin/api_node.py
+++ b/ros2/src/robobin/robobin/api_node.py
@@ -33,8 +33,10 @@ class ApiNode(Node):
data = client_socket.recv(1024).decode()
if not data:
break
+ self.get_logger().info(f"Received data: {data}")
topic,message = self.message_handler.handle_message(client_socket, data)
if topic is not None:
+ self.get_logger().info(f"Publishing to topic: {topic}")
self.publish_to_topic(topic, message)
finally:
client_socket.close()
diff --git a/ros2/src/robobin/robobin/connection_manager.py b/ros2/src/robobin/robobin/connection_manager.py
index e7e106c0..b30d5d2b 100644
--- a/ros2/src/robobin/robobin/connection_manager.py
+++ b/ros2/src/robobin/robobin/connection_manager.py
@@ -28,13 +28,13 @@ class ConnectionManager:
try:
data, addr = udp_sock.recvfrom(1024)
if data.decode() == "CONNECT":
- print(f"Connection request from {addr}")
+ self.api_node.get_logger().info(f"Received CONNECT message from {addr}")
tcp_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
tcp_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
tcp_sock.bind(('', self.LISTEN_PORT))
tcp_sock.listen(1)
client_socket, client_addr = tcp_sock.accept()
- print(f"Client connected from {client_addr}")
+ self.api_node.get_logger().info(f"Client connected from {client_addr}")
threading.Thread(target=self.api_node.handle_client_connection, args=(client_socket,)).start()
except socket.timeout:
continue
@@ -54,13 +54,13 @@ class ConnectionManager:
location = "(0,0)" #At some point this will be retrieved from navigation node
message = f"ROBOBIN_PRESENT {location}".encode()
sock.sendto(message, (self.UDP_IP, self.UDP_PORT))
- print("Broadcasting presence.")
+ self.api_node.get_logger().info("Broadcasting presence.")
time.sleep(5)
except OSError:
break
sock.close()
- print("Stopped broadcasting presence.")
+ self.api_node.get_logger().info("Stopped broadcasting presence.")
def stop(self):
"""Stops the connection manager."""
--
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