Merge pull request #17 from Legohead259/serial-debug-change

Logging Overhaul

CHANGELOG.md

@@ -15,8 +15,31 @@ Release sections
 ### Security 
 -->
 
-## [UNRELEASED] 1.4.0 - 
-### TODO
+## 1.4.0 - 2022-11-23
+
+### Added
+- Added a massive rework to the logging system
+  - Added seven different logging levels that can be used to track events
+- Consolidated all logging functions into an object-oriented approach, allowing more flexibility
+- Loggers can specify which streams they send data to and what the information looks like
+- Ability to dynamically switch between streaming the event log to the Serial monitor or the file system, depending on USB connection
+- Expanded the configuration options that can be saved to SPIFFS
+  - Log level for print streaming
+  - Log level for event file
+- Added various `info`, `fatal`, and `verbose` statements throughout code to track flow
+
+### Changed
+- Changed static logging behavior to object-oriented
+- Moved `fusion.h` to `AHRS/` folder since that makes more sense
+- Removed state update behavior in `updateSystemState()`, for now
+
+### Deprecated
+- Deprecated the old `logging` files - they currently have the file extension `.bkp` for safekeeping - remove in next update!
+
+### Removed
+- Removed BNO055 files
+
+---
 
 ## 1.3.0 - 2022-11-20 
 
@@ -27,7 +50,7 @@ Release sections
 - Added a function to log data to the file in a binary format
 - Added an `updateTimestamp()` function to update the data packet epoch
 - Added ability to change IMU information from configuration data
-- Aded ability to change sensor fusion update rate from configuration data
+- Added ability to change sensor fusion update rate from configuration data
 - Expanded the configuration options that can be saved to SPIFFS
   - More device information
   - WiFi information

src/sensors/fusion.h → src/AHRS/fusion.h

@@ -1,10 +1,11 @@
 #ifndef IMU_H
 #define IMU_H
 
-#include "lsm6dso32.h"
-#include "../AHRS/MahonyAHRS.h"
+#include "../sensors/lsm6dso32.h"
+#include "MahonyAHRS.h"
 #include "../utility/imumaths.h"
 #include "../data.h"
+#include "../filesystem/logger.h"
 
 uint8_t fusionUpdateRate = 200; // Hz - Default: 200
 unsigned long fusionUpdateInterval = 1000/fusionUpdateRate; // time between IMU polls [ms]
@@ -27,17 +28,20 @@ sensors_vec_t eulerAngles;
 
 #define N_state 6 // Number of states - Acceleration (XYZ), Gyroscope (XYZ)
 #define N_obs 	6 // Number of observation - Acceleration (XYZ), Gyroscope (XYZ)
-#define r_a 	0.5 // Acceleration measurement noise (m/sec)
+#define r_a 	0.5 // Acceleration measurement noise (m/sec/sec)
 #define r_g 	1.0 // Gyroscope measurement noise (deg/sec)
+#define r_m     1.0 // Magnetometer measurement noise (nT)
 #define q_a 	0.1 // Process error - acceleration
 #define q_g 	0.1 // Process error - gyroscope
+#define q_m     0.1 // Process error - magnetometer
 
 BLA::Matrix<N_obs> obs; // observation vector
 KALMAN<N_state, N_obs> K_imu; // Kalman filter object
 unsigned long currMillis;
 float dt;
 
 void initFusion() {
+    diagLogger->info("Initializing fusion algorithm...");
     // Initialize Kalman Filter
 
 	// time evolution matrix (whatever... it will be updated in loop)
@@ -65,6 +69,9 @@ void initFusion() {
                 0.0,    0.0,	0.0, 	r_g2, 	0.0,	0.0,
                 0.0,	0.0,	0.0,	0.0,	r_g2, 	0.0,
                 0.0,	0.0,	0.0,	0.0,	0.0,	r_g2 };
+    diagLogger->verbose("Accelerometer variance set to: %d m/s/s", r_a);
+    diagLogger->verbose("Gyroscope variance set to: %d m/s/s", r_g);
+    diagLogger->verbose("Magnetometer variance set to: %d m/s/s", r_m);
 
     // model covariance matrix
 	float q_a2 = q_a*q_a;
@@ -75,8 +82,12 @@ void initFusion() {
                 0.0,    0.0,	0.0, 	q_g2, 	0.0,	0.0,
                 0.0,	0.0,	0.0,	0.0,	q_g2, 	0.0,
                 0.0,	0.0,	0.0,	0.0,	0.0,	q_g2 };
+    diagLogger->verbose("Accelerometer process noise set to: %d", q_a);
+    diagLogger->verbose("Gyroscope process noise set to: %d", q_g);
+    diagLogger->verbose("Magnetometer process noise set to: %d", q_m);
 
     currMillis = millis();
+    diagLogger->info("done!");
 }
 
 void calcLinAccel() {
@@ -89,10 +100,7 @@ void calcLinAccel() {
     data.linAccelY = data.accelY - gravBody.y();
     data.linAccelZ = data.accelZ - gravBody.z();
 
-    // DEBUG statement
-    #ifdef IMU_DEBUG
-    DEBUG_SERIAL_PORT.printf("LinAccel X: %0.3f \t\t Y: %0.3f \t\t Z: %0.3f \t\t m/s/s\n\r", data.accelX, data.accelY, data.accelZ);
-    #endif
+    diagLogger->verbose("LinAccel   X: %0.3f \t Y: %0.3f \t Z: %0.3f", data.linAccelX, data.linAccelY, data.linAccelZ);
 }
 
 void updateFusion() {
@@ -111,6 +119,10 @@ void updateFusion() {
     data.rawGyroY = gyro.gyro.y;
     data.rawGyroZ = gyro.gyro.z;
 
+    diagLogger->verbose("RawAccel   X: %0.3f \t Y: %0.3f \t Z: %0.3f", data.rawAccelX, data.rawAccelY, data.rawAccelZ);
+    diagLogger->verbose("RawGyro    X: %0.3f \t Y: %0.3f \t Z: %0.3f", data.rawGyroX, data.rawGyroY, data.rawGyroZ);
+
+
     // --------------------------
     // -- Update Kalman Filter --
     // --------------------------
@@ -136,14 +148,8 @@ void updateFusion() {
     data.gyroY  = K_imu.x(4);
     data.gyroZ  = K_imu.x(5);
 
-    #ifdef KALMAN_IMU_DEBUG
-    DEBUG_SERIAL_PORT.printf("Acceleration X: %0.3f | %0.3f \n\r", K_imu.x(0), data.accelX);
-    DEBUG_SERIAL_PORT.printf("Acceleration Y: %0.3f | %0.3f \n\r", K_imu.x(1), data.accelY);
-    DEBUG_SERIAL_PORT.printf("Acceleration Z: %0.3f | %0.3f \n\r", K_imu.x(2), data.accelZ);
-    DEBUG_SERIAL_PORT.printf("Gyroscope    X: %0.3f | %0.3f \n\r", K_imu.x(3), data.gyroX);
-    DEBUG_SERIAL_PORT.printf("Gyroscope    Y: %0.3f | %0.3f \n\r", K_imu.x(4), data.gyroY);
-    DEBUG_SERIAL_PORT.printf("Gyroscope    Z: %0.3f | %0.3f \n\r", K_imu.x(5), data.gyroZ);
-    #endif
+    diagLogger->verbose("Accel      X: %0.3f \t Y: %0.3f \t Z: %0.3f", data.accelX, data.accelY, data.accelZ);
+    diagLogger->verbose("Gyroscope  X: %0.3f \t Y: %0.3f \t Z: %0.3f", data.gyroX, data.gyroY, data.gyroZ);
 
     // --------------------------
     // -- Update Mahony Filter --
@@ -154,6 +160,8 @@ void updateFusion() {
     data.roll = mahony.getRoll();
     data.pitch = mahony.getPitch();
     data.yaw = mahony.getYaw();
+
+    diagLogger->verbose("Attitude   R: %0.3f \t P: %0.3f \t Y: %0.3f", data.roll, data.pitch, data.yaw);
 
     float _quat[4];
     mahony.getQuaternionComps(_quat);
@@ -162,6 +170,8 @@ void updateFusion() {
     data.quatY = _quat[2];
     data.quatZ = _quat[3];
 
+    diagLogger->verbose("Quaternion W: %0.3f \t X: %0.3f \t Y: %0.3f \t Z: %0.3f", data.quatW, data.quatX, data.quatY, data.quatZ);
+
     // ------------------------------------
     // -- Calculate linear accelerations --
     // ------------------------------------

src/ThetisLib.h

@@ -9,17 +9,18 @@
 
 // Miscellaneous functions
 #include "misc/neopixel.h"
+#include "misc/rtc.h"
 
 // Filesystem functions
 #include "filesystem/ThetisFS.h"
 #include "filesystem/config.h"
-#include "filesystem/logging.h"
+#include "filesystem/logger.h"
 
 // Status functions
 #include "states.h"
 
 // Sensor functions
-#include "sensors/fusion.h"
+#include "AHRS/fusion.h"
 
 // Radio functions
 #include "radios/gps.h"

src/filesystem/ThetisFS.cpp

@@ -12,13 +12,9 @@ bool initSDCard() {
 }
 
 bool initSPIFFS() {
-    #ifdef SDCARD_DEBUG
-    DEBUG_SERIAL_PORT.print("Initializing SPIFFS filesystem...");
-    #endif
+    diagLogger->info("Initializing SPIFFS filesystem...");
     bool _success = SPIFFS.begin();
-    #ifdef SDCARD_DEBUG
-    DEBUG_SERIAL_PORT.println(_success ? "done!" : "Failed to initialize filesystem!");
-    #endif
+    diagLogger->info(_success ? "done!" : "Failed to initialize filesystem!");
     return _success;
 }
 

src/filesystem/ThetisFS.h

@@ -4,6 +4,7 @@
 #include <SD.h>
 #include <SPI.h>
 #include <SPIFFS.h>
+#include "logger.h"
 
 bool initSDCard();
 bool initSPIFFS();

src/filesystem/config.cpp

@@ -15,51 +15,43 @@ Config config;
  * Opens the given file on the SD card.
  * Returns true if successful, false if not.
  *
- * configFileName = the name of the configuration file on the SD card.
+ * configFilename = the name of the configuration file on the SD card.
  *
  * NOTE: SD.begin() must be called before calling our begin().
  */
-bool Config::begin(const char *configFileName, uint8_t maxLineLength) {
+bool Config::begin(const char *configFilename, uint8_t maxLineLength) {
+	diagLogger->info("Initializing configuration reader...");
 	_lineLength = 0;
 	_lineSize = 0;
 	_valueIndex = -1;
 	_atEnd = true;
 
-	/*
-	* Allocate a buffer for the current line.
-	*/
+	// Allocate a buffer for the current line.
 	_lineSize = maxLineLength + 1;
 	_line = (char *) malloc(_lineSize);
   	if (_line == 0) {
-		#ifdef CONFIG_DEBUG
-		DEBUG_SERIAL_PORT.println("out of memory");
-		#endif
+		diagLogger->fatal("Out of memory for configuration file!");
 		_atEnd = true;
 		return false;
   	}
 
-  /*
-   * To avoid stale references to configFileName
-   * we don't save it. To minimize memory use, we don't copy it.
-   */
-
-  	_file = SPIFFS.open(configFileName, FILE_READ);
+   // To avoid stale references to configFilename we don't save it. To minimize memory use, we don't copy it.
+  	_file = SPIFFS.open(configFilename, FILE_READ);
   	if (!_file) {
-		#ifdef CONFIG_DEBUG
-		DEBUG_SERIAL_PORT.print("Could not open file: ");
-		DEBUG_SERIAL_PORT.println(configFileName);
-		#endif
+		diagLogger->fatal("Could not open file: %s", configFilename);
 		_atEnd = true;
 		return false;
   	}
 
 	// Initialize our reader
 	_atEnd = false;
 
+	diagLogger->info("done!");
 	return true;
 }
 
 void Config::loadConfigurations() {
+	diagLogger->info("Reading configurations...");
 	while (readNextSetting()) {
 		char _logBuf[64] = "";
 
@@ -76,6 +68,7 @@ void Config::loadConfigurations() {
 			strcpy(configData.HW_REVISION, getValue());
 			sprintf(_logBuf, "Setting device hardware revision to: %s", configData.HW_REVISION);
 		}
+
 		// ----- WiFi Settings -----
 		else if (nameIs("wifiEnable")) {
 			configData.wifiEnable = getBooleanValue();
@@ -100,6 +93,7 @@ void Config::loadConfigurations() {
 			sprintf(_logBuf, "Device will %s: %s", configData.wifiMode == 1 ? "require password" : "use password",
 													configData.password);
 		}
+
 		// ----- Sensor Settings -----
 		else if (nameIs("accelRange")) {
 			configData.accelRange = getIntValue();
@@ -125,25 +119,29 @@ void Config::loadConfigurations() {
 			configData.fusionUpdateRate = getIntValue();
 			sprintf(_logBuf, "Fusion update rate set to: %d Hz", configData.fusionUpdateRate);
 		}
+
 		// ----- Logging Settings -----
 		else if (nameIs("loggingUpdateRate")) {
 			configData.loggingUpdateRate= getIntValue();
 			sprintf(_logBuf, "Logging update rate set to: %d Hz", configData.loggingUpdateRate);
 		}
-		else if (nameIs("eventLogLevel")) {
-			configData.eventLogLevel = getIntValue();
-			sprintf(_logBuf, "Minimum event log level set to: %d", configData.eventLogLevel);
+		else if (nameIs("logPrintLevel")) {
+			configData.logPrintLevel = getIntValue();
+			sprintf(_logBuf, "Minimum event print log level set to: %d", configData.logPrintLevel);
+		}
+		else if (nameIs("logFileLevel")) {
+			configData.logFileLevel = getIntValue();
+			sprintf(_logBuf, "Minimum event file log level set to: %d", configData.logFileLevel);
 		}
 		else {
-			sprintf(_logBuf, "Unknown parameter discovered: %s", getName());
+			diagLogger->warn("Unknown parameter discovered: %s", getName());
+			continue;
 		}
 
-		// TODO: Make this an event log
-		#ifdef CONFIG_DEBUG
-		DEBUG_SERIAL_PORT.println(_logBuf);
-		#endif // CONFIG_DEBUG
+		diagLogger->info("%s", _logBuf);
 	}
 	end();
+	diagLogger->info("done!");
 }
 
 /*

src/filesystem/config.h

@@ -14,6 +14,7 @@
 #include <Arduino.h>
 #include <SPIFFS.h>
 // #include <Ethernet.h>
+#include "logger.h"
 
 struct config_data_t {
 	uint8_t DEVICE_ID;
@@ -33,7 +34,8 @@ struct config_data_t {
     uint8_t fusionUpdateRate;
 
     uint8_t loggingUpdateRate;
-    uint8_t eventLogLevel;
+    uint8_t logPrintLevel;
+    uint8_t logFileLevel;
 };
 
 extern config_data_t configData;