Added logger

src/CommandBase.cpp

@@ -4,18 +4,19 @@
 Robot* CommandBase::robot = nullptr;
 
 CommandBase::CommandBase(const char* name) :
- Command(name) {
+ Command(name), logger(name) {
+
 }
 
 void CommandBase::Initialize() {
- std::cout << GetName() << " command initialized" << std::endl;
+ logger.State(GetName() + " command initialized");
 }
 
 void CommandBase::End() {
- std::cout << GetName() << " command ended" << std::endl;
+ logger.State(GetName() + " command ended");
 }
 
 void CommandBase::Interrupted() {
- std::cout << GetName() << " command interrupted" << std::endl;
+ logger.State(GetName() + " command interrupted");
 }
 

src/CommandBase.h

@@ -14,6 +14,8 @@ class CommandBase: public Command {
  virtual bool IsFinished() override = 0;
  virtual void End() override;
  virtual void Interrupted() override;
+private:
+ Logger logger;
 };
 
 #endif /* SRC_COMMANDBASE_H_ */

src/Logger.cpp

@@ -0,0 +1,33 @@
+#include <Logger.h>
+
+#include "Timer.h"
+#include <iostream>
+#include <iomanip>
+
+Logger::Logger(const std::string& loggerSource) {
+ this->source = loggerSource;
+}
+
+void Logger::Info(const std::string& message) {
+ std::cout << std::fixed << std::setprecision(3) << std::setw(8)
+ << Timer::GetFPGATimestamp() << " [INFO] " << source << " - "
+ << message << std::endl;
+}
+
+void Logger::Warn(const std::string& message) {
+ std::cout << std::fixed << std::setprecision(3) << std::setw(8)
+ << Timer::GetFPGATimestamp() << " [WARN] " << source << " - "
+ << message << std::endl;
+}
+
+void Logger::Error(const std::string& message) {
+ std::cout << std::fixed << std::setprecision(3) << std::setw(8)
+ << Timer::GetFPGATimestamp() << " [ERROR] " << source << " - "
+ << message << std::endl;
+}
+
+void Logger::State(const std::string& message) {
+ std::cout << std::fixed << std::setprecision(3) << std::setw(8)
+ << Timer::GetFPGATimestamp() << " [STATE] " << source << " - "
+ << message << std::endl;
+}

src/Logger.h

@@ -0,0 +1,17 @@
+#ifndef SRC_LOGGER_H_
+#define SRC_LOGGER_H_
+
+#include <string>
+
+class Logger {
+public:
+ Logger(const std::string& loggerSource);
+ void Info(const std::string& message);
+ void Warn(const std::string& message);
+ void Error(const std::string& message);
+ void State(const std::string& message);
+private:
+ std::string source;
+};
+
+#endif /* SRC_LOGGER_H_ */

src/Robot.cpp

@@ -13,14 +13,15 @@
 #include "Commands/DriveLowGear.h"
 #include "Commands/DriveHighGear.h"
 
-Robot::Robot() {
+Robot::Robot() :
+ logger("Robot") {
  // define robot pointer
  CommandBase::robot = this;
 }
 
 // robot init implementation
 void Robot::RobotInit() {
- std::cout << "Entered RobotInit()" << std::endl;
+ logger.Info("Initializing robot");
 
  scheduler = Scheduler::GetInstance();
 
@@ -37,23 +38,23 @@ void Robot::RobotInit() {
 
 // disabled init implementation
 void Robot::DisabledInit() {
- std::cout << "Entered DisabledInit()" << std::endl;
+ logger.State("Entering disabled mode");
 }
 
 // autonomous init implementation
 void Robot::AutonomousInit() {
- std::cout << "Entered AutonomousInit()" << std::endl;
+ logger.State("Entering autonomous mode");
 }
 
 // teleop init implementation
 void Robot::TeleopInit() {
- std::cout << "Entered TeleopInit()" << std::endl;
+ logger.State("Entering teleop mode");
  driveCommand->Start();
 }
 
 // test init implementation
 void Robot::TestInit() {
- std::cout << "Entered TestInit()" << std::endl;
+ logger.State("Entering test mode");
 }
 
 // disabled periodic implementation

src/Robot.h

@@ -2,6 +2,7 @@
 #define SRC_ROBOT_H_
 
 #include <IterativeRobot.h>
+#include "Logger.h"
 
 class Drive;
 class OI;
@@ -29,6 +30,7 @@ class Robot: public IterativeRobot {
 
 private:
  Scheduler* scheduler;
+ Logger logger;
 };
 
 #endif /* SRC_ROBOT_H_ */

src/SubsystemBase.cpp

@@ -0,0 +1,5 @@
+#include <SubsystemBase.h>
+
+SubsystemBase::SubsystemBase(const char* name) :
+ Subsystem(name), logger(name) {
+}

src/SubsystemBase.h

@@ -0,0 +1,14 @@
+#ifndef SRC_SUBSYSTEMBASE_H_
+#define SRC_SUBSYSTEMBASE_H_
+
+#include <Commands/Subsystem.h>
+#include "Logger.h"
+
+class SubsystemBase: public Subsystem {
+public:
+ SubsystemBase(const char* name);
+private:
+ Logger logger;
+};
+
+#endif /* SRC_SUBSYSTEMBASE_H_ */

src/Subsystems/Drive.cpp

@@ -3,7 +3,7 @@
 #include <DoubleSolenoid.h>
 
 Drive::Drive() :
- Subsystem("Drive") {
+ SubsystemBase("Drive") {
  left1 = new Victor(0);
  left2 = new Victor(1);
  left3 = new Victor(2);
@@ -39,6 +39,6 @@ void Drive::SetHighGear() {
  gearSolenoid->Set(DoubleSolenoid::kForward);
 
 }
-void Drive::SetLowGear(){
+void Drive::SetLowGear() {
  gearSolenoid->Set(DoubleSolenoid::kReverse);
 }

src/Subsystems/Drive.h

@@ -1,12 +1,12 @@
 #ifndef SRC_SUBSYSTEMS_DRIVE_H_
 #define SRC_SUBSYSTEMS_DRIVE_H_
 
-#include <Commands/Subsystem.h>
+#include "SubsystemBase.h"
 
 class Victor;
 class DoubleSolenoid;
 
-class Drive: public Subsystem {
+class Drive: public SubsystemBase {
 public:
  Drive();
  ~Drive();

src/Subsystems/OI.cpp

@@ -2,7 +2,7 @@
 #include <Buttons/JoystickButton.h>
 #include "OI.h"
 OI::OI() :
- Subsystem("OI") {
+ SubsystemBase("OI") {
  driverJoystick = new Joystick(0);
 
 }

src/Subsystems/OI.h

@@ -1,9 +1,12 @@
 #ifndef SRC_SUBSYSTEMS_OI_H_
 #define SRC_SUBSYSTEMS_OI_H_
+
+#include "SubsystemBase.h"
+
 class Joystick;
 class JoystickButton;
-#include <Commands/Subsystem.h>
-class OI: public Subsystem {
+
+class OI: public SubsystemBase {
 public:
  OI();
  ~OI();