List of usage examples for org.apache.commons.logging.impl SimpleLog SimpleLog
public SimpleLog(String name)
From source file:main.java.org.ros.navigation.MotorControl.java
@Override public void main(NodeConfiguration configuration) { Preconditions.checkState(node == null); Preconditions.checkNotNull(configuration); try {/*from w w w . j a v a 2 s . co m*/ node = new DefaultNodeFactory().newNode("motor_control", configuration); wheelbase = node.newParameterTree().getDouble("wheelbase"); log = new SimpleLog(node.getName().toString()); log.setLevel(SimpleLog.LOG_LEVEL_OFF); prevPriority = 6; motorData = node.newPublisher("motordata", "robot_msgs/MotorData"); node.newSubscriber("Motor_Command", "MotorControlMsg/MotorCommand", this); } catch (Exception e) { if (node != null) { node.getLog().fatal(e); } else { e.printStackTrace(); } } }
From source file:main.java.org.ros.navigation.SensorSideAvoidanceTestPublisher.java
@Override public void main(NodeConfiguration configuration) { Preconditions.checkState(node == null); Preconditions.checkNotNull(configuration); try {//from ww w. j a v a 2 s .c om // the name of the node gets changed when it is created... so not "sensor_listener" node = new DefaultNodeFactory().newNode("sensor_listener", configuration); log = new SimpleLog(node.getName().toString()); // Print out the name log.info("Sensor name: " + node.getName()); log.setLevel(SimpleLog.LOG_LEVEL_DEBUG); filteredRangeMap = new TreeMap<String, Publisher<Range>>(); // get the names of the sensors for the IR sensors so I can make // the name of the topic I am going to publish to List<String> topics = (List<String>) node.newParameterTree().getList("left_IR"); for (String topic : topics) { Publisher<Range> filteredRange = node.newPublisher(topic + "filtered", "sensor_msgs/Range"); log.debug("Publishing to: " + topic + "filtered"); // make the new publisher and add it to the map filteredRangeMap.put(topic, filteredRange); } // make this node a subscriber to the Range messages that are being published // by SensorListener. // must do this after I create the publishers because I start recieving messages // as soon as I subscribe. int count = 0; boolean allSub = false; while (allSub == false) { allSub = true; for (String topic : topics) { if (filteredRangeMap.get(topic).hasSubscribers() == false) { allSub = false; } } } while (true) { for (String topic : topics) { // subscribe to the topic that sensorListener is publishing to Range message = new Range(); message.header.frame_id = topic; message.header.stamp.secs = count; filteredRangeMap.get(topic).publish(message); log.debug(count); Thread.sleep(200); } count++; } } catch (Exception e) { if (node != null) { node.getLog().fatal(e); } else { e.printStackTrace(); } } }
From source file:main.java.org.ros.navigation.SensorSideAvoidanceTestSubscriber.java
@Override public void main(NodeConfiguration configuration) { Preconditions.checkState(node == null); Preconditions.checkNotNull(configuration); try {/*from ww w .ja v a 2 s . c o m*/ node = new DefaultNodeFactory().newNode("motor_listener", configuration); numberInputs = 2;// Left and right sensor motor control messages // Set up the debug log log = new SimpleLog(node.getName().toString()); log.setLevel(SimpleLog.LOG_LEVEL_DEBUG); node.newSubscriber("left_IR_Motor_Command", "MotorControlMsg/MotorCommand", this); } catch (Exception e) { if (node != null) { node.getLog().fatal(e); } else { e.printStackTrace(); } } }
From source file:main.java.org.ros.robot.SensorListener.java
@Override public void main(NodeConfiguration configuration) { Preconditions.checkState(node == null); Preconditions.checkNotNull(configuration); //ParameterTreenode.newParameterTree(); try {//w w w . j a va2s. co m node = new DefaultNodeFactory().newNode("sensor_listener", configuration); pubRange = new TreeMap<String, Range>(); log = new SimpleLog(node.getName().toString()); log.setLevel(SimpleLog.LOG_LEVEL_OFF); publisher = new TreeMap<String, Publisher<Range>>(); count = 0; Field[] fields = SensorData.class.getDeclaredFields(); // Loop through all the fields and extract the name of the field // to use as the name of the topic // NOTE that I may have to add stuff to the name here because of the whole // namespace thing. Not sure yet how that works. // get the angle measurements of the sensors from the parameter server // in order to put that info into the Range messages ParameterTree paramTree = node.newParameterTree(); sensorAngles = (Map<String, Integer>) paramTree.getMap("sensor_angles"); for (int i = 0; i < fields.length; i++) { // log.info("The name of the first field is: " + fields[i].getName() + "degree " + sensorAngles.get(fields[i].getName())); Publisher<Range> pub = node.newPublisher(fields[i].getName() + "raw", "sensor_msgs/Range"); Range curRange = (Range) node.getMessageFactory().newMessage("sensor_msgs/Range"); if (fields[i].getName().contains("infrared")) { curRange.max_range = (float) .8; // 80cm curRange.min_range = (float) .075; // 7.5cm curRange.radiation_type = Range.INFRARED; // name it the same as the sensor curRange.header.frame_id = fields[i].getName(); // not right field_of_view but fill it in curRange.field_of_view = (float) sensorAngles.get(fields[i].getName()); } else if (fields[i].getName().contains("ultrasonic")) { curRange.max_range = (float) 2.55; // 255cm curRange.min_range = (float) .04; // 4cm curRange.radiation_type = Range.ULTRASOUND; // not right but fill it in curRange.field_of_view = (float) sensorAngles.get(fields[i].getName()); // name it the same as the sensor curRange.header.frame_id = fields[i].getName(); } else if (fields[i].getName().contains("human")) { curRange.header.frame_id = fields[i].getName(); curRange.max_range = 4095; curRange.min_range = 0; curRange.radiation_type = 3; curRange.field_of_view = 0; } pubRange.put(fields[i].getName(), curRange); publisher.put(fields[i].getName(), pub); } node.newSubscriber("sensordata", "robot_msgs/SensorData", this); } catch (Exception e) { if (node != null) { node.getLog().fatal(e); } else { e.printStackTrace(); } } }
From source file:main.java.org.ros.navigation.HeatTrack.java
@Override public void main(NodeConfiguration configuration) { Preconditions.checkState(node == null); Preconditions.checkNotNull(configuration); try {// w ww .jav a 2 s . c o m //get max velocity from parameter server node = new DefaultNodeFactory().newNode("heat_track", configuration); maxVelocity = node.newParameterTree().getDouble("MAX_LINEAR_VELOCITY"); log = new SimpleLog(node.getName().toString()); log.setLevel(SimpleLog.LOG_LEVEL_DEBUG); // set up publisher pubCmd = node.newPublisher("Motor_Command", "MotorControlMsg/MotorCommand"); // set up cmd to be published mtrCmd = node.getMessageFactory().newMessage("MotorControlMsg/MotorCommand"); mtrCmd.isLeftRightVel = true; mtrCmd.precedence = 1; // set up count countLeft = 0; countRight = 0; // set the mid range of the sensor midRange = 2047; // set the threshold for which something is said to be human thresh = node.newParameterTree().getDouble("human_thresh"); // set the max that we expect the range to be maxAvg = node.newParameterTree().getDouble("human_range_avg_dif"); // set up subscriptions List<String> topics = (List<String>) node.newParameterTree().getList("human_topics"); for (String topic : topics) { // only care about presence if (topic.contains("presence")) { node.newSubscriber(topic + "filtered", "sensor_msgs/Range", this); } } } catch (Exception e) { if (node != null) { node.getLog().fatal(e); } else { e.printStackTrace(); } } }
From source file:com.azavea.fop.pdf.Foplet.java
/** * Initialize the foplet servlet. This method configures a log, * transformer factory and resolvers necessary for pulling in * external graphics from URLs./* w w w. j av a 2 s . c o m*/ * * @see javax.servlet.GenericServlet#init() * @throws ServletException */ public void init() throws ServletException { this.log = new SimpleLog("foplet"); log.setLevel(SimpleLog.LOG_LEVEL_DEBUG); this.uriResolver = new ServletContextURIResolver(getServletContext()); this.transFactory = TransformerFactory.newInstance(); this.transFactory.setURIResolver(this.uriResolver); // Configure FopFactory as desired this.fopFactory = FopFactory.newInstance(); this.fopFactory.setURIResolver(this.uriResolver); }
From source file:main.java.org.ros.navigation.ObstacleAvoidance.java
@SuppressWarnings("unchecked") @Override/*from w w w .j a v a 2 s.c om*/ public void main(NodeConfiguration configuration) { Preconditions.checkState(node == null); Preconditions.checkNotNull(configuration); try { node = new DefaultNodeFactory().newNode("motor_listener", configuration); numberInputs = 2;// IR and US think of moving to parameter server. //mesCollector = new MessageCollection<MotorCommand>(numberInputs); mtrCmd = node.getMessageFactory().newMessage("MotorControlMsg/MotorCommand"); curNum = 0; curKey = 0; // get the max linear and angular velocity so that I can later compute the // real velocities from the normalized velocities. maxLinearVelocity = node.newParameterTree().getDouble("MAX_LINEAR_VELOCITY"); maxAngularVelocity = node.newParameterTree().getDouble("MAX_ANGULAR_VELOCITY"); // publish to Motor_Command pubCmd = node.newPublisher("Motor_Command", "MotorControlMsg/MotorCommand"); log = new SimpleLog(node.getName().toString()); //log.setLevel(SimpleLog.LOG_LEVEL_DEBUG); log.setLevel(SimpleLog.LOG_LEVEL_OFF); // The job of this node is to provide to the MotorControler a linear and // angular velocity such that the robot avoids obstacles. It uses // Braitenberg's Aggression behavior and motor fusion. // These constants sum to 1 and provide the percentage that each sensor type contributes to the final // motorcommand constants = (Map<String, Double>) node.newParameterTree().getMap("comb_const"); // must say who I subscribe to. So get my subscriptions from the Parameter server @SuppressWarnings("unchecked") List<String> topics = (List<String>) node.newParameterTree().getList(node.getName() + "_subscriptions"); for (String topic : topics) { node.newSubscriber(topic, "MotorControlMsg/MotorCommand", this); } } catch (Exception e) { if (node != null) { node.getLog().fatal(e); } else { e.printStackTrace(); } } }
From source file:hadoopInstaller.installation.Installer.java
public MessageFormattingLog getLog() { if (this.log == null) { SimpleLog newLog = new SimpleLog(INSTALLER_NAME); newLog.setLevel(SimpleLog.LOG_LEVEL_INFO); this.log = new MessageFormattingLog(newLog); }/*from w w w .j a v a 2 s. c om*/ return this.log; }
From source file:net.ymate.platform.log.jcl.JCLoggerAdapter.java
public Log getLogger(String name) { if (YMP.get() != null && YMP.get().isInited() && Logs.get().isInited()) { return new JCLogger(LogManager.getLogger(name), Logs.get().getModuleCfg().allowOutputConsole()); }/*from w ww . ja va2s .c o m*/ return new SimpleLog(name); }
From source file:nonjsp.application.XulViewHandlerImpl.java
public UIViewRoot restoreView(FacesContext context, String viewId) { if (context == null) { throw new NullPointerException("RestoreView: FacesContext is null"); }//from w w w.j av a2s . com if (log.isTraceEnabled()) { log.trace("viewId: " + viewId); } UIViewRoot root = null; InputStream viewInput = null; RuleSetBase ruleSet = null; root = new UIViewRoot(); root.setRenderKitId(RenderKitFactory.HTML_BASIC_RENDER_KIT); if (null == viewId) { // PENDING(edburns): need name for default view // PENDING(rogerk) : what to specify for page url // (last parameter)???? root.setViewId("default"); context.setViewRoot(root); Locale locale = calculateLocale(context); root.setLocale(locale); return root; } try { viewInput = context.getExternalContext().getResourceAsStream(viewId); if (null == viewInput) { throw new NullPointerException(); } } catch (Throwable e) { throw new FacesException("Can't get stream for " + viewId, e); } // PENDING(edburns): can this digester instance be maintained as an // ivar? Digester digester = new Digester(); // SimpleLog implements the Log interface (from commons.logging). // This replaces deprecated "Digester.setDebug" method. // PENDING(rogerk) Perhaps the logging level should be configurable.. // For debugging, you can set the log level to // "SimpleLog.LOG_LEVEL_DEBUG". // SimpleLog sLog = new SimpleLog("digesterLog"); sLog.setLevel(SimpleLog.LOG_LEVEL_ERROR); digester.setLogger(sLog); digester.setNamespaceAware(true); digester.setValidating(validate); ruleSet = dialectProvider.getRuleSet(); digester.addRuleSet(ruleSet); if (validate) { for (int i = 0; i < registrations.length; i += 2) { URL url = this.getClass().getResource(registrations[i + 1]); if (url != null) { digester.register(registrations[i], url.toString()); } } } digester.push(root); try { root = (UIViewRoot) digester.parse(viewInput); } catch (Throwable e) { throw new FacesException("Can't parse stream for " + viewId, e); } //Print view for debugging if (log.isDebugEnabled()) { printView(root); } root.setViewId(viewId); context.setViewRoot(root); return root; }