Updated write_log() function.

samyarsadat · Jun 25, 2024 · 1718b71 · 1718b71
1 parent 3875820
commit 1718b71
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Showing 3 changed files with 16 additions and 6 deletions.
diff --git a/Source Code/pico_ws/src/lib/FreeRTOS_Helpers_lib/src/uROS_Bridge_Agent.c++ b/Source Code/pico_ws/src/lib/FreeRTOS_Helpers_lib/src/uROS_Bridge_Agent.c++
@@ -280,12 +280,12 @@ void uRosBridgeAgent::execute()
         switch (current_uros_state) 
         {
             case WAITING_FOR_AGENT:
-                write_log(__FUNCTION__, "Waiting for agent...", LOG_LVL_INFO);
+                write_log("Waiting for agent...", LOG_LVL_INFO, FUNCNAME_ONLY);
                 current_uros_state = ping_agent() ? AGENT_AVAILABLE:WAITING_FOR_AGENT;
                 break;
 
             case AGENT_AVAILABLE:
-                write_log(__FUNCTION__, "Agent available!", LOG_LVL_INFO);
+                write_log("Agent available!", LOG_LVL_INFO, FUNCNAME_ONLY);
                 check_bool(init_func(), RT_HARD_CHECK);
                 current_uros_state = AGENT_CONNECTED;
                 last_exec_time = time_us_32() / 1000;
@@ -304,7 +304,7 @@ void uRosBridgeAgent::execute()
                 break;
 
             case AGENT_DISCONNECTED:
-                write_log(__FUNCTION__, "Agent disconnected!", LOG_LVL_INFO);
+                write_log("Agent disconnected!", LOG_LVL_INFO, FUNCNAME_ONLY);
                 // TODO: Maybe wait for the agent to connect again?
                 uros_fini();
                 break;

diff --git a/Source Code/pico_ws/src/lib/Local_Helpers_lib/include/local_helpers_lib/Local_Helpers.h b/Source Code/pico_ws/src/lib/Local_Helpers_lib/include/local_helpers_lib/Local_Helpers.h
@@ -38,6 +38,7 @@
 // ------- Enums -------
 enum RT_CHECK_MODE {RT_HARD_CHECK, RT_SOFT_CHECK, RT_LOG_ONLY_CHECK};
 enum LOG_LEVEL {LOG_LVL_INFO, LOG_LVL_WARN, LOG_LVL_ERROR, LOG_LVL_FATAL};
+enum LOG_SOURCE_VERBOSITY {FUNCNAME_ONLY, FILENAME_LINE_ONLY, FILENAME_LINE_FUNCNAME};
 
 
 
@@ -57,7 +58,7 @@ bool check_bool(bool function, RT_CHECK_MODE mode);
 void publish_diag_report(uint8_t level, std::string hw_name, std::string hw_id, std::string msg, std::vector<diagnostic_msgs__msg__KeyValue> key_values);
 
 // ---- Logging functions ----
-void write_log(const char *src_function, std::string msg, LOG_LEVEL lvl);
+void write_log(std::string msg, LOG_LEVEL lvl, LOG_SOURCE_VERBOSITY src_verb);
 
 // ---- Pings the MicroROS agent ----
 bool ping_agent();

diff --git a/Source Code/pico_ws/src/lib/Local_Helpers_lib/src/Local_Helpers.c++ b/Source Code/pico_ws/src/lib/Local_Helpers_lib/src/Local_Helpers.c++
@@ -156,7 +156,7 @@ void publish_diag_report(uint8_t level, std::string hw_name, std::string hw_id,
 
 
 // ---- Logging function (outputs to STDIO UART) ----
-void write_log(const char *src_function, std::string msg, LOG_LEVEL lvl)
+void write_log(std::string msg, LOG_LEVEL lvl, LOG_SOURCE_VERBOSITY src_verb, const char *func=__builtin_FUNCTION(), const char *file=__builtin_FILE(), uint16_t line=__builtin_LINE())
 {
     uint32_t timestamp_sec = to_ms_since_boot(get_absolute_time()) / 1000;
     uint16_t timestamp_millisec = to_ms_since_boot(get_absolute_time()) - (timestamp_sec * 1000);
@@ -167,8 +167,17 @@ void write_log(const char *src_function, std::string msg, LOG_LEVEL lvl)
     else if (lvl == LOG_LVL_ERROR) { level = "ERROR"; }
     else if (lvl == LOG_LVL_FATAL) { level = "FATAL"; }
 
+    // This is rather unfortunate, but its the easiest way.
+    std::string filename(file);
+    std::string funcname(func);
+
+    std::string src;
+    if (src_verb == FUNCNAME_ONLY) { src = func; }
+    else if (src_verb == FILENAME_LINE_ONLY) { src = filename + ":" + std::to_string(line); }
+    else if (src_verb == FILENAME_LINE_FUNCNAME) { src = funcname + "@" + filename + ":" + std::to_string(line); }
+
     // This is quite ugly, but it works.
-    msg = "[" + std::to_string(timestamp_sec) + "." + std::to_string(timestamp_millisec) + "] [" + level + "] [" + src_function + "]: " + msg + "\r\n";
+    msg = "[" + std::to_string(timestamp_sec) + "." + std::to_string(timestamp_millisec) + "] [" + level + "] [" + src + "]: " + msg + "\r\n";
     stdio_uart.out_chars(msg.c_str(), msg.length());
 }