fix(logging): remove library stdout prints

.gitignore

@@ -10,5 +10,6 @@ brping/ping360.py
 brping/s500.py
 brping/surveyor240.py
 brping/omniscan450.py
+brping/omniscan3d.py
 doc/xml
 examples/logs

brping/pingmessage.py

@@ -3,8 +3,11 @@
 # PingMessage.py
 # Python implementation of the Blue Robotics 'Ping' binary message protocol
 
+import logging
 import struct
 from brping import definitions
+
+logger = logging.getLogger(__name__)
 payload_dict = definitions.payload_dict_all
 asciiMsgs = [definitions.COMMON_NACK, definitions.COMMON_ASCII_TEXT]
 variable_msgs = [
@@ -133,9 +136,8 @@ def __init__(self, msg_id=0, msg_data=None, payload_dict=None):
                 self.payload_format = self.get_payload_format()
 
             # TODO handle better here, and catch Constructor 1 also
-            except KeyError as e:
-                print("message id not recognized: %d" % self.message_id, msg_data)
-                raise e
+            except KeyError:
+                raise
 
     ## Pack object attributes into self.msg_data (bytearray)
     # @return self.msg_data
@@ -182,7 +184,7 @@ def unpack_msg_data(self, msg_data):
         try:
             self.name = self.payload_dict[self.message_id]["name"]
         except KeyError:
-            print("Unknown message: ", self.message_id)
+            logger.debug("Unknown message: %s", self.message_id)
             return False
 
         ## The field names of this message
@@ -196,10 +198,15 @@ def unpack_msg_data(self, msg_data):
             try:
                 payload = struct.unpack(PingMessage.endianess + self.payload_format, self.msg_data[PingMessage.headerLength:PingMessage.headerLength + self.payload_length])
             except Exception as e:
-                print("error unpacking payload: %s" % e)
-                print("msg_data: %s, header: %s" % (msg_data, header))
-                print("format: %s, buf: %s" % (PingMessage.endianess + self.payload_format, self.msg_data[PingMessage.headerLength:PingMessage.headerLength + self.payload_length]))
-                print(self.payload_format)
+                logger.debug(
+                    "Error unpacking payload: %s; msg_data=%s; header=%s; format=%s; buf=%s",
+                    e,
+                    msg_data,
+                    header,
+                    PingMessage.endianess + self.payload_format,
+                    self.msg_data[PingMessage.headerLength:PingMessage.headerLength + self.payload_length],
+                    exc_info=True,
+                )
             else:  # only use payload if didn't raise exception
                 for i, attr in enumerate(self.payload_field_names):
                     try:

generate/templates/device.py.in

@@ -11,10 +11,13 @@
 from brping import definitions
 from brping import pingmessage
 from collections import deque
+import logging
 import serial
 import socket
 import time
 
+logger = logging.getLogger(__name__)
+
 class PingDevice(object):
 {% for field in all_fields|sort %}
     _{{field}} = None
@@ -47,11 +50,10 @@ class PingDevice(object):
     #
     def connect_serial(self, device_name: str, baudrate: int =115200):
         if device_name is None:
-            print("Device name is required")
-            return
+            raise ValueError("Device name is required")
 
         try:
-            print("Opening %s at %d bps" % (device_name, baudrate))
+            logger.info("Opening %s at %d bps", device_name, baudrate)
 
             ## Serial object for device communication
             # write_timeout fixes it getting stuck forever atempting to write to
@@ -62,7 +64,7 @@ class PingDevice(object):
             try:
                 self.iodev.set_low_latency_mode(True)
             except Exception as exception:
-                print("Failed to set low latency mode: {0}".format(exception))
+                logger.debug("Failed to set low latency mode: %s", exception, exc_info=True)
             self.iodev.send_break()
             time.sleep(0.001)
             self.iodev.write("U".encode("ascii"))
@@ -82,7 +84,7 @@ class PingDevice(object):
 
         self.server_address = (host, port)
         try:
-            print("Opening %s:%d" % self.server_address)
+            logger.info("Opening %s:%d", *self.server_address)
             ## Serial object for device communication
             self.iodev = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
             self.iodev.connect(self.server_address)
@@ -198,14 +200,20 @@ class PingDevice(object):
         self._dst_device_id = msg.dst_device_id
 
         if not hasattr(msg, "payload_field_names"):
-            print(f"Unrecognized message: {msg.message_id}")
+            logger.debug("Unrecognized message: %s", msg.message_id)
             return False
 
         try:
             for attr in msg.payload_field_names:
                 setattr(self, "_" + attr, getattr(msg, attr))
         except AttributeError as e:
-            print("attribute error while handling msg %d (%s): %s" % (msg.message_id, msg.name, msg.msg_data))
+            logger.debug(
+                "Attribute error while handling msg %d (%s): %s",
+                msg.message_id,
+                msg.name,
+                msg.msg_data,
+                exc_info=True,
+            )
             return False
 
         return True

generate/templates/omniscan3d.py.in

@@ -9,6 +9,7 @@
 from brping import definitions
 from brping import PingDevice
 from brping import pingmessage
+import logging
 import math
 import time
 import struct
@@ -23,6 +24,7 @@ import sys
 import platform
 
 MAX_LOG_SIZE_MB = 500
+logger = logging.getLogger(__name__)
 
 class Omniscan3D(PingDevice):
     def __init__(self, logging = False, log_directory = None):
@@ -253,7 +255,7 @@ class Omniscan3D(PingDevice):
         self.logging = True
         self.bytes_written = 0
 
-        print(f"Logging to {self.current_log}")
+        logger.info("Logging to %s", self.current_log)
 
         self.write_data(self.build_metadata_packet())
 
@@ -271,11 +273,11 @@ class Omniscan3D(PingDevice):
                 self.bytes_written += len(msg.msg_data)
 
         except (OSError, IOError) as e:
-            print(f"[LOGGING ERROR] Failed to write to log file {self.current_log}: {e}")
+            logger.exception("Failed to write to log file %s", self.current_log)
             self.stop_logging()
 
         except Exception as e:
-            print(f"[LOGGING ERROR] Unexpected error: {e}")
+            logger.exception("Unexpected error while writing to log file %s", self.current_log)
             self.stop_logging()
 
     # Override wait_message to also handle point set requests from Omniscan3D and for creating atof_t data
@@ -308,14 +310,13 @@ class Omniscan3D(PingDevice):
 
         self.server_address = (host, port)
         try:
-            print("Opening %s:%d" % self.server_address)
+            logger.info("Opening %s:%d", *self.server_address)
             self.iodev = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
             self.iodev.settimeout(timeout)
             self.iodev.connect(self.server_address)
             self.iodev.setblocking(0)
 
         except socket.timeout:
-            print("Unable to connect to device")
             raise Exception("Connection timed out after {0} seconds".format(timeout))
         except Exception as exception:
             raise Exception("Failed to open the given TCP port: {0}".format(exception))
@@ -416,4 +417,4 @@ if __name__ == "__main__":
         try:
             p.iodev.close()
         except Exception as e:
-            print(f"Failed to close socket: {e}")
+            print(f"Failed to close socket: {e}")

generate/templates/omniscan450.py.in

@@ -11,6 +11,7 @@
 from brping import definitions
 from brping import PingDevice
 from brping import pingmessage
+import logging
 import time
 import math
 import struct
@@ -25,6 +26,7 @@ import sys
 import platform
 
 MAX_LOG_SIZE_MB = 500
+logger = logging.getLogger(__name__)
 
 class Omniscan450(PingDevice):
     def __init__(self, logging = False, log_directory = None):
@@ -262,7 +264,7 @@ class Omniscan450(PingDevice):
         self.logging = True
         self.bytes_written = 0
 
-        print(f"Logging to {self.current_log}")
+        logger.info("Logging to %s", self.current_log)
 
         self.write_data(self.build_metadata_packet())
 
@@ -280,11 +282,11 @@ class Omniscan450(PingDevice):
                 self.bytes_written += len(msg.msg_data)
 
         except (OSError, IOError) as e:
-            print(f"[LOGGING ERROR] Failed to write to log file {self.current_log}: {e}")
+            logger.exception("Failed to write to log file %s", self.current_log)
             self.stop_logging()
 
         except Exception as e:
-            print(f"[LOGGING ERROR] Unexpected error: {e}")
+            logger.exception("Unexpected error while writing to log file %s", self.current_log)
             self.stop_logging()
 
     # Override wait_message to format power results before returning
@@ -317,14 +319,13 @@ class Omniscan450(PingDevice):
 
         self.server_address = (host, port)
         try:
-            print("Opening %s:%d" % self.server_address)
+            logger.info("Opening %s:%d", *self.server_address)
             self.iodev = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
             self.iodev.settimeout(timeout)
             self.iodev.connect(self.server_address)
             self.iodev.setblocking(0)
 
         except socket.timeout:
-            print("Unable to connect to device")
             raise Exception("Connection timed out after {0} seconds".format(timeout))
         except Exception as exception:
             raise Exception("Failed to open the given TCP port: {0}".format(exception))
@@ -388,4 +389,4 @@ if __name__ == "__main__":
         try:
             p.iodev.close()
         except Exception as e:
-            print(f"Failed to close socket: {e}")
+            print(f"Failed to close socket: {e}")

generate/templates/s500.py.in

@@ -11,6 +11,7 @@
 from brping import definitions
 from brping import PingDevice
 from brping import pingmessage
+import logging
 import time
 import struct
 import socket
@@ -23,6 +24,7 @@ import sys
 import platform
 
 MAX_LOG_SIZE_MB = 500
+logger = logging.getLogger(__name__)
 
 class S500(PingDevice):
     def __init__(self, logging = False, log_directory = None):
@@ -121,14 +123,13 @@ class S500(PingDevice):
 
         self.server_address = (host, port)
         try:
-            print("Opening %s:%d" % self.server_address)
+            logger.info("Opening %s:%d", *self.server_address)
             self.iodev = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
             self.iodev.settimeout(timeout)
             self.iodev.connect(self.server_address)
             self.iodev.setblocking(0)
 
         except socket.timeout:
-            print("Unable to connect to device")
             raise Exception("Connection timed out after {0} seconds".format(timeout))
         except Exception as exception:
             raise Exception("Failed to open the given TCP port: {0}".format(exception))
@@ -296,7 +297,7 @@ class S500(PingDevice):
         self.logging = True
         self.bytes_written = 0
 
-        print(f"Logging to {self.current_log}")
+        logger.info("Logging to %s", self.current_log)
 
         self.write_data(self.build_metadata_packet())
 
@@ -314,11 +315,11 @@ class S500(PingDevice):
                 self.bytes_written += len(msg.msg_data)
 
         except (OSError, IOError) as e:
-            print(f"[LOGGING ERROR] Failed to write to log file {self.current_log}: {e}")
+            logger.exception("Failed to write to log file %s", self.current_log)
             self.stop_logging()
 
         except Exception as e:
-            print(f"[LOGGING ERROR] Unexpected error: {e}")
+            logger.exception("Unexpected error while writing to log file %s", self.current_log)
             self.stop_logging()
 
     # Override wait_message to format power results before returning
@@ -367,4 +368,4 @@ if __name__ == "__main__":
         try:
             p.iodev.close()
         except Exception as e:
-            print(f"Failed to close socket: {e}")
+            print(f"Failed to close socket: {e}")

generate/templates/surveyor240.py.in

@@ -11,6 +11,7 @@
 from brping import definitions
 from brping import PingDevice
 from brping import pingmessage
+import logging
 import math
 import time
 import struct
@@ -25,6 +26,7 @@ import sys
 import platform
 
 MAX_LOG_SIZE_MB = 500
+logger = logging.getLogger(__name__)
 
 class Surveyor240(PingDevice):
     def __init__(self, logging = False, log_directory = None):
@@ -254,7 +256,7 @@ class Surveyor240(PingDevice):
         self.logging = True
         self.bytes_written = 0
 
-        print(f"Logging to {self.current_log}")
+        logger.info("Logging to %s", self.current_log)
 
         self.write_data(self.build_metadata_packet())
 
@@ -272,11 +274,11 @@ class Surveyor240(PingDevice):
                 self.bytes_written += len(msg.msg_data)
 
         except (OSError, IOError) as e:
-            print(f"[LOGGING ERROR] Failed to write to log file {self.current_log}: {e}")
+            logger.exception("Failed to write to log file %s", self.current_log)
             self.stop_logging()
 
         except Exception as e:
-            print(f"[LOGGING ERROR] Unexpected error: {e}")
+            logger.exception("Unexpected error while writing to log file %s", self.current_log)
             self.stop_logging()
 
     # Override handle_message to respond to a UTC request from Surveyor
@@ -327,14 +329,13 @@ class Surveyor240(PingDevice):
 
         self.server_address = (host, port)
         try:
-            print("Opening %s:%d" % self.server_address)
+            logger.info("Opening %s:%d", *self.server_address)
             self.iodev = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
             self.iodev.settimeout(timeout)
             self.iodev.connect(self.server_address)
             self.iodev.setblocking(0)
 
         except socket.timeout:
-            print("Unable to connect to device")
             raise Exception("Connection timed out after {0} seconds".format(timeout))
         except Exception as exception:
             raise Exception("Failed to open the given TCP port: {0}".format(exception))
@@ -434,4 +435,4 @@ if __name__ == "__main__":
         try:
             p.iodev.close()
         except Exception as e:
-            print(f"Failed to close socket: {e}")
+            print(f"Failed to close socket: {e}")