builds

hytech-racing · Nov 14, 2024 · 49101e1 · 49101e1
2 parents 2195db3 + a6c19be
commit 49101e1
Show file tree

Hide file tree

Showing 13 changed files with 99 additions and 76 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,6 +8,9 @@ set(CMAKE_INCLUDE_HEADERS_IN_COMPILE_COMMANDS ON)
 ### just like "include what you use" and do "find what you use"
 
 ## hytech's upstream libraries
+find_package(fmt REQUIRED)
+find_package(spdlog REQUIRED)
+
 
 
 ### generated via nix-proto from hytech's generated CAN protobufs
@@ -49,7 +52,6 @@ include(create_package)
 # created libraries #
 #####################
 
-
 # utils
 add_library(drivebrain_common_utils SHARED 
     drivebrain_core_impl/drivebrain_common_utils/src/ProtobufUtils.cpp
@@ -62,6 +64,7 @@ target_include_directories(drivebrain_common_utils PUBLIC
 
 target_link_libraries(drivebrain_common_utils PUBLIC
     protobuf::libprotobuf
+    spdlog::spdlog
 )
 
 make_cmake_package(drivebrain_common_utils drivebrain)
@@ -100,6 +103,7 @@ target_link_libraries(drivebrain_comms PUBLIC
     db_service_grpc_cpp::db_service_grpc_cpp
     libvncxx::libvncxx
     drivebrain_estimation
+    spdlog::spdlog
 )
 
 make_cmake_package(drivebrain_comms drivebrain)
@@ -262,4 +266,3 @@ install(TARGETS
         alpha_build
     RUNTIME 
         DESTINATION ${CMAKE_INSTALL_BINDIR})
-
diff --git a/db-core.nix b/db-core.nix
@@ -1,7 +1,7 @@
-{ pkgs, stdenv, cmake, boost, pkg-config, cmake_macros, protobuf, drivebrain_core_msgs_proto_cpp, hytech_np_proto_cpp, nlohmann_json, db-core-src }:
+{ pkgs, stdenv, cmake, boost, pkg-config, cmake_macros, protobuf, drivebrain_core_msgs_proto_cpp, hytech_np_proto_cpp, nlohmann_json, db-core-src, spdlog, fmt }:
 stdenv.mkDerivation {
     name = "db-core";
     src = db-core-src;
     nativeBuildInputs = [ cmake pkg-config cmake_macros ];
-    propagatedBuildInputs = [  boost protobuf drivebrain_core_msgs_proto_cpp hytech_np_proto_cpp nlohmann_json cmake_macros ];
+    propagatedBuildInputs = [  boost protobuf drivebrain_core_msgs_proto_cpp hytech_np_proto_cpp nlohmann_json cmake_macros spdlog fmt ];
 }
diff --git a/default.nix b/default.nix
@@ -1,10 +1,10 @@
-{ pkgs, stdenv, cmake, boost, pkg-config, lz4 ,zstd, protobuf, nlohmann_json, foxglove-ws-protocol-cpp, cmake_macros, hytech_np_proto_cpp, dbcppp, gtest, drivebrain_core_msgs_proto_cpp, mcap, db_service_grpc_cpp, grpc, vn_lib, drivebrain_core, simulink_automation, ... }:
+{ pkgs, stdenv, cmake, boost, pkg-config, lz4 ,zstd, protobuf, nlohmann_json, foxglove-ws-protocol-cpp, cmake_macros, hytech_np_proto_cpp, dbcppp, gtest, drivebrain_core_msgs_proto_cpp, mcap, db_service_grpc_cpp, grpc, vn_lib, drivebrain_core, simulink_automation, spdlog, fmt, ... }:
 
 stdenv.mkDerivation {
   name = "drivebrain_software";
   src = ./.;
   nativeBuildInputs = [ cmake pkg-config ];
-  propagatedBuildInputs = [ protobuf lz4 zstd boost cmake_macros nlohmann_json foxglove-ws-protocol-cpp hytech_np_proto_cpp dbcppp gtest drivebrain_core_msgs_proto_cpp mcap db_service_grpc_cpp grpc vn_lib drivebrain_core simulink_automation ];
+  propagatedBuildInputs = [ protobuf lz4 zstd boost cmake_macros nlohmann_json foxglove-ws-protocol-cpp hytech_np_proto_cpp dbcppp gtest drivebrain_core_msgs_proto_cpp mcap db_service_grpc_cpp grpc vn_lib drivebrain_core simulink_automation spdlog fmt ];
   dontStrip = true;
   cmakeFlags = [ "-DCMAKE_FIND_DEBUG_MODE=ON"];
 }
diff --git a/drivebrain_app/main.cpp b/drivebrain_app/main.cpp
@@ -32,6 +32,10 @@
 #include <cstdlib>
 
 #include <iostream>
+#include <sstream>
+
+#include <spdlog/spdlog.h>
+
 // TODO first application will have
 
 // - [x] message queue that can send messages between the CAN driver and the controller
@@ -43,7 +47,7 @@ std::atomic<bool> stop_signal{false};
 // Signal handler function
 void signalHandler(int signal)
 {
-    std::cout << "Interrupt signal (" << signal << ") received. Cleaning up..." << std::endl;
+    spdlog::info("Interrupt signal ({}) received. Cleaning up...", signal);
     stop_signal.store(true); // Set running to false to exit the main loop or gracefully terminate
 }
 
@@ -82,7 +86,9 @@ int main(int argc, char *argv[])
     po::notify(vm);
 
     if (vm.count("help")) {
-        std::cout << desc << "\n";
+        std::stringstream ss;
+	ss << desc;
+        spdlog::info("{}", ss.str());
         return 1;
     }
     if (vm.count("dbc-path")) {
@@ -137,26 +143,27 @@ int main(int argc, char *argv[])
     DBInterfaceImpl db_service_inst(message_logger);
     std::thread db_service_thread([&db_service_inst]()
                                   {
-            std::cout <<"started db service thread" <<std::endl;
+            spdlog::info("started db service thread");
+
             try {
                 while (!stop_signal.load()) {
                     // Run the io_context as long as stop_signal is false
                     db_service_inst.run_server();  // Run at least one handler, or return immediately if none
                 }
             } catch (const std::exception& e) {
-                std::cerr << "Error in drivebrain service thread: " << e.what() << std::endl;
+                spdlog::error("Error in drivebrain service thread: {}", e.what());
             }
         }); 
     // what we will do here is have a temporary super-loop.
     // in this thread we will block on having anything in the rx queue, everything by default goes into the foxglove server (TODO)
     // if we receive the pedals message, we step the controller and get its output to put intot he tx queue
     std::thread io_context_thread([&io_context]()
                                   {
-            std::cout <<"started io context thread" <<std::endl;
+            spdlog::info("Started io context thread");
             try {
                 io_context.run();
             } catch (const std::exception& e) {
-                std::cerr << "Error in io_context: " << e.what() << std::endl;
+                spdlog::error("Error in io_context: {}", e.what());
             } });
 
     std::thread process_thread([&rx_queue, &eth_tx_queue, &controller, &state_estimator]()
@@ -243,11 +250,11 @@ int main(int argc, char *argv[])
         std::this_thread::sleep_for(std::chrono::seconds(1));
     }
     process_thread.join();
-    std::cout << "joined main process" << std::endl;
+    spdlog::info("joined main process");
     io_context.stop();
     io_context_thread.join();
     db_service_inst.stop_server();
     db_service_thread.join();
-    std::cout << "joined io context" << std::endl;
+    spdlog::info("joined io context");
     return 0;
 }
diff --git a/drivebrain_core_impl/drivebrain_common_utils/src/ProtobufUtils.cpp b/drivebrain_core_impl/drivebrain_common_utils/src/ProtobufUtils.cpp
@@ -1,4 +1,5 @@
 #include <ProtobufUtils.hpp>
+#include <spdlog/spdlog.h>
 
 namespace util
 {
@@ -11,7 +12,7 @@ namespace util
                 google::protobuf::DescriptorPool::generated_pool()->FindFileByName(name);
             if (!file_descriptor)
             {
-                std::cerr << "File descriptor not found!" << std::endl;
+                spdlog::error("File descriptor for '{}' not found!", name);
             }
             else
             {
@@ -63,4 +64,4 @@ namespace util
         }
         return fdSet;
     }
-}
+}
diff --git a/drivebrain_core_impl/drivebrain_comms/src/CANComms.cpp b/drivebrain_core_impl/drivebrain_comms/src/CANComms.cpp
@@ -14,6 +14,8 @@
 #include <sys/socket.h>
 #include <unistd.h>
 #include <variant>
+// logging includes
+#include "spdlog/spdlog.h"
 
 // https://docs.kernel.org/networking/can.html
 
@@ -101,8 +103,7 @@ void comms::CANDriver::_do_read() {
                                     _handle_recv_CAN_frame(_frame);
                                     _do_read(); // Continue reading for the next frame
                                 } else if (ec) {
-                                    std::cerr << "Error receiving CAN message: " << ec.message()
-                                              << std::endl;
+                                    spdlog::error("Error receiving CAN message: {}", ec.message());
                                 }
                             });
 }
@@ -112,7 +113,7 @@ void comms::CANDriver::_send_message(const struct can_frame &frame) {
         _socket, boost::asio::buffer(&frame, sizeof(frame)),
         [this](boost::system::error_code ec, std::size_t /*bytes_transferred*/) {
             if (ec) {
-                std::cerr << "Error sending CAN message: " << ec.message() << std::endl;
+                spdlog::error("Error sending CAN message: {}", ec.message());
             }
         });
 }
@@ -137,7 +138,8 @@ comms::CANDriver::_get_pb_msg_by_name(const std::string &name) {
         prototype_message.reset(
             google::protobuf::MessageFactory::generated_factory()->GetPrototype(desc)->New());
         if (!prototype_message) {
-            std::cerr << "Failed to create prototype message" << std::endl;
+            spdlog::error("Failed to create prototype message");
+
             return nullptr;
         }
         // delete desc;
@@ -165,7 +167,7 @@ void comms::CANDriver::set_field_values_of_pb_msg(
         if (it != field_values.end()) {
             // Set field values based on field type
             if (field->is_repeated()) {
-                std::cerr << "Unsupported field type for field: " << field_name << std::endl;
+                spdlog::warn("Unsupported field type for field: {}", field_name);
                 continue;
             }
             switch (field->type()) {
@@ -221,7 +223,7 @@ comms::CANDriver::FieldVariant
 comms::CANDriver::get_field_value(std::shared_ptr<google::protobuf::Message> message,
                                   const std::string &field_name) {
     if (!message) {
-        std::cerr << "Message is null" << std::endl;
+        spdlog::error("Message is null");
         return std::monostate{};
     }
 
@@ -230,7 +232,7 @@ comms::CANDriver::get_field_value(std::shared_ptr<google::protobuf::Message> mes
     const google::protobuf::FieldDescriptor *field = descriptor->FindFieldByName(field_name);
 
     if (field == nullptr) {
-        std::cerr << "Field not found: " << field_name << std::endl;
+        spdlog::warn("Field not found: {}", field_name);
         return std::monostate{};
     }
 
@@ -255,18 +257,17 @@ comms::CANDriver::get_field_value(std::shared_ptr<google::protobuf::Message> mes
     case google::protobuf::FieldDescriptor::CPPTYPE_ENUM:
         return reflection->GetEnum(*message, field)->name();
     case google::protobuf::FieldDescriptor::CPPTYPE_MESSAGE:
-        std::cerr << "Nested messages not supported" << std::endl;
+        spdlog::warn("Nested messages not supported");
         return std::monostate{};
     default:
-        std::cerr << "Unsupported field type" << std::endl;
+        spdlog::warn("Unsupported field type");
         return std::monostate{};
     }
 }
 
 std::optional<can_frame>
 comms::CANDriver::_get_CAN_msg(std::shared_ptr<google::protobuf::Message> pb_msg) {
     // - [x] get an associated CAN message based on the name of the input message
-
     can_frame frame{};
     std::string type_url = pb_msg->GetTypeName();
     std::string messageTypeName = type_url.substr(type_url.find_last_of('.') + 1);
@@ -282,7 +283,7 @@ comms::CANDriver::_get_CAN_msg(std::shared_ptr<google::protobuf::Message> pb_msg
             std::visit(
                 [&sig, &frame](const FieldVariant &arg) {
                     if (std::holds_alternative<std::monostate>(arg)) {
-                        std::cout << "No value found or unsupported field" << std::endl;
+                        spdlog::warn("No value found or unsupported field");
                     } else if (std::holds_alternative<float>(arg)) {
                         auto val = std::get<float>(arg);
                         sig.Encode(sig.PhysToRaw(val), frame.data);
@@ -299,14 +300,13 @@ comms::CANDriver::_get_CAN_msg(std::shared_ptr<google::protobuf::Message> pb_msg
                         auto val = std::get<bool>(arg);
                         sig.Encode(val, frame.data);
                     } else {
-                        std::cout << "uh not supported yet" << std::endl;
+                        spdlog::warn("uh not supported yet");
                     }
                 },
                 field_value);
         }
     } else {
-        std::cout << "WARNING: not creating a frame to send due to not finding frame name"
-                  << std::endl;
+        spdlog::warn("WARNING: not creating a frame to send due to not finding frame name");
         return std::nullopt;
     }
 

diff --git a/drivebrain_core_impl/drivebrain_comms/src/DBServiceImpl.cpp b/drivebrain_core_impl/drivebrain_comms/src/DBServiceImpl.cpp
@@ -1,9 +1,10 @@
 #include <DBServiceImpl.hpp>
+#include "spdlog/spdlog.h"
 
 grpc::Status DBInterfaceImpl::RequestStopLogging(grpc::ServerContext *context, const google::protobuf::Empty *rq, db_service::v1::service::LoggerStatus *response)
 {
     {
-        std::cout << "requested stopping of logging" << std::endl;
+        spdlog::warn("requested stopping of logging");
         _logger_inst->stop_logging_to_file();
         auto status = _logger_inst->get_logger_status();
 
@@ -15,7 +16,7 @@ grpc::Status DBInterfaceImpl::RequestStopLogging(grpc::ServerContext *context, c
 grpc::Status DBInterfaceImpl::RequestStartLogging(grpc::ServerContext *context, const google::protobuf::Empty *rq, db_service::v1::service::LoggerStatus *response)
 {
     {
-        std::cout << "requested start of logging" << std::endl;
+        spdlog::warn("requested start of logging");
         _logger_inst->start_logging_to_new_file();
         auto status = _logger_inst->get_logger_status();
         response->set_active_or_previous_log_file_name(std::get<0>(status));
@@ -26,7 +27,7 @@ grpc::Status DBInterfaceImpl::RequestStartLogging(grpc::ServerContext *context,
 grpc::Status DBInterfaceImpl::RequestCurrentLoggerStatus(grpc::ServerContext *context, const google::protobuf::Empty *rq, db_service::v1::service::LoggerStatus *response)
 {
     {
-        std::cout << "requested status of logger" << std::endl;
+        spdlog::warn("requested status of logger");
         auto status = _logger_inst->get_logger_status();
         response->set_active_or_previous_log_file_name(std::get<0>(status));
         response->set_currently_logging(std::get<1>(status));
@@ -39,7 +40,8 @@ DBInterfaceImpl::DBInterfaceImpl(std::shared_ptr<core::MsgLogger<std::shared_ptr
 }
 void DBInterfaceImpl::stop_server() {
     if (_server) {
-        std::cout << "Shutting down the server..." << std::endl;
+        spdlog::warn("Shutting down the server...");
+
         _server->Shutdown();
     }
 }
@@ -56,7 +58,7 @@ void DBInterfaceImpl::run_server()
     builder.RegisterService(this);
     // Finally assemble the server.
     _server = builder.BuildAndStart();
-    std::cout << "Server listening on " << server_address << std::endl;
+    spdlog::warn("Server listening on ");
 
     // Wait for the server to shutdown. Note that some other thread must be
     // responsible for shutting down the server for this call to ever return.

diff --git a/drivebrain_core_impl/drivebrain_comms/src/MCUETHComms.cpp b/drivebrain_core_impl/drivebrain_comms/src/MCUETHComms.cpp
@@ -1,5 +1,7 @@
 #include <MCUETHComms.hpp>
 #include "hytech_msgs.pb.h"
+#include <spdlog/spdlog.h>
+
 
 using boost::asio::ip::udp;
 namespace comms
@@ -32,7 +34,7 @@ namespace comms
         _running = false;
         _input_deque_ref.cv.notify_all();
         _output_thread.join();
-        std::cout <<"destructed MCU ETH COMMS" <<std::endl;
+        spdlog::warn("destructed MCU ETH COMMS");
     }
 
     void MCUETHComms::_handle_send_msg_from_queue()