RustFest2024 - Logging improvements suggestions

crates/control/Cargo.toml

@@ -32,5 +32,6 @@ serde = { workspace = true }
 smallvec = { workspace = true }
 spl_network_messages = { workspace = true }
 splines = { workspace = true }
+tracing = "0.1.40"
 types = { workspace = true }
 walking_engine = { workspace = true }

crates/control/src/a_star.rs

@@ -43,7 +43,7 @@ where
 /// `destination` is the index of the target tile.
 /// `success` is true if it reached the target, false otherwise.
 /// `steps` is a vector of each step towards the target, *including* the starting position.
-#[derive(Clone, Default)]
+#[derive(Clone, Default, Debug)]
 pub struct NavigationPath {
     pub destination: usize,
     pub success: bool,

crates/control/src/path_planner.rs

@@ -1,8 +1,10 @@
 use color_eyre::{eyre::eyre, Result};
 use geometry::{arc::Arc, circle::Circle, direction::Direction, line_segment::LineSegment};
 use linear_algebra::{distance, point, vector, Isometry2, Orientation2, Point2};
+use log::{info, warn};
 use ordered_float::NotNan;
 use smallvec::SmallVec;
+use tracing::warn_span;
 
 use coordinate_systems::{Field, Ground};
 use types::{
@@ -307,6 +309,13 @@ impl PathPlanner {
         let navigation_path = a_star_search(0, 1, self);
 
         if !navigation_path.success {
+            // This warning is used for regular logging
+            // it will be logged into a file (see function setup_logger in crates/hulk_nao/src/main.rs)
+            warn!(target: "control", "Path not found: {:?}", navigation_path);
+
+            // This warning is used for Tokio related logging using "tracing" crate
+            // see function setup_logger in tools/fanta/src/main.rs)
+            warn_span! {"Path not found: {:?}", navigation_path};
             return Ok(None);
         }
 

crates/hulk_nao/src/main.rs

@@ -12,6 +12,7 @@ use color_eyre::{
     install,
 };
 use ctrlc::set_handler;
+use fern::Dispatch;
 use framework::Parameters as FrameworkParameters;
 use hardware::IdInterface;
 use hardware_interface::{HardwareInterface, Parameters as HardwareParameters};
@@ -29,7 +30,9 @@ mod microphones;
 mod speakers;
 
 pub fn setup_logger() -> Result<(), fern::InitError> {
-    fern::Dispatch::new()
+    let base_config = Dispatch::new();
+
+    let common_config = Dispatch::new()
         .format(|out, message, record| {
             out.finish(format_args!(
                 "{}  {:<18}  {:>5}  {}",
@@ -40,7 +43,27 @@ pub fn setup_logger() -> Result<(), fern::InitError> {
             ))
         })
         .level(log::LevelFilter::Debug)
-        .chain(stdout())
+        .chain(stdout());
+
+    // a log config for logs coming from specific crates
+    let live_log_config = Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "{}  {:<18}  {:>5}  {}",
+                chrono::Local::now().format("%Y-%m-%d %H:%M:%S"),
+                record.target(),
+                record.level(),
+                message
+            ))
+        })
+        // only apply for logs from the specific crate
+        .level_for("control", log::LevelFilter::Debug)
+        .level_for("hulk", log::LevelFilter::Debug)
+        .chain(fern::log_file("control-program.log")?);
+
+    base_config
+        .chain(common_config)
+        .chain(live_log_config)
         .apply()?;
     Ok(())
 }

tools/fanta/Cargo.toml

@@ -12,3 +12,5 @@ communication = { workspace = true }
 fern = { workspace = true }
 log = { workspace = true }
 tokio = { workspace = true }
+tracing = "0.1.40"
+tracing-subscriber = "0.3.18"

tools/fanta/src/main.rs

@@ -24,6 +24,24 @@ struct CommandlineArguments {
 async fn main() -> Result<()> {
     setup_logger()?;
 
+    // create a subscriber for logs used by "tracing" crate
+    // for emitting log messages, see crates/control/src/path_planner.rs, line 318
+    let subscriber = tracing_subscriber::fmt()
+        // Use a more compact, abbreviated log format
+        .compact()
+        // Display source code file paths
+        .with_file(true)
+        // Display source code line numbers
+        .with_line_number(true)
+        // Display the thread ID an event was recorded on
+        .with_thread_ids(true)
+        // Don't display the event's target (module path)
+        .with_target(false)
+        // Build the subscriber
+        .finish();
+
+    tracing::subscriber::set_global_default(subscriber)?;
+
     let arguments = CommandlineArguments::parse();
     let output_to_subscribe = CyclerOutput::from_str(&arguments.path)?;
     let communication = Communication::new(Some(format!("ws://{}:1337", arguments.address)), true);