ros-noetic-rosgraph.patch

diff --git a/src/rosgraph/roslogging.py b/src/rosgraph/roslogging.py
index 9ecc121893..0a94b2bed3 100644
--- a/src/rosgraph/roslogging.py
+++ b/src/rosgraph/roslogging.py
@@ -50,32 +50,58 @@ from rospkg.environment import ROS_LOG_DIR
 class LoggingException(Exception): pass
 
 class RospyLogger(logging.getLoggerClass()):
-    def findCaller(self, *args, **kwargs):
+    # copied from python3.11/logging/__init__.py
+    # _srcfile is only used in conjunction with sys._getframe().
+    # Setting _srcfile to None will prevent findCaller() from being called. This
+    # way, you can avoid the overhead of fetching caller information.
+
+    # The following is based on warnings._is_internal_frame. It makes sure that
+    # frames of the import mechanism are skipped when logging at module level and
+    # using a stacklevel value greater than one.
+    @staticmethod
+    def _is_internal_frame(frame):
+        """Signal whether the frame is a CPython or logging module internal."""
+        filename = os.path.normcase(frame.f_code.co_filename)
+        return filename == logging._srcfile or (
+            "importlib" in filename and "_bootstrap" in filename
+        )
+
+
+    def findCaller(self, stack_info=False, stacklevel=1):
         """
         Find the stack frame of the caller so that we can note the source
         file name, line number, and function name with class name if possible.
         """
-        file_name, lineno, func_name = super(RospyLogger, self).findCaller(*args, **kwargs)[:3]
-        file_name = os.path.normcase(file_name)
-
-        f = inspect.currentframe()
-        if f is not None:
-            f = f.f_back
-        while hasattr(f, "f_code"):
-            # Search for the right frame using the data already found by parent class.
-            co = f.f_code
-            filename = os.path.normcase(co.co_filename)
-            if filename == file_name and f.f_lineno == lineno and co.co_name == func_name:
+
+
+        f = logging.currentframe()
+        #On some versions of IronPython, currentframe() returns None if
+        #IronPython isn't run with -X:Frames.
+        if f is None:
+            return "(unknown file)", 0, "(unknown function)", None
+        while stacklevel > 0:
+            next_f = f.f_back
+            if next_f is None:
+                ## We've got options here.
+                ## If we want to use the last (deepest) frame:
                 break
-            if f.f_back:
-                f = f.f_back
-
-        # Jump up two more frames, as the logger methods have been double wrapped.
-        if f is not None and f.f_back and f.f_code and f.f_code.co_name == '_base_logger':
-            f = f.f_back
-            if f.f_back:
-                f = f.f_back
+                ## If we want to mimic the warnings module:
+                #return ("sys", 1, "(unknown function)", None)
+                ## If we want to be pedantic:
+                #raise ValueError("call stack is not deep enough")
+            f = next_f
+            if not RospyLogger._is_internal_frame(f):
+                stacklevel -= 1
         co = f.f_code
+        sinfo = None
+        if stack_info:
+            with io.StringIO() as sio:
+                sio.write("Stack (most recent call last):\n")
+                traceback.print_stack(f, file=sio)
+                sinfo = sio.getvalue()
+                if sinfo[-1] == '\n':
+                    sinfo = sinfo[:-1]
+
         func_name = co.co_name
 
         # Now extend the function name with class name, if available.
@@ -85,11 +111,7 @@ class RospyLogger(logging.getLoggerClass()):
         except KeyError:  # if the function is unbound, there is no self.
             pass
 
-        if sys.version_info > (3, 2):
-            # Dummy last argument to match Python3 return type
-            return co.co_filename, f.f_lineno, func_name, None
-        else:
-            return co.co_filename, f.f_lineno, func_name
+        return co.co_filename, f.f_lineno, func_name, sinfo
 
 logging.setLoggerClass(RospyLogger)