refactor logging: use a general abstract logger for both cyphal and d…

…ronecan:

- update dronecan submodule from v0.5.0 to v0.5.1
- cyphal does not support logging yet, so do nothing

Src/common/logging.cpp

@@ -0,0 +1,54 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <[email protected]>
+ * Author: Anastasiia Stepanova <[email protected]>
+ */
+
+#include "common/logging.hpp"
+#include "common/module.hpp"
+
+#ifndef CONFIG_USE_DRONECAN
+#define CONFIG_USE_DRONECAN 0
+#elif defined(CONFIG_USE_DRONECAN) && CONFIG_USE_DRONECAN == 1
+#include "logger.hpp"
+#endif
+
+#ifndef CONFIG_USE_CYPHAL
+#define CONFIG_USE_CYPHAL 0
+#elif defined(CONFIG_USE_CYPHAL) && CONFIG_USE_CYPHAL == 1
+#endif
+
+
+Logging::Logging(const char* source_) : source(source_) {
+}
+
+void Logging::log([[maybe_unused]] uint8_t severity, [[maybe_unused]] const char* text) const {
+#if CONFIG_USE_DRONECAN == 1
+    if (ModuleManager::get_active_protocol() == Module::Protocol::DRONECAN) {
+        DronecanLogger::log_global(severity, source, text);
+    }
+#endif
+
+#if CONFIG_USE_CYPHAL == 1
+    if (ModuleManager::get_active_protocol() == Module::Protocol::CYPHAL) {
+        // CyphalLogger::log_global(severity, source, text);
+    }
+#endif
+}
+
+void Logging::log_debug(const char* text) const {
+    log(0, text);
+}
+
+void Logging::log_info(const char* text) const {
+    log(1, text);
+}
+
+void Logging::log_warn(const char* text) const {
+    log(2, text);
+}
+
+void Logging::log_error(const char* text) const {
+    log(3, text);
+}

Src/common/logging.hpp

@@ -0,0 +1,27 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <[email protected]>
+ * Author: Anastasiia Stepanova <[email protected]>
+ */
+
+#ifndef SRC_COMMON_LOGGING_HPP_
+#define SRC_COMMON_LOGGING_HPP_
+
+#include <stdint.h>
+
+class Logging {
+public:
+    explicit Logging(const char* source_);
+
+    void log_debug(const char* text) const;
+    void log_info(const char* text) const;
+    void log_warn(const char* text) const;
+    void log_error(const char* text) const;
+
+    void log(uint8_t severity, const char* text) const;
+private:
+    const char* source{nullptr};
+};
+
+#endif  // SRC_COMMON_LOGGING_HPP_

Src/modules/dronecan/arming/arming.cpp

@@ -11,7 +11,7 @@
 #include <params.hpp>
 #include <logger.hpp>
 
-Logger logger = Logger("ArmingModule");
+DronecanLogger logger = DronecanLogger("ArmingModule");
 
 
 REGISTER_MODULE(ArmingModule)

Src/modules/dronecan/pwm/PWMModule.cpp

@@ -23,8 +23,6 @@
 #define DEF(channel) IntParamsIndexes::PARAM_PWM_##channel##_DEF
 
 
-Logger PWMModule::logger = Logger("PWMModule");
-
 uint16_t PWMModule::ttl_cmd = 500;
 uint16_t PWMModule::pwm_freq = 50;
 CommandType PWMModule::pwm_cmd_type = CommandType::RAW_COMMAND;
@@ -43,7 +41,6 @@ void PWMModule::init() {
 
     update_params();
 
-    logger.init("PWMModule");
     for (auto param : params) {
         HAL::Pwm::init(param.pin);
     }

Src/modules/dronecan/pwm/PWMModule.hpp

@@ -12,7 +12,7 @@
 #include "algorithms.hpp"
 #include "dronecan.h"
 #include "params.hpp"
-#include "logger.hpp"
+#include "common/logging.hpp"
 #include "peripheral/pwm/pwm.hpp"
 #include "common/module.hpp"
 #include "publisher.hpp"
@@ -81,7 +81,7 @@ class PWMModule : public Module {
     bool verbose = false;
 
     static bool publish_error;
-    static Logger logger;
+    static inline Logging logger{"PWM"};
 };
 
 #endif  // SRC_MODULES_PWM_PWMMODULE_HPP_

Src/modules/system/main.cpp

@@ -8,10 +8,10 @@
 #include <storage.h>
 #include "can_driver.h"
 #include "common/algorithms.hpp"
+#include "common/logging.hpp"
 #include "params.hpp"
-#include "logger.hpp"
 
-static Logger logger = Logger("SYS");
+static Logging logger("SYS");
 
 REGISTER_MODULE(SystemModule)
 

Src/platform/stm32f103/CMakeLists.txt

@@ -6,6 +6,7 @@ add_executable(${EXECUTABLE}
     ${APPLICATION_SOURCES}
     ${BUILD_SRC_DIR}/params.cpp
     ${ROOT_DIR}/Src/common/algorithms.cpp
+    ${ROOT_DIR}/Src/common/logging.cpp
     ${ROOT_DIR}/Src/common/application.cpp
     ${ROOT_DIR}/Src/common/module.cpp
 

Src/platform/stm32g0b1/CMakeLists.txt

@@ -11,6 +11,7 @@ add_executable(${EXECUTABLE}
     ${APPLICATION_SOURCES}
     ${BUILD_SRC_DIR}/params.cpp
     ${ROOT_DIR}/Src/common/algorithms.cpp
+    ${ROOT_DIR}/Src/common/logging.cpp
     ${ROOT_DIR}/Src/common/application.cpp
     ${ROOT_DIR}/Src/common/module.cpp
 

Src/platform/ubuntu/CMakeLists.txt

@@ -6,6 +6,7 @@ add_executable(${EXECUTABLE}
     ${APPLICATION_SOURCES}
     ${BUILD_SRC_DIR}/params.cpp
     ${ROOT_DIR}/Src/common/algorithms.cpp
+    ${ROOT_DIR}/Src/common/logging.cpp
     ${ROOT_DIR}/Src/common/application.cpp
     ${ROOT_DIR}/Src/common/module.cpp