Added a basic logger helper for users to get started easily

Cargo.toml

@@ -17,7 +17,7 @@ members = [
     "examples/pluginload",
     "examples/simplelogger",
     "examples/v4lsrc"
-]
+, "copper_helpers"]
 resolver = "2"
 
 

copper/Cargo.toml

@@ -20,4 +20,4 @@ copper-traits = { path = "../copper_traits" }
 copper-log = { path = "../copper_log" }
 copper-log-derive = { path = "../copper_log_derive" }
 copper-log-runtime = { path = "../copper_log_runtime" }
-copper-clock = { path = "../copper_clock" }
+copper-clock = { path = "../copper_clock" }

copper/src/lib.rs

@@ -1,5 +1,5 @@
-pub mod copperlist;
 pub mod config;
+pub mod copperlist;
 pub mod curuntime;
 pub mod cutask;
 pub mod monitoring;

copper_datalogger/src/lib.rs

@@ -4,7 +4,7 @@ use std::fs::{File, OpenOptions};
 use std::io;
 use std::io::BufReader;
 use std::io::Read;
-use std::path::PathBuf;
+use std::path::{Path, PathBuf};
 use std::slice::from_raw_parts_mut;
 use std::sync::{Arc, Mutex};
 
@@ -153,8 +153,8 @@ impl DataLoggerBuilder {
         }
     }
 
-    pub fn file_path(mut self, file_path: &PathBuf) -> Self {
-        self.file_path = Some(file_path.clone());
+    pub fn file_path(mut self, file_path: &Path) -> Self {
+        self.file_path = Some(file_path.to_path_buf());
         self
     }
 

copper_helpers/Cargo.toml

@@ -0,0 +1,16 @@
+[package]
+name = "copper-helpers"
+version = "0.1.0"
+authors = ["Guillaume Binet <[email protected]>"]
+edition = "2021"
+license = "Apache-2.0"
+keywords = ["robotics", "middleware", "copper", "real-time"]
+categories = ["science::robotics"]
+
+[dependencies]
+copper-traits = { path = "../copper_traits" }
+copper-datalogger = { path = "../copper_datalogger" }
+copper-log = { path = "../copper_log" }
+copper-log-runtime = { path = "../copper_log_runtime" }
+copper-clock = { path = "../copper_clock" }
+simplelog = "0.12.2"

copper_helpers/src/lib.rs

@@ -0,0 +1,53 @@
+use copper_clock::RobotClock;
+use copper_datalogger::{stream_write, DataLogger, DataLoggerBuilder};
+use copper_log::default_log_index_dir;
+use copper_log_runtime::{ExtraTextLogger, LoggerRuntime};
+use copper_traits::{CuResult, DataLogType};
+use simplelog::{ColorChoice, Config, LevelFilter, TermLogger, TerminalMode};
+use std::path::Path;
+use std::sync::{Arc, Mutex};
+
+/// This is a basic setup for a copper application to get you started.
+/// Duplicate and customize as needed when your needs grow.
+///
+/// text_log: if true, the log will be printed to the console as a simple log.
+/// It is useful to debug an application in real-time but should be set to false in production
+/// as it is an order of magnitude slower than the default copper structured logging.
+/// It will create a LoggerRuntime that can be used as a robot clock source too.
+pub fn basic_logger_runtime_setup(
+    datalogger_output_path: &Path,
+    text_log: bool,
+) -> CuResult<LoggerRuntime> {
+    let DataLogger::Write(logger) = DataLoggerBuilder::new()
+        .write(true)
+        .create(true)
+        .file_path(datalogger_output_path)
+        .preallocated_size(100000)
+        .build()
+        .expect("Failed to create logger")
+    else {
+        panic!("Failed to create logger")
+    };
+    let data_logger = Arc::new(Mutex::new(logger));
+    let stream = stream_write(data_logger.clone(), DataLogType::StructuredLogLine, 1024);
+
+    let extra = if text_log {
+        let slow_text_logger = TermLogger::new(
+            LevelFilter::Debug,
+            Config::default(),
+            TerminalMode::Mixed,
+            ColorChoice::Auto,
+        );
+
+        // This is the path to the index file that was created at build time.
+        // depending if we build with debug pick it from debug or release:
+        let log_index_path = default_log_index_dir();
+
+        let extra_text_logger: ExtraTextLogger =
+            ExtraTextLogger::new(log_index_path, slow_text_logger);
+        Some(extra_text_logger)
+    } else {
+        None
+    };
+    Ok(LoggerRuntime::init(RobotClock::default(), stream, extra))
+}

examples/cu_caterpillar/Cargo.toml

@@ -9,10 +9,9 @@ categories = ["science::robotics"]
 [dependencies]
 copper-derive = { path = "../../copper_derive" }
 copper = { path = "../../copper" }
+copper-helpers = { path = "../../copper_helpers" }
 copper-log = { path = "../../copper_log" }
 copper-log-derive = { path = "../../copper_log_derive" }
 copper-log-runtime = { path = "../../copper_log_runtime" }
-copper-datalogger = { path = "../../copper_datalogger" }
 cu-rp-gpio = { path = "../cu_rp_gpio" }
-serde = { version = "1.0.203", features = ["derive"] }
-simplelog = "0.12.2"
+serde = { version = "1.0.203", features = ["derive"] }

examples/cu_caterpillar/src/main.rs

@@ -1,16 +1,12 @@
-use copper::clock::{OptionCuTime, RobotClock};
+use copper::clock::{ClockProvider, OptionCuTime, RobotClock};
 use copper::cutask::{CuMsg, CuSrcTask, CuTask, CuTaskLifecycle};
-use copper::{CuResult, DataLogType};
-use copper_datalogger::{stream_write, DataLogger, DataLoggerBuilder};
+use copper::CuResult;
 use copper_derive::copper_runtime;
-use copper_log::default_log_index_dir;
+use copper_helpers::basic_logger_runtime_setup;
 use copper_log_derive::debug;
-use copper_log_runtime::{ExtraTextLogger, LoggerRuntime};
 use cu_rp_gpio::RPGpioMsg;
 use serde::{Deserialize, Serialize};
-use simplelog::{ColorChoice, Config, LevelFilter, TermLogger, TerminalMode};
 use std::path::PathBuf;
-use std::sync::{Arc, Mutex};
 use std::thread::sleep;
 use std::time::Duration;
 
@@ -76,40 +72,15 @@ impl CuTask for CaterpillarTask {
 }
 
 fn main() {
-    let path: PathBuf = PathBuf::from("/tmp/caterpillar.copper");
-    let DataLogger::Write(logger) = DataLoggerBuilder::new()
-        .write(true)
-        .create(true)
-        .file_path(&path)
-        .preallocated_size(100000)
-        .build()
-        .expect("Failed to create logger")
-    else {
-        panic!("Failed to create logger")
-    };
-    let data_logger = Arc::new(Mutex::new(logger));
-    let stream = stream_write(data_logger.clone(), DataLogType::StructuredLogLine, 1024);
-
-    let slow_text_logger = TermLogger::new(
-        LevelFilter::Debug,
-        Config::default(),
-        TerminalMode::Mixed,
-        ColorChoice::Auto,
-    );
-
-    // This is the path to the index file that was created at build time.
-    // depending if we build with debug pick it from debug or release:
-    let log_index_path = default_log_index_dir();
-
-    let extra: ExtraTextLogger = ExtraTextLogger::new(log_index_path, slow_text_logger);
-    let clock = RobotClock::default();
-    let _needed = LoggerRuntime::init(clock.clone(), stream, Some(extra)); // with the slow textual logger on top.
+    let logger_runtime =
+        basic_logger_runtime_setup(&PathBuf::from("/tmp/caterpillar.copper"), true)
+            .expect("Failed to setup logger.");
+    let clock = logger_runtime.get_clock();
     debug!("Application created.");
     let mut application =
         TheVeryHungryCaterpillar::new(clock.clone()).expect("Failed to create runtime.");
     debug!("Running... starting clock: {}.", clock.now());
     application.run(2).expect("Failed to run application.");
-    debug!("End of program.");
-    drop(_needed);
+    debug!("End of program: {}.", clock.now());
     sleep(Duration::from_secs(1));
 }