add mot (#83)
* add mot * update libero example * translate zh to en * fix load model from hf * lint * lint --------- Co-authored-by: yangping <yangping@x2robot.com>
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suolyer
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"""
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Hierarchical Inference Logging System
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Level structure:
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- ENV: Environment layer (RealRobotEnv)
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- ROBOT: Robot layer (Robot subclasses)
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- CONTROLLER: Controller layer (RobotController, RobotCommunication)
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- MODEL: Model layer (WallxModelWrapper)
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- UTILS: Utility layer (various utility classes)
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Usage examples:
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# Method 1: Auto-detect level
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from wall_x.infer.logger import get_logger
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logger = get_logger(__name__)
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logger.info("This is an info message")
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# Method 2: Manually specify level
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logger = get_logger(__name__, "ROBOT")
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logger.debug("Robot state updated")
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# Method 3: Use shortcut methods
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from wall_x.infer.logger import InferLogger
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logger = InferLogger.get_robot_logger("DesktopRobot")
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logger.warning("Action out of bounds")
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"""
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import logging
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import sys
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from typing import Optional
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from pathlib import Path
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from datetime import datetime
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try:
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import colorlog
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HAS_COLORLOG = True
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except ImportError:
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HAS_COLORLOG = False
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print("[WARNING] colorlog not installed. Install with: pip install colorlog")
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class InferLogger:
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"""
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Hierarchical inference logging system
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"""
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_loggers = {}
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_initialized = False
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# Level definitions
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LEVEL_ENV = "ENV"
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LEVEL_ROBOT = "ROBOT"
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LEVEL_CONTROLLER = "CONTROLLER"
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LEVEL_MODEL = "MODEL"
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LEVEL_UTILS = "UTILS"
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# Level color mapping (for terminal output)
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LEVEL_COLORS = {
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LEVEL_ENV: "cyan",
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LEVEL_ROBOT: "green",
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LEVEL_CONTROLLER: "yellow",
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LEVEL_MODEL: "purple", # colorlog uses 'purple' not 'magenta'
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LEVEL_UTILS: "blue",
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}
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@classmethod
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def setup(
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cls,
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log_level: str = "INFO",
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log_dir: Optional[str] = None,
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console_output: bool = True,
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file_output: bool = True,
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colorful: bool = True,
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):
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"""
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Initialize the logging system
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Args:
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log_level: Log level (DEBUG, INFO, WARNING, ERROR, CRITICAL)
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log_dir: Log file directory
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console_output: Whether to output to console
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file_output: Whether to output to file
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colorful: Whether to use colorful output (requires colorlog)
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"""
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if cls._initialized:
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return
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cls.log_level = getattr(logging, log_level.upper())
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cls.console_output = console_output
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cls.file_output = file_output
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cls.colorful = colorful and HAS_COLORLOG
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# Create log directory
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if file_output and log_dir:
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cls.log_dir = Path(log_dir)
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cls.log_dir.mkdir(parents=True, exist_ok=True)
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timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
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cls.log_file = cls.log_dir / f"infer_{timestamp}.log"
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else:
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cls.log_file = None
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cls._initialized = True
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@classmethod
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def get_logger(cls, name: str, level: str = None) -> logging.Logger:
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"""
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Get logger for specified level
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Args:
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name: Logger name (usually module name or class name)
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level: Level identifier (ENV, ROBOT, CONTROLLER, MODEL, UTILS)
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Returns:
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Configured logger instance
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"""
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if not cls._initialized:
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cls.setup()
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# Auto-detect level
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if level is None:
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level = cls._detect_level(name)
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logger_key = f"{level}.{name}"
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if logger_key in cls._loggers:
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return cls._loggers[logger_key]
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# Create new logger
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logger = logging.getLogger(logger_key)
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logger.setLevel(cls.log_level)
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logger.propagate = False
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# Clear existing handlers
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logger.handlers.clear()
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# Console output
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if cls.console_output:
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console_handler = logging.StreamHandler(sys.stdout)
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console_handler.setLevel(cls.log_level)
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if cls.colorful:
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# Colorful formatting
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color = cls.LEVEL_COLORS.get(level, "white")
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console_format = (
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f"%(log_color)s[%(asctime)s]%(reset)s "
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f"%(bold_{color})s[{level:^10}]%(reset)s "
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f"%(bold_white)s[%(name)s]%(reset)s "
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f"%(log_color)s%(levelname)-8s%(reset)s "
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f"%(message)s"
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)
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console_formatter = colorlog.ColoredFormatter(
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console_format,
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datefmt="%H:%M:%S",
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log_colors={
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"DEBUG": "cyan",
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"INFO": "green",
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"WARNING": "yellow",
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"ERROR": "red",
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"CRITICAL": "bold_red",
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},
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)
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else:
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# Plain formatting
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console_format = (
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f"[%(asctime)s] [{level:^10}] [%(name)s] "
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f"%(levelname)-8s %(message)s"
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)
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console_formatter = logging.Formatter(
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console_format, datefmt="%H:%M:%S"
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)
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console_handler.setFormatter(console_formatter)
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logger.addHandler(console_handler)
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# File output
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if cls.file_output and cls.log_file:
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file_handler = logging.FileHandler(cls.log_file, encoding="utf-8")
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file_handler.setLevel(cls.log_level)
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file_format = (
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f"[%(asctime)s] [{level:^10}] [%(name)s] "
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f"%(levelname)-8s %(message)s"
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)
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file_formatter = logging.Formatter(file_format, datefmt="%Y-%m-%d %H:%M:%S")
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file_handler.setFormatter(file_formatter)
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logger.addHandler(file_handler)
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cls._loggers[logger_key] = logger
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return logger
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@classmethod
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def _detect_level(cls, name: str) -> str:
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"""Auto-detect level based on name"""
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name_lower = name.lower()
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if "env" in name_lower:
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return cls.LEVEL_ENV
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elif "robot" in name_lower and "controller" not in name_lower:
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return cls.LEVEL_ROBOT
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elif (
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"controller" in name_lower
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or "communication" in name_lower
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or "socket" in name_lower
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):
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return cls.LEVEL_CONTROLLER
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elif "model" in name_lower or "wrapper" in name_lower:
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return cls.LEVEL_MODEL
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else:
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return cls.LEVEL_UTILS
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@classmethod
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def get_env_logger(cls, name: str = "Environment") -> logging.Logger:
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"""Get environment layer logger"""
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return cls.get_logger(name, cls.LEVEL_ENV)
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@classmethod
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def get_robot_logger(cls, name: str = "Robot") -> logging.Logger:
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"""Get robot layer logger"""
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return cls.get_logger(name, cls.LEVEL_ROBOT)
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@classmethod
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def get_controller_logger(cls, name: str = "Controller") -> logging.Logger:
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"""Get controller layer logger"""
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return cls.get_logger(name, cls.LEVEL_CONTROLLER)
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@classmethod
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def get_model_logger(cls, name: str = "Model") -> logging.Logger:
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"""Get model layer logger"""
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return cls.get_logger(name, cls.LEVEL_MODEL)
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@classmethod
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def get_utils_logger(cls, name: str = "Utils") -> logging.Logger:
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"""Get utility layer logger"""
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return cls.get_logger(name, cls.LEVEL_UTILS)
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@classmethod
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def set_level(cls, level: str):
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"""Dynamically modify log level for all loggers"""
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new_level = getattr(logging, level.upper())
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cls.log_level = new_level
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for logger in cls._loggers.values():
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logger.setLevel(new_level)
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for handler in logger.handlers:
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handler.setLevel(new_level)
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@classmethod
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def close_all(cls):
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"""Close file handles for all loggers"""
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for logger in cls._loggers.values():
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for handler in logger.handlers[:]:
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handler.close()
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logger.removeHandler(handler)
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cls._loggers.clear()
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cls._initialized = False
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# Convenience functions
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def get_logger(name: str, level: str = None) -> logging.Logger:
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"""
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Convenience function to get logger
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Args:
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name: Logger name (usually use __name__)
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level: Level identifier (optional, will auto-detect)
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Returns:
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Configured logger instance
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Usage examples:
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from wall_x.infer.logger import get_logger
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logger = get_logger(__name__) # Auto-detect level
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logger = get_logger(__name__, "ROBOT") # Manually specify level
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"""
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return InferLogger.get_logger(name, level)
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def setup_logger(
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log_level: str = "INFO",
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log_dir: Optional[str] = None,
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console_output: bool = True,
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file_output: bool = True,
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colorful: bool = True,
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):
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"""
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Convenience function to setup logging system
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Args:
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log_level: Log level (DEBUG, INFO, WARNING, ERROR, CRITICAL)
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log_dir: Log file directory
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console_output: Whether to output to console
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file_output: Whether to output to file
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colorful: Whether to use colorful output
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Usage examples:
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from wall_x.infer.logger import setup_logger
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setup_logger(log_level="DEBUG", log_dir="./logs")
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"""
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InferLogger.setup(log_level, log_dir, console_output, file_output, colorful)
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