Logging refactored. Use the LOG_TAG() macro to specify a filename tag…

…. Additional in simulation the Serial uses by default the Terminal stream. Use -s to enable the Socket stream! This is easier for users, who struggle at the beginning why they can't see any log message on the console. The README contains further explanations and small fixes to be consistent with the current state. #37
BlueAndi · Nov 25, 2023 · e47063f · e47063f
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diff --git a/README.md b/README.md
@@ -21,6 +21,9 @@ Several kind of exclusive applications are available:
   * [Build](#build)
   * [Preparation](#preparation)
   * [Running the robot on track](#running-the-robot-on-track)
+  * [Communicate with the DroidControlShip](#communicate-with-the-droidcontrolship)
+* [The target](#the-target)
+  * [Build and flash procedure](#build-and-flash-procedure)
 * [Documentation](#documentation)
 * [Used Libraries](#used-libraries)
 * [Issues, Ideas And Bugs](#issues-ideas-and-bugs)
@@ -63,34 +66,59 @@ To adapt the HAL to the simulation, some sourcecode files from Webots are necess
 The library creation is handled in the ```./scripts/create_webots_library.py``` script and runs automatically after building for the WebotsSim environment.
 
 ## Build
+1. Start VSCode.
+2. PlatformIO project tasks --> &lt;APP-NAME&gt; --> Build
 
-Platformio project tasks --> WebotsSim --> Build
+For the simulation use only the applications with "Sim" as postfix, e.g. LineFollowerSim.
 
 ## Preparation
+The preparation is shown with the line follower application as example. It expects that the **LineFollowerSim** is already built.
 
 1. Start the Webots simulation.
 2. File --> Open World
-3. Select ```webots/LineFollower_track.wbt```.
+3. Select ```./webots/worlds/LineFollowerTrack.wbt```.
 4. The loaded world should now look like this: ![webots_world](./doc/webots_world.jpg)
-5. Open a command line (shell) and change to the folder with the built executable in ```.pio/build/native```. This folder contains all necessary shared libraries as well.
+5. Open a command line (shell) and change to the folder with the built executable in ```.pio/build/LineFollowerSim```. This folder contains all necessary shared libraries as well.
 6. Start the executable and the simulated display should show the name of the team and etc.
 
 ## Running the robot on track
 
-1. Click in simulation on the display to focus the simulation.
+1. Click in the simulation on the display to focus the simulation.
 2. Now the keyboard keys a, b and c can be used to control the robot according to the implemented application logic.
 
+## Communicate with the DroidControlShip
+For the communication with the DroidControlShip a socket server needs to be enabled, which is disabled by default.
+
+Use the -s flag to enable it with default port 65432. Note, this will disable the standard logging, because the serial communication will automatically be routed over the socket. The SerialMuxProt protocol is used to exchange data in both directions.
+```bash
+$ program.exe -s
+```
+
+The port can be changed via command line parameters, please use -? to get more details.
+```bash
+$ program.exe -?
+```
+
+# The target
+
+## Build and flash procedure
+1. PlatformIO project tasks --> &lt;APP-NAME&gt; --> Build
+    * For the target use only the applications with "Target" as postfix, e.g. LineFollowerTarget.
+2. Start the bootloader by triggering twice the reset button. The yellow led will start blinking for 10s. Note, after 10s the target will leave the bootloader!
+3. PlatformIO project tasks --> &lt;APP-NAME&gt; --> Upload
+4. Ready.
+
 # Documentation
 
 * [SW Architecture](./doc/architecture/README.md)
 * [SW Configuration](./doc/configuration/README.md)
 
 # Used Libraries
 
-| Library | Description | License |
-| - | - | - |
-| [Zumo32U4 library](https://github.com/pololu/zumo-32u4-arduino-library) | Provides access to the Zumo32U4 hardware. | MIT |
-| [SerialMuxProt](https://github.com/gabryelreyes/SerialMuxProt) | Multiplexing Communication Protocol | MIT |
+| Library                                                                 | Description                               | License |
+| ----------------------------------------------------------------------- | ----------------------------------------- | ------- |
+| [Zumo32U4 library](https://github.com/pololu/zumo-32u4-arduino-library) | Provides access to the Zumo32U4 hardware. | MIT     |
+| [SerialMuxProt](https://github.com/gabryelreyes/SerialMuxProt)          | Multiplexing Communication Protocol       | MIT     |
 
 # Issues, Ideas And Bugs
 If you have further ideas or you found some bugs, great! Create a [issue](https://github.com/BlueAndi/RadonUlzer/issues) or if you are able and willing to fix it by yourself, clone the repository and create a pull request.

diff --git a/lib/APPConvoyLeader/App.cpp b/lib/APPConvoyLeader/App.cpp
@@ -39,6 +39,7 @@
 #include <DifferentialDrive.h>
 #include <Odometry.h>
 #include <Util.h>
+#include <Logging.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -69,6 +70,7 @@ static void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const
 void App::setup()
 {
     Serial.begin(SERIAL_BAUDRATE);
+    Logging::disable();
     Board::getInstance().init();
     m_systemStateMachine.setState(&StartupState::getInstance());
     m_controlInterval.start(DIFFERENTIAL_DRIVE_CONTROL_PERIOD);

diff --git a/lib/APPConvoyLeader/MotorSpeedCalibrationState.cpp b/lib/APPConvoyLeader/MotorSpeedCalibrationState.cpp
@@ -65,7 +65,7 @@
 /**
  * Logging source.
  */
-static const char* TAG = "MSCState";
+LOG_TAG("MSCState");
 
 /******************************************************************************
  * Public Methods
@@ -215,8 +215,8 @@ void MotorSpeedCalibrationState::finishCalibration(StateMachine& sm)
     }
     else
     {
-        LOG_DEBUG_VAL(TAG, "Calibrated max. speed (steps/s): ", maxSpeed);
-        LOG_DEBUG_VAL(TAG, "Calibrated max. speed (mm/s): ", maxSpeed / RobotConstants::ENCODER_STEPS_PER_MM);
+        LOG_INFO_VAL("Calibrated max. speed (steps/s): ", maxSpeed);
+        LOG_INFO_VAL("Calibrated max. speed (mm/s): ", maxSpeed / RobotConstants::ENCODER_STEPS_PER_MM);
 
         sm.setState(&ReadyState::getInstance());
     }

diff --git a/lib/APPLineFollower/MotorSpeedCalibrationState.cpp b/lib/APPLineFollower/MotorSpeedCalibrationState.cpp
@@ -65,7 +65,7 @@
 /**
  * Logging source.
  */
-static const char* TAG = "MSCState";
+LOG_TAG("MSCState");
 
 /******************************************************************************
  * Public Methods
@@ -215,8 +215,8 @@ void MotorSpeedCalibrationState::finishCalibration(StateMachine& sm)
     }
     else
     {
-        LOG_DEBUG_VAL(TAG, "Calibrated max. speed (steps/s): ", maxSpeed);
-        LOG_DEBUG_VAL(TAG, "Calibrated max. speed (mm/s): ", maxSpeed / RobotConstants::ENCODER_STEPS_PER_MM);
+        LOG_INFO_VAL("Calibrated max. speed (steps/s): ", maxSpeed);
+        LOG_INFO_VAL("Calibrated max. speed (mm/s): ", maxSpeed / RobotConstants::ENCODER_STEPS_PER_MM);
 
         sm.setState(&LineSensorsCalibrationState::getInstance());
     }

diff --git a/lib/APPLineFollower/ReadyState.cpp b/lib/APPLineFollower/ReadyState.cpp
@@ -62,7 +62,7 @@
 /**
  * Logging source.
  */
-static const char* TAG = "RState";
+LOG_TAG("RState");
 
 /******************************************************************************
  * Public Methods
@@ -103,9 +103,9 @@ void ReadyState::process(StateMachine& sm)
         uint8_t         index        = 0;
         int16_t         position     = lineSensors.readLine();
         const uint16_t* sensorValues = lineSensors.getSensorValues();
-        char valueStr[10];
+        char            valueStr[10];
 
-        LOG_DEBUG_HEAD(TAG);
+        LOG_DEBUG_HEAD();
 
         /* Print line sensor value on console for debug purposes. */
         for (index = 0; index < lineSensors.getNumLineSensors(); ++index)
@@ -116,12 +116,12 @@ void ReadyState::process(StateMachine& sm)
             }
 
             Util::uintToStr(valueStr, sizeof(valueStr), sensorValues[index]);
-            
+
             LOG_DEBUG_MSG(valueStr);
         }
 
         LOG_DEBUG_MSG(" -> ");
-        
+
         Util::intToStr(valueStr, sizeof(valueStr), position);
         LOG_DEBUG_MSG(valueStr);
 

diff --git a/lib/APPRemoteControl/App.cpp b/lib/APPRemoteControl/App.cpp
@@ -41,6 +41,7 @@
 #include <Odometry.h>
 #include <Board.h>
 #include <Util.h>
+#include <Logging.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -74,6 +75,8 @@ static bool gIsRemoteCtrlActive = false;
 
 void App::setup()
 {
+    Serial.begin(SERIAL_BAUDRATE);
+    Logging::disable();
     Board::getInstance().init();
 
     m_systemStateMachine.setState(&StartupState::getInstance());

diff --git a/lib/APPRemoteControl/App.h b/lib/APPRemoteControl/App.h
@@ -93,6 +93,9 @@ class App
     void loop();
 
 private:
+    /** Baudrate for Serial Communication */
+    static const uint32_t SERIAL_BAUDRATE = 115200U;
+
     /** Differential drive control period in ms. */
     static const uint32_t DIFFERENTIAL_DRIVE_CONTROL_PERIOD = 5;
 

diff --git a/lib/APPRemoteControl/MotorSpeedCalibrationState.cpp b/lib/APPRemoteControl/MotorSpeedCalibrationState.cpp
@@ -65,7 +65,7 @@
 /**
  * Logging source.
  */
-static const char* TAG = "MSCState";
+LOG_TAG("MSCState");
 
 /******************************************************************************
  * Public Methods
@@ -215,8 +215,8 @@ void MotorSpeedCalibrationState::finishCalibration(StateMachine& sm)
     }
     else
     {
-        LOG_DEBUG_VAL(TAG, "Calibrated max. speed (steps/s): ", maxSpeed);
-        LOG_DEBUG_VAL(TAG, "Calibrated max. speed (mm/s): ", maxSpeed / RobotConstants::ENCODER_STEPS_PER_MM);
+        LOG_INFO_VAL("Calibrated max. speed (steps/s): ", maxSpeed);
+        LOG_INFO_VAL("Calibrated max. speed (mm/s): ", maxSpeed / RobotConstants::ENCODER_STEPS_PER_MM);
 
         sm.setState(&RemoteCtrlState::getInstance());
     }

diff --git a/lib/ArduinoNative/Arduino.cpp b/lib/ArduinoNative/Arduino.cpp
@@ -33,11 +33,11 @@
  * Includes
  *****************************************************************************/
 #include <Arduino.h>
+#include "Terminal.h"
 
 #ifdef UNIT_TEST
 
 #include <time.h>
-#include "Terminal.h"
 
 #else
 
@@ -46,6 +46,7 @@
 #include <Keyboard.h>
 #include "SocketServer.h"
 #include <getopt.h>
+#include <Logging.h>
 
 #endif
 
@@ -66,9 +67,11 @@
 /** This type defines the possible program arguments. */
 typedef struct
 {
-    const char* socketServerPort; /**< Socket server port */
-    const char* robotName;        /**< Robot name */
-    bool        verbose;          /**< Show verbose information */
+    const char* socketServerPort;   /**< Socket server port */
+    const char* robotName;          /**< Robot name */
+    bool        isSerialOverSocket; /**< Is serial communication over socket? */
+    bool        verbose;            /**< Show verbose information */
+
 } PrgArguments;
 
 #endif
@@ -91,21 +94,13 @@ static void showPrgArguments(const PrgArguments& prgArgs);
  * Local Variables
  *****************************************************************************/
 
-#ifdef UNIT_TEST
-
 /** Terminal/Console stream. */
 static Terminal gTerminalStream;
 
 /** Serial driver, used by Arduino applications. */
 Serial_ Serial(gTerminalStream);
 
-#else /* UNIT_TEST */
-
-/** SocketServer stream. */
-static SocketServer gSocketStream;
-
-/** Serial driver, used by Arduino applications. */
-Serial_ Serial(gSocketStream);
+#ifndef UNIT_TEST
 
 /**
  * The maximum duration a simulated time step can have.
@@ -127,6 +122,9 @@ static const char* PRG_ARG_SOCKET_SERVER_PORT_DEFAULT = "65432";
 /** Program argument default value of the verbose flag. */
 static bool PRG_ARG_VERBOSE_DEFAULT = false;
 
+/** Program argument default value of the serial over socket flag. */
+static bool PRG_ARG_IS_SERIAL_OVER_SOCKET_DEFAULT = false;
+
 /**
  * Maximum number of socket connections.
  */
@@ -184,6 +182,7 @@ extern int main(int argc, char** argv)
     int          status   = 0;
     Keyboard&    keyboard = Board::getInstance().getKeyboard();
     PrgArguments prgArguments;
+    SocketServer socketStream;
 
     printf("\n*** Radon Ulzer ***\n");
 
@@ -201,19 +200,28 @@ extern int main(int argc, char** argv)
             showPrgArguments(prgArguments);
         }
 
-        /* Initialize the socket server. */
-        if (false == gSocketStream.init(prgArguments.socketServerPort, SOCKET_SERVER_MAX_CONNECTIONS))
+        /* Enable socket server? */
+        if (true == prgArguments.isSerialOverSocket)
         {
-            printf("Error initializing SocketServer.\n");
-            status = -1;
-        }
-        else
-        {
-            if (true == prgArguments.verbose)
+            if (false == socketStream.init(prgArguments.socketServerPort, SOCKET_SERVER_MAX_CONNECTIONS))
+            {
+                printf("Error initializing SocketServer.\n");
+                status = -1;
+            }
+            else
             {
-                printf("SocketServer ready on port %s.\n", prgArguments.socketServerPort);
+                if (true == prgArguments.verbose)
+                {
+                    printf("SocketServer ready on port %s.\n", prgArguments.socketServerPort);
+                }
+
+                Serial.setStream(socketStream);
+                Logging::disable();
             }
+        }
 
+        if (0 == status)
+        {
             /* Get simulation time handler. It will be used by millis() and delay(). */
             gSimTime = &Board::getInstance().getSimTime();
         }
@@ -257,7 +265,7 @@ extern int main(int argc, char** argv)
             {
                 keyboard.getPressedButtons();
                 loop();
-                gSocketStream.process();
+                socketStream.process();
             }
         }
     }
@@ -300,14 +308,15 @@ extern void delay(unsigned long ms)
 static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char** argv)
 {
     int         status           = 0;
-    const char* availableOptions = "p:n:h";
+    const char* availableOptions = "p:n:hs";
     const char* programName      = argv[0];
     int         option           = getopt(argc, argv, availableOptions);
 
     /* Set default values */
-    prgArguments.socketServerPort = PRG_ARG_SOCKET_SERVER_PORT_DEFAULT;
-    prgArguments.robotName        = PRG_ARG_ROBOT_NAME_DEFAULT;
-    prgArguments.verbose          = PRG_ARG_VERBOSE_DEFAULT;
+    prgArguments.socketServerPort   = PRG_ARG_SOCKET_SERVER_PORT_DEFAULT;
+    prgArguments.robotName          = PRG_ARG_ROBOT_NAME_DEFAULT;
+    prgArguments.verbose            = PRG_ARG_VERBOSE_DEFAULT;
+    prgArguments.isSerialOverSocket = PRG_ARG_IS_SERIAL_OVER_SOCKET_DEFAULT;
 
     while ((-1 != option) && (0 == status))
     {
@@ -321,6 +330,10 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char
             prgArguments.socketServerPort = optarg;
             break;
 
+        case 's': /* Is serial over socket? */
+            prgArguments.isSerialOverSocket = true;
+            break;
+
         case 'v': /* Verbose */
             prgArguments.verbose = true;
             break;
@@ -346,7 +359,9 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char
         printf("\t-h\t\t\tShow this help message.\n");                /* Help */
         printf("\t-n <NAME>\t\tSet robot name.\n");                   /* Robot Name */
         printf("\t-p <PORT NUMBER>\tSet SocketServer port.");         /* SocketServer Port */
-        printf(" Default: %s\n", PRG_ARG_SOCKET_SERVER_PORT_DEFAULT); /* SocketServer port default value*/
+        printf(" Default: %s\n", PRG_ARG_SOCKET_SERVER_PORT_DEFAULT); /* SocketServer port default value */
+        printf("\t-s\t\t\tEnable serial over socket.\n");             /* Flag */
+        printf("\t-v\t\t\tVerbose mode.\n");                          /* Flag */
     }
 
     return status;
@@ -359,8 +374,9 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char
  */
 static void showPrgArguments(const PrgArguments& prgArgs)
 {
-    printf("Robot name       : %s\n", prgArgs.robotName);
-    printf("SocketServer Port: %s\n", prgArgs.socketServerPort);
+    printf("Robot name        : %s\n", prgArgs.robotName);
+    printf("SocketServer Port : %s\n", prgArgs.socketServerPort);
+    printf("Serial over socket: %s\n", (false == prgArgs.isSerialOverSocket) ? "disabled" : "enabled");
     /* Skip verbose flag. */
 }