replaced prints with python logger to comply with carb.

src/terrain_management/large_scale_terrain/crater_distribution.py

@@ -12,8 +12,12 @@
 import dataclasses
 import numpy as np
 import colorsys
+import logging
 import pickle
 
+logger = logging.getLogger(__name__)
+logging.basicConfig(format="%(asctime)s %(message)s", datefmt="%m/%d/%Y %I:%M:%S %p")
+
 from src.terrain_management.large_scale_terrain.utils import BoundingBox, CraterMetadata
 from src.terrain_management.large_scale_terrain.crater_database import CraterDB
 
@@ -344,7 +348,7 @@ def build(self) -> None:
         spline profiles are generated only once and cached inside the database.
         """
 
-        print("Warming up crater generation...")
+        logger.debug("Warming up crater generation...")
         self.generate_deformation_profiles()
         self.generate_marking_profiles()
         self.load_profiles()
@@ -384,7 +388,7 @@ def generate_deformation_profiles(self) -> None:
         Generates the deformation profiles for the craters.
         """
 
-        print("Pre-generating crater deformation profiles")
+        logger.debug("Pre-generating crater deformation profiles")
         for i in range(self.settings.num_unique_profiles):
             deformation_profile = self._rng.uniform(0.95, 1, 9)
             deformation_profile = np.concatenate([deformation_profile, [deformation_profile[0]]], axis=0)
@@ -396,7 +400,7 @@ def generate_marking_profiles(self) -> None:
         Generates the marking profiles for the craters.
         """
 
-        print("Pre-generating crater marking profiles")
+        logger.debug("Pre-generating crater marking profiles")
         for i in range(self.settings.num_unique_profiles):
             # Generates a profile to add marks that converges toward the center of the crater
             marks_profile = self._rng.uniform(0.0, 0.01, 45)
@@ -409,7 +413,7 @@ def load_profiles(self) -> None:
         Loads the half crater spline profiles from a pickle file.
         """
 
-        print("Loading crater profiles")
+        logger.debug("Loading crater profiles")
         with open(self.settings.profiles_path, "rb") as handle:
             self.crater_profiles = pickle.load(handle)
 

src/terrain_management/large_scale_terrain/geometry_clipmaps_numba.py

@@ -8,6 +8,10 @@
 
 import numba as nb
 import numpy as np
+import logging
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(format="%(asctime)s %(message)s", datefmt="%m/%d/%Y %I:%M:%S %p")
 
 point3 = nb.types.UniTuple(nb.types.float32, 3)
 point2 = nb.types.UniTuple(nb.types.float32, 2)
@@ -143,15 +147,15 @@ def _build_mesh(start_level, num_levels, meshBaseLODExtentHeightfieldTexels):
         coordinates, and list of indices in the mesh backbone.
     """
 
-    print("Building the mesh backbone, this may take time...")
+    logger.info("Building the mesh backbone, this may take time...")
     points = nb.typed.List.empty_list(point3)
     uvs = nb.typed.List.empty_list(point2)
     indices = nb.typed.List.empty_list(nb.types.int32)
     prev_indices = nb.typed.Dict.empty(key_type=point2, value_type=nb.types.int32)
     new_indices = nb.typed.Dict.empty(key_type=point2, value_type=nb.types.int32)
     index_count = 0
     for level in range(start_level, num_levels):
-        print("Generating level " + str(level + 1) + " out of " + str(num_levels) + "...")
+        logger.info("Generating level " + str(level + 1) + " out of " + str(num_levels) + "...")
         step = 1 << level
         if level == 0:
             prevStep = 0

src/terrain_management/large_scale_terrain/map_manager.py

@@ -9,12 +9,15 @@
 from typing import Tuple
 import dataclasses
 import numpy as np
-import warnings
+import logging
 import math
 import yaml
 import time
 import os
 
+logger = logging.getLogger(__name__)
+logging.basicConfig(format="%(asctime)s %(message)s", datefmt="%m/%d/%Y %I:%M:%S %p")
+
 from src.terrain_management.large_scale_terrain.high_resolution_DEM_generator import (
     HighResDEMGen,
 )
@@ -61,15 +64,22 @@ class MapManager:
     interract with the DEMs.
     """
 
-    def __init__(self, map_manager_settings: MapManagerConf, is_simulation_alive: callable = lambda: True) -> None:
+    def __init__(
+        self,
+        map_manager_settings: MapManagerConf,
+        is_simulation_alive: callable = lambda: True,
+        close_simulation: callable = lambda: None,
+    ) -> None:
         """
         Args:
             map_manager_settings (MapManagerConf): settings for the map manager.
             is_simulation_alive (callable): function to check if the simulation is alive.
+            close_simulation (callable): function to close the simulation.
         """
 
         self.hr_dem_settings = map_manager_settings.hrdem_settings
         self.is_simulation_alive = is_simulation_alive
+        self.close_simulation = close_simulation
         self.settings = map_manager_settings
         self.lr_dem = None
 
@@ -112,18 +122,18 @@ def fetch_pregenerated_lr_dems(self) -> None:
                 if os.path.exists(dem_path):
                     self.dem_paths[folder] = dem_path
                 else:
-                    warnings.warn(
+                    logger.warn(
                         f"DEM {dem_path} does not exist. Expected to find dem.npy in the folder but could not find it."
                     )
                 if os.path.exists(dem_info_path):
                     with open(dem_info_path, "r") as file:
                         self.dem_infos[folder] = DemInfo(**yaml.safe_load(file))
                 else:
-                    warnings.warn(
+                    logger.warn(
                         f"DEM info {dem_info_path} does not exist. Expected to find dem.yaml in the folder but could not find it."
                     )
             else:
-                warnings.warn(f"Folder {folder} is not a directory.")
+                logger.warn(f"Folder {folder} is not a directory.")
 
     def load_lr_dem_by_name(self, name: str) -> None:
         """
@@ -140,13 +150,18 @@ def load_lr_dem_by_name(self, name: str) -> None:
             else:
                 raise ValueError(f"DEM info {name} does not exist in the folder path {self.settings.folder_path}")
         else:
-            warnings.warn(f"DEM {name} does not exist in the folder path {self.settings.folder_path}")
+            logger.warn(f"DEM {name} does not exist in the folder path {self.settings.folder_path}")
 
         # Override the source resolution
         lr_dem_res = self.lr_dem_info.pixel_size[0]
         self.hr_dem_settings.high_res_dem_cfg.source_resolution = lr_dem_res
         self.hr_dem_settings.interpolator_cfg.source_resolution = lr_dem_res
-        self.hr_dem_gen = HighResDEMGen(self.lr_dem, self.hr_dem_settings)
+        self.hr_dem_gen = HighResDEMGen(
+            self.lr_dem,
+            self.hr_dem_settings,
+            is_simulation_alive=self.is_simulation_alive,
+            close_simulation=self.close_simulation,
+        )
 
     def load_lr_dem_by_path(self, path: str) -> None:
         """
@@ -168,7 +183,12 @@ def load_lr_dem_by_path(self, path: str) -> None:
         lr_dem_res = self.lr_dem_info.pixel_size[0]
         self.hr_dem_settings.high_res_dem_cfg.source_resolution = lr_dem_res
         self.hr_dem_settings.interpolator_cfg.source_resolution = lr_dem_res
-        self.hr_dem_gen = HighResDEMGen(self.lr_dem, self.hr_dem_settings)
+        self.hr_dem_gen = HighResDEMGen(
+            self.lr_dem,
+            self.hr_dem_settings,
+            is_simulation_alive=self.is_simulation_alive,
+            close_simulation=self.close_simulation,
+        )
 
     def load_lr_dem_by_id(self, id: int) -> None:
         """
@@ -179,7 +199,7 @@ def load_lr_dem_by_id(self, id: int) -> None:
             id (int): id of the DEM to load.
         """
 
-        warnings.warn("load_lr_dem_by_id is a legacy method and should not be used. Use load_lr_dem_by_name instead.")
+        logger.warn("load_lr_dem_by_id is a legacy method and should not be used. Use load_lr_dem_by_name instead.")
         if id in list(range(len(self.dem_paths.keys()))):
             key = list(self.dem_paths.keys())[id]
             self.lr_dem = self.load(self.dem_paths[key])
@@ -193,7 +213,12 @@ def load_lr_dem_by_id(self, id: int) -> None:
         lr_dem_res = self.lr_dem_info.pixel_size[0]
         self.hr_dem_settings.high_res_dem_cfg.source_resolution = lr_dem_res
         self.hr_dem_settings.interpolator_cfg.source_resolution = lr_dem_res
-        self.hr_dem_gen = HighResDEMGen(self.lr_dem, self.hr_dem_settings)
+        self.hr_dem_gen = HighResDEMGen(
+            self.lr_dem,
+            self.hr_dem_settings,
+            is_simulation_alive=self.is_simulation_alive,
+            close_simulation=self.close_simulation,
+        )
 
     def generate_procedural_lr_dem(self):
         """
@@ -374,13 +399,13 @@ def initialize_hr_dem(self, coordinates: Tuple[float, float]) -> None:
             coordinates (Tuple[float,float]): coordinates in meters.
         """
 
-        print("Initializing HR DEM")
+        logger.info("Initializing HR DEM")
         start = time.time()
         self.update_hr_dem(coordinates)
         while not self.is_hr_dem_updated():
             time.sleep(0.1)
         end = time.time()
-        print(f"HR DEM initialized in {end - start} seconds")
+        logger.info(f"HR DEM initialized in {end - start} seconds")
 
     def is_hr_dem_updated(self) -> bool:
         """

src/terrain_management/large_scale_terrain/rock_manager.py

@@ -10,7 +10,7 @@
 import numpy as np
 import dataclasses
 import threading
-import warnings
+import logging
 import time
 import os
 
@@ -30,6 +30,9 @@
 
 from pxr import UsdGeom, Gf, Usd, Vt, Sdf
 
+logger = logging.getLogger(__name__)
+logging.basicConfig(format="%(asctime)s %(message)s", datefmt="%m/%d/%Y %I:%M:%S %p")
+
 
 class Instancer:
     """
@@ -99,9 +102,9 @@ def load_material(self):
             self.material_path = load_material(self.texture_name, self.texture_path)
             self.apply_material = True
         elif (self.texture_name is not None) and (self.texture_path is None):
-            warnings.warn("Texture path not provided. Material will not be loaded.")
+            logger.warn("Texture path not provided. Material will not be loaded.")
         elif (self.texture_name is None) and (self.texture_path is not None):
-            warnings.warn("Texture name not provided. Material will not be loaded.")
+            logger.warn("Texture name not provided. Material will not be loaded.")
 
     def apply_semantic_label(self, prim_path: Usd.Prim):
         prim_sd = PrimSemanticData(self.stage.GetPrimAtPath(prim_path))
@@ -156,7 +159,7 @@ def set_instancer_parameters(
         try:
             self.update_extent()
         except Exception as e:
-            print("Error updating extent", e)
+            logger.warn("Error updating extent", e)
 
     def update_extent(self) -> None:
         """
@@ -244,9 +247,9 @@ def load_material(self):
             self.material_path = load_material(self.texture_name, self.texture_path)
             self.apply_material = True
         elif (self.texture_name is not None) and (self.texture_path is None):
-            warnings.warn("Texture path not provided. Material will not be loaded.")
+            logger.warn("Texture path not provided. Material will not be loaded.")
         elif (self.texture_name is None) and (self.texture_path is not None):
-            warnings.warn("Texture name not provided. Material will not be loaded.")
+            logger.warn("Texture name not provided. Material will not be loaded.")
 
     def apply_semantic_label(self, prim_path: Usd.Prim):
         prim_sd = PrimSemanticData(self.stage.GetPrimAtPath(prim_path))
@@ -424,9 +427,9 @@ def load_material(self):
             self.material_path = load_material(self.texture_name, self.texture_path)
             self.apply_material = True
         elif (self.texture_name is not None) and (self.texture_path is None):
-            warnings.warn("Texture path not provided. Material will not be loaded.")
+            logger.warn("Texture path not provided. Material will not be loaded.")
         elif (self.texture_name is None) and (self.texture_path is not None):
-            warnings.warn("Texture name not provided. Material will not be loaded.")
+            logger.warn("Texture name not provided. Material will not be loaded.")
 
     def apply_semantic_label(self, prim_path: Usd.Prim):
         prim_sd = PrimSemanticData(self.stage.GetPrimAtPath(prim_path))

src/terrain_management/large_scale_terrain/utils.py

@@ -11,9 +11,13 @@
 import dataclasses
 import numpy as np
 import threading
+import logging
 import time
 import zfpy
 
+logger = logging.getLogger(__name__)
+logging.basicConfig(format="%(asctime)s %(message)s", datefmt="%m/%d/%Y %I:%M:%S %p")
+
 
 @dataclasses.dataclass
 class BoundingBox:
@@ -149,6 +153,6 @@ def __exit__(self, exc_type, exc_value, traceback):
             # If we are back to the outermost level, print all accumulated messages
             if self._thread_local_data.nesting_level == 0:
                 for msg in self._thread_local_data.messages:
-                    print(msg)
+                    logger.info(msg)
                 # Clear the message stack
                 self._thread_local_data.messages.clear()

src/terrain_management/large_scale_terrain_manager.py

@@ -33,9 +33,11 @@ def __init__(
         self,
         settings: LargeScaleTerrainConf,
         is_simulation_alive: callable = lambda: True,
+        close_simulation: callable = lambda: None,
     ):
         self.settings = settings
         self.is_simulation_alive = is_simulation_alive
+        self.close_simulation = close_simulation
         self.last_update_coordinates = None
 
     def build_configs(self):
@@ -51,7 +53,9 @@ def build_managers(self):
         self.build_rock_manager()
 
     def build_map_manager(self):
-        self.map_manager = MapManager(self.mapmanager_cfg, is_simulation_alive = self.is_simulation_alive)
+        self.map_manager = MapManager(
+            self.mapmanager_cfg, is_simulation_alive=self.is_simulation_alive, close_simulation=self.close_simulation
+        )
         self.map_manager.load_lr_dem_by_name(self.settings.lr_dem_name)
         self.map_manager.initialize_hr_dem(self.settings.starting_position)