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Merge pull request #208 from MissouriMRDT/feature/rovecomm-logger
Add RoveComm Logger
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -30,6 +30,7 @@ Contoller | |
| cpptools | ||
| cschlosser | ||
| CUDA | ||
| CURRENTLOG | ||
| CURRENTSTATE | ||
| deadband | ||
| debfile | ||
|
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||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -9,8 +9,11 @@ | |
| ******************************************************************************/ | ||
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| #include "AutonomyLogging.h" | ||
| #include "AutonomyNetworking.h" | ||
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| /// \cond | ||
| #include <RoveComm/RoveComm.h> | ||
| #include <RoveComm/RoveCommManifest.h> | ||
| #include <iostream> | ||
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| /// \endcond | ||
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@@ -30,6 +33,7 @@ namespace logging | |
| ///////////////////////////////////////// | ||
| quill::Logger* g_qFileLogger; | ||
| quill::Logger* g_qConsoleLogger; | ||
| quill::Logger* g_qRoveCommLogger; | ||
| quill::Logger* g_qSharedLogger; | ||
| std::string g_szProgramStartTimeString; | ||
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@@ -82,17 +86,22 @@ namespace logging | |
| std::filesystem::path szFullOutputPath = szFilePath / szFilenameWithExtension; | ||
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| // Create Handlers | ||
| std::shared_ptr<quill::Handler> qFileHandler = quill::rotating_file_handler(szFullOutputPath); | ||
| std::shared_ptr<quill::Handler> qConsoleHandler = quill::stdout_handler(); | ||
| std::shared_ptr<quill::Handler> qFileHandler = quill::rotating_file_handler(szFullOutputPath); | ||
| std::shared_ptr<quill::Handler> qConsoleHandler = quill::stdout_handler(); | ||
| std::shared_ptr<quill::Handler> qRoveCommHandler = quill::create_handler<RoveCommHandler>("RoveCommHandler"); | ||
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| // Configure Patterns | ||
| qFileHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)", // format | ||
| "%Y-%m-%d %H:%M:%S.%Qms", // timestamp format | ||
| quill::Timezone::GmtTime); // timestamp's timezone | ||
| qFileHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)", // format | ||
| "%Y-%m-%d %H:%M:%S.%Qms", // timestamp format | ||
| quill::Timezone::GmtTime); // timestamp's timezone | ||
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| qConsoleHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)", // format | ||
| "%Y-%m-%d %H:%M:%S.%Qms", // timestamp format | ||
| quill::Timezone::GmtTime); // timestamp's timezone | ||
| qConsoleHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)", // format | ||
| "%Y-%m-%d %H:%M:%S.%Qms", // timestamp format | ||
| quill::Timezone::GmtTime); // timestamp's timezone | ||
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| qRoveCommHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)", // format | ||
| "%Y-%m-%d %H:%M:%S.%Qms", // timestamp format | ||
| quill::Timezone::GmtTime); // timestamp's timezone | ||
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| // Enable Color Console | ||
| static_cast<quill::ConsoleHandler*>(qConsoleHandler.get())->enable_console_colours(); | ||
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@@ -109,20 +118,52 @@ namespace logging | |
| // Set Handler Filters | ||
| qFileHandler->add_filter(std::make_unique<LoggingFilter>("FileFilter", quill::LogLevel::TraceL3)); | ||
| qConsoleHandler->add_filter(std::make_unique<LoggingFilter>("ConsoleFilter", quill::LogLevel::Info)); | ||
| qRoveCommHandler->add_filter(std::make_unique<LoggingFilter>("RoveCommFilter", quill::LogLevel::Info)); | ||
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| // Create Loggers | ||
| g_qFileLogger = quill::create_logger("FILE_LOGGER", {qFileHandler}); | ||
| g_qConsoleLogger = quill::create_logger("CONSOLE_LOGGER", {qConsoleHandler}); | ||
| g_qSharedLogger = quill::create_logger("SHARED_LOGGER", {qFileHandler, qConsoleHandler}); | ||
| g_qFileLogger = quill::create_logger("FILE_LOGGER", {qFileHandler}); | ||
| g_qConsoleLogger = quill::create_logger("CONSOLE_LOGGER", {qConsoleHandler}); | ||
| g_qRoveCommLogger = quill::create_logger("ROVECOMM_LOGGER", {qRoveCommHandler}); | ||
| g_qSharedLogger = quill::create_logger("SHARED_LOGGER", {qFileHandler, qConsoleHandler, qRoveCommHandler}); | ||
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| // Set Base Logging Levels | ||
| g_qSharedLogger->set_log_level(quill::LogLevel::TraceL3); | ||
| g_qFileLogger->set_log_level(quill::LogLevel::TraceL3); | ||
| g_qConsoleLogger->set_log_level(quill::LogLevel::TraceL3); | ||
| g_qRoveCommLogger->set_log_level(quill::LogLevel::TraceL3); | ||
| g_qSharedLogger->set_log_level(quill::LogLevel::TraceL3); | ||
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| // Enable Backtrace | ||
| g_qFileLogger->init_backtrace(2, quill::LogLevel::Critical); | ||
| g_qConsoleLogger->init_backtrace(2, quill::LogLevel::Critical); | ||
| g_qRoveCommLogger->init_backtrace(2, quill::LogLevel::Critical); | ||
| g_qSharedLogger->init_backtrace(2, quill::LogLevel::Critical); | ||
| } | ||
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| /****************************************************************************** | ||
| * @brief This method should never be called by this codebase, it is called | ||
| * internally by the quill library. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| void RoveCommHandler::write(quill::fmt_buffer_t const& formatted_log_message, quill::TransitEvent const& log_event) | ||
| { | ||
| // Not using these. | ||
| (void) log_event; | ||
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| std::string szTemp{formatted_log_message.data(), formatted_log_message.size()}; | ||
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| // Construct a RoveComm packet with the logging data. | ||
| rovecomm::RoveCommPacket<char> stPacket; | ||
| stPacket.unDataId = manifest::Autonomy::TELEMETRY.find("CURRENTLOG")->second.DATA_ID; | ||
| stPacket.unDataCount = manifest::Autonomy::TELEMETRY.find("CURRENTLOG")->second.DATA_COUNT; | ||
| stPacket.eDataType = manifest::Autonomy::TELEMETRY.find("CURRENTLOG")->second.DATA_TYPE; | ||
| stPacket.vData = StringToVector({formatted_log_message.data(), formatted_log_message.size()}); | ||
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| // Send log command over RoveComm to BaseStation. | ||
| if (network::g_bRoveCommUDPStatus && network::g_bRoveCommTCPStatus) | ||
| { | ||
| network::g_pRoveCommUDPNode->SendUDPPacket(stPacket, "0.0.0.0", constants::ROVECOMM_OUTGOING_UDP_PORT); | ||
| } | ||
| } | ||
| } // namespace logging | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -18,6 +18,8 @@ | |
| #include <quill/Quill.h> | ||
| /// \endcond | ||
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| #include "./AutonomyConstants.h" | ||
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| #ifndef AUTONOMY_LOGGING_H | ||
| #define AUTONOMY_LOGGING_H | ||
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@@ -56,6 +58,7 @@ namespace logging | |
| extern quill::Logger* g_qFileLogger; | ||
| extern quill::Logger* g_qConsoleLogger; | ||
| extern quill::Logger* g_qSharedLogger; | ||
| extern quill::Logger* g_qRoveCommLogger; | ||
| extern std::string g_szProgramStartTimeString; | ||
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| ///////////////////////////////////////// | ||
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@@ -122,5 +125,79 @@ namespace logging | |
| } | ||
| }; | ||
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| ///////////////////////////////////////// | ||
| // Define namespace custom handler | ||
| ///////////////////////////////////////// | ||
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| /****************************************************************************** | ||
| * @brief This class serves as a container class for a custom logger type | ||
| * defined to send logging messages over RoveComm from Autonomy. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| class RoveCommHandler : public quill::Handler | ||
| { | ||
| private: | ||
| /****************************************************************************** | ||
| * @brief A utility function to convert a string to a vector that is no longer | ||
| * than 255 characters long. | ||
| * | ||
| * @param szString - The string to convert | ||
| * @return std::vector<char> - The string shown as a vector of characters. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| std::vector<char> StringToVector(const std::string& szString) | ||
| { | ||
| std::vector<char> result; | ||
| int length = std::min(static_cast<int>(szString.length()), 255); | ||
| result.reserve(length); | ||
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| for (int i = 0; i < length; ++i) | ||
| { | ||
| result.push_back(szString[i]); | ||
| } | ||
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| return result; | ||
| } | ||
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| public: | ||
| /****************************************************************************** | ||
| * @brief Construct a new RoveCommHandler object. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| RoveCommHandler() = default; | ||
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| /****************************************************************************** | ||
| * @brief Destroy the RoveCommHandler object. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| ~RoveCommHandler() override = default; | ||
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| /****************************************************************************** | ||
| * @brief This method should never be called by this codebase, it is called | ||
| * internally by the quill library. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| void write(quill::fmt_buffer_t const& formatted_log_message, quill::TransitEvent const& log_event) override; | ||
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| /****************************************************************************** | ||
| * @brief This method should never be called by this codebase, it is called | ||
| * internally by the quill library. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| void flush() noexcept override {} | ||
| }; | ||
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| } // namespace logging | ||
| #endif // AUTONOMY_LOGGING_H | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| /****************************************************************************** | ||
| * @brief Defines functions and objects used for Autonomy Networking | ||
| * | ||
| * @file AutonomyNetworking.cpp | ||
| * @author Eli Byrd ([email protected]), ClayJay3 ([email protected]) | ||
| * @date 2024-03-17 | ||
| * | ||
| * @copyright Copyright Mars Rover Design Team 2024 - All Rights Reserved | ||
| ******************************************************************************/ | ||
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| #include "AutonomyNetworking.h" | ||
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| /****************************************************************************** | ||
| * @brief Defines functions and objects used for Autonomy Networking | ||
| * | ||
| * @file AutonomyNetworking.cpp | ||
| * @author Eli Byrd ([email protected]), ClayJay3 ([email protected]) | ||
| * @date 2024-03-17 | ||
| * | ||
| * @copyright Copyright Mars Rover Design Team 2024 - All Rights Reserved | ||
| ******************************************************************************/ | ||
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| #include "AutonomyNetworking.h" | ||
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| /****************************************************************************** | ||
| * @brief Namespace containing all networking types/structs that will be used | ||
| * project wide. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| namespace network | ||
| { | ||
| // RoveComm Instances: | ||
| rovecomm::RoveCommUDP* g_pRoveCommUDPNode; | ||
| rovecomm::RoveCommTCP* g_pRoveCommTCPNode; | ||
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| // RoveComm Status: | ||
| bool g_bRoveCommUDPStatus = false; | ||
| bool g_bRoveCommTCPStatus = false; | ||
| } // namespace network |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| /****************************************************************************** | ||
| * @brief Defines functions and objects used for Autonomy Networking | ||
| * | ||
| * @file AutonomyNetworking.h | ||
| * @author Eli Byrd ([email protected]), ClayJay3 ([email protected]) | ||
| * @date 2024-03-17 | ||
| * | ||
| * @copyright Copyright Mars Rover Design Team 2024 - All Rights Reserved | ||
| ******************************************************************************/ | ||
|
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| /// \cond | ||
| #include <RoveComm/RoveComm.h> | ||
| #include <chrono> | ||
| #include <ctime> | ||
| #include <iostream> | ||
|
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| /// \endcond | ||
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| #ifndef AUTONOMY_NETWORKING_H | ||
| #define AUTONOMY_NETWORKING_H | ||
|
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| /****************************************************************************** | ||
| * @brief Namespace containing all networking types/structs that will be used | ||
| * project wide. | ||
| * | ||
| * @author Eli Byrd ([email protected]) | ||
| * @date 2024-03-17 | ||
| ******************************************************************************/ | ||
| namespace network | ||
| { | ||
| // RoveComm Instances: | ||
| extern rovecomm::RoveCommUDP* g_pRoveCommUDPNode; // Global RoveComm UDP Instance. | ||
| extern rovecomm::RoveCommTCP* g_pRoveCommTCPNode; // Global RoveComm TCP Instance. | ||
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| // RoveComm Status: | ||
| extern bool g_bRoveCommUDPStatus; | ||
| extern bool g_bRoveCommTCPStatus; | ||
| } // namespace network | ||
|
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| #endif // AUTONOMY_NETWORKING_H |
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