From 87edc7a14998f609d6651793d6eceb5b8c3218cc Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 19 Oct 2022 10:09:17 +0200
Subject: [PATCH 1/2] Add custom logging support

---
 src/rod/__init__.py |  1 +
 src/rod/logging.py  | 82 +++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 83 insertions(+)
 create mode 100644 src/rod/logging.py

diff --git a/src/rod/__init__.py b/src/rod/__init__.py
index 4a79c48..3f7cce9 100644
--- a/src/rod/__init__.py
+++ b/src/rod/__init__.py
@@ -1,3 +1,4 @@
+from . import logging
 from .collision import Collision
 from .common import Pose, Xyz
 from .geometry import (
diff --git a/src/rod/logging.py b/src/rod/logging.py
new file mode 100644
index 0000000..bd70791
--- /dev/null
+++ b/src/rod/logging.py
@@ -0,0 +1,82 @@
+import enum
+import logging
+from typing import Union
+
+import coloredlogs
+
+LOGGER_NAME = "rod"
+
+
+class LoggingLevel(enum.IntEnum):
+
+    NOTSET = logging.NOTSET
+    DEBUG = logging.DEBUG
+    INFO = logging.INFO
+    WARNING = logging.WARNING
+    ERROR = logging.ERROR
+    CRITICAL = logging.CRITICAL
+
+
+def _logger() -> logging.Logger:
+
+    return logging.getLogger(name=LOGGER_NAME)
+
+
+def set_logging_level(level: Union[int, LoggingLevel] = LoggingLevel.WARNING):
+
+    if isinstance(level, int):
+        level = LoggingLevel(level)
+
+    _logger().setLevel(level=level.value)
+
+
+def get_logging_level() -> LoggingLevel:
+
+    level = _logger().getEffectiveLevel()
+    return LoggingLevel(level)
+
+
+def configure(level: LoggingLevel = LoggingLevel.WARNING) -> None:
+
+    info(f"Configuring the '{LOGGER_NAME}' logger")
+
+    handler = logging.StreamHandler()
+    fmt = "%(name)s[%(process)d] %(levelname)s %(message)s"
+    handler.setFormatter(fmt=coloredlogs.ColoredFormatter(fmt=fmt))
+    _logger().addHandler(hdlr=handler)
+
+    # Workaround for double logging caused by abseil handlers
+    # https://github.com/abseil/abseil-py/issues/99
+    _logger().propagate = False
+
+    set_logging_level(level=level)
+
+
+def debug(msg: str = "") -> None:
+
+    _logger().debug(msg=msg)
+
+
+def info(msg: str = "") -> None:
+
+    _logger().info(msg=msg)
+
+
+def warning(msg: str = "") -> None:
+
+    _logger().warning(msg=msg)
+
+
+def error(msg: str = "") -> None:
+
+    _logger().error(msg=msg)
+
+
+def critical(msg: str = "") -> None:
+
+    _logger().critical(msg=msg)
+
+
+def exception(msg: str = "") -> None:
+
+    _logger().exception(msg=msg)

From b81fc179bcb6b283493944b3417f3e260e71f45a Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 19 Oct 2022 10:21:24 +0200
Subject: [PATCH 2/2] Add coloredlogs dependency

---
 setup.cfg | 1 +
 1 file changed, 1 insertion(+)

diff --git a/setup.cfg b/setup.cfg
index c5717d9..fdc3a8d 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -55,6 +55,7 @@ package_dir =
     =src
 python_requires = >=3.8
 install_requires =
+    coloredlogs
     mashumaro
     numpy
     packaging