Add RoveComm Logger

CMakeLists.txt

@@ -150,36 +150,37 @@ endif()
 ## Link Libraries to Executable
 target_link_libraries(${EXE_NAME} PRIVATE   Threads::Threads
 												Eigen3::Eigen
+                                                RoveComm_CPP
                                                 quill::quill
 												${OpenCV_LIBS}
                                                 ${GeographicLib_LIBRARIES}
                                                 ${ZED_LIBS} 
-                                                RoveComm_CPP
     )
 
 ## Package Executable
-install(TARGETS ${EXE_NAME} RUNTIME_DEPENDENCIES DIRECTORIES ${OpenCV_LIBS} ${GeographicLib_LIBRARIES} ${ZED_LIBS} quill::quill RoveComm_CPP RUNTIME DESTINATION bin)
+install(TARGETS ${EXE_NAME} RUNTIME_DEPENDENCIES DIRECTORIES RoveComm_CPP ${OpenCV_LIBS} ${GeographicLib_LIBRARIES} ${ZED_LIBS} quill::quill RUNTIME DESTINATION bin)
 
 ## Unit/Integration Tests
 file(GLOB_RECURSE UnitTests_SRC         CONFIGURE_DEPENDS  "tests/Unit/*.cc")
 file(GLOB_RECURSE IntegrationTests_SRC  CONFIGURE_DEPENDS  "tests/Integration/*.cc")
 file(GLOB_RECURSE Algorithms_SRC        CONFIGURE_DEPENDS  "src/algorithms/*.cpp")
-file(GLOB Logging_SRC			  	    CONFIGURE_DEPENDS  "src/AutonomyLogging.cpp")
+file(GLOB         Network_SRC			CONFIGURE_DEPENDS  "src/AutonomyNetworking.cpp")
+file(GLOB         Logging_SRC			CONFIGURE_DEPENDS  "src/AutonomyLogging.cpp")
 
 list(LENGTH UnitTests_SRC           UnitTests_LEN)
 list(LENGTH IntegrationTests_SRC    IntegrationTests_LEN)
 
 if (UnitTests_LEN GREATER 0)
-    add_executable(${EXE_NAME}_UnitTests ${UnitTests_SRC} ${Algorithms_SRC} ${Logging_SRC})
-    target_link_libraries(${EXE_NAME}_UnitTests GTest::gtest GTest::gtest_main quill::quill ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})
+    add_executable(${EXE_NAME}_UnitTests ${UnitTests_SRC} ${Algorithms_SRC} ${Network_SRC} ${Logging_SRC})
+    target_link_libraries(${EXE_NAME}_UnitTests GTest::gtest GTest::gtest_main RoveComm_CPP quill::quill ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})
     add_test(Unit_Tests ${EXE_NAME}_UnitTests)
 else()
     message("No Unit Tests!")
 endif()
 
 if (IntegrationTests_LEN GREATER 0)
-    add_executable(${EXE_NAME}_IntegrationTests ${IntegrationTests_SRC} ${Algorithms_SRC} ${Logging_SRC})
-    target_link_libraries(${EXE_NAME}_IntegrationTests GTest::gtest GTest::gtest_main quill::quill ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})
+    add_executable(${EXE_NAME}_IntegrationTests ${IntegrationTests_SRC} ${Algorithms_SRC} ${Network_SRC} ${Logging_SRC})
+    target_link_libraries(${EXE_NAME}_IntegrationTests GTest::gtest GTest::gtest_main RoveComm_CPP quill::quill ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})
     add_test(Integration_Tests ${EXE_NAME}_IntegrationTests)
 else()
     message("No Integration Tests!")

data/Custom_Dictionaries/Autonomy-Dictionary.txt

@@ -30,6 +30,7 @@ Contoller
 cpptools
 cschlosser
 CUDA
+CURRENTLOG
 CURRENTSTATE
 deadband
 debfile

src/AutonomyGlobals.cpp

@@ -43,8 +43,4 @@ namespace globals
     DriveBoard* g_pDriveBoard;
     MultimediaBoard* g_pMultimediaBoard;
     NavigationBoard* g_pNavigationBoard;
-
-    // RoveComm Instances:
-    rovecomm::RoveCommUDP* g_pRoveCommUDPNode;
-    rovecomm::RoveCommTCP* g_pRoveCommTCPNode;
 }    // namespace globals

src/AutonomyGlobals.h

@@ -21,7 +21,6 @@
 #include "handlers/WaypointHandler.h"
 
 /// \cond
-#include <RoveComm/RoveComm.h>
 #include <chrono>
 #include <ctime>
 #include <iostream>
@@ -60,10 +59,6 @@ namespace globals
     extern DriveBoard* g_pDriveBoard;              // Global Drive Board Driver
     extern MultimediaBoard* g_pMultimediaBoard;    // Global Multimedia Board Driver
     extern NavigationBoard* g_pNavigationBoard;    // Global Navigation Board Driver
-
-    // RoveComm Instances:
-    extern rovecomm::RoveCommUDP* g_pRoveCommUDPNode;    // Global RoveComm UDP Instance.
-    extern rovecomm::RoveCommTCP* g_pRoveCommTCPNode;    // Global RoveComm TCP Instance.
 }    // namespace globals
 
 #endif    // AUTONOMY_GLOBALS_H

src/AutonomyLogging.cpp

@@ -9,8 +9,11 @@
  ******************************************************************************/
 
 #include "AutonomyLogging.h"
+#include "AutonomyNetworking.h"
 
 /// \cond
+#include <RoveComm/RoveComm.h>
+#include <RoveComm/RoveCommManifest.h>
 #include <iostream>
 
 /// \endcond
@@ -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;
 
@@ -82,17 +86,22 @@ namespace logging
         std::filesystem::path szFullOutputPath = szFilePath / szFilenameWithExtension;
 
         // 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");
 
         // 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
 
-        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
+
+        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
 
         // Enable Color Console
         static_cast<quill::ConsoleHandler*>(qConsoleHandler.get())->enable_console_colours();
@@ -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));
 
         // 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});
 
         // 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);
 
         // 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);
     }
+
+    /******************************************************************************
+     * @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;
+
+        std::string szTemp{formatted_log_message.data(), formatted_log_message.size()};
+
+        // 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()});
+
+        // 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

src/AutonomyLogging.h

@@ -18,6 +18,8 @@
 #include <quill/Quill.h>
 /// \endcond
 
+#include "./AutonomyConstants.h"
+
 #ifndef AUTONOMY_LOGGING_H
 #define AUTONOMY_LOGGING_H
 
@@ -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;
 
     /////////////////////////////////////////
@@ -122,5 +125,79 @@ namespace logging
             }
     };
 
+    /////////////////////////////////////////
+    // Define namespace custom handler
+    /////////////////////////////////////////
+
+    /******************************************************************************
+     * @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);
+
+                for (int i = 0; i < length; ++i)
+                {
+                    result.push_back(szString[i]);
+                }
+
+                return result;
+            }
+
+        public:
+            /******************************************************************************
+             * @brief Construct a new RoveCommHandler object.
+             *
+             * @author Eli Byrd ([email protected])
+             * @date 2024-03-17
+             ******************************************************************************/
+            RoveCommHandler() = default;
+
+            /******************************************************************************
+             * @brief Destroy the RoveCommHandler object.
+             *
+             * @author Eli Byrd ([email protected])
+             * @date 2024-03-17
+             ******************************************************************************/
+            ~RoveCommHandler() override = default;
+
+            /******************************************************************************
+             * @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;
+
+            /******************************************************************************
+             * @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 {}
+    };
+
 }    // namespace logging
 #endif    // AUTONOMY_LOGGING_H

src/AutonomyNetworking.cpp

@@ -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
+ ******************************************************************************/
+
+#include "AutonomyNetworking.h"
+
+/******************************************************************************
+ * @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
+ ******************************************************************************/
+
+#include "AutonomyNetworking.h"
+
+/******************************************************************************
+ * @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;
+
+    // RoveComm Status:
+    bool g_bRoveCommUDPStatus = false;
+    bool g_bRoveCommTCPStatus = false;
+}    // namespace network

src/AutonomyNetworking.h

@@ -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
+ ******************************************************************************/
+
+/// \cond
+#include <RoveComm/RoveComm.h>
+#include <chrono>
+#include <ctime>
+#include <iostream>
+
+/// \endcond
+
+#ifndef AUTONOMY_NETWORKING_H
+#define AUTONOMY_NETWORKING_H
+
+/******************************************************************************
+ * @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.
+
+    // RoveComm Status:
+    extern bool g_bRoveCommUDPStatus;
+    extern bool g_bRoveCommTCPStatus;
+}    // namespace network
+
+#endif    // AUTONOMY_NETWORKING_H