Implemented CAN logging - 260

scripts/test.sh

@@ -27,6 +27,12 @@ if [ -d $NET_DIR ]; then
     popd
 fi
 
+# Set the environment variables
+export ROS_LOG_DIR="/src/network_systems/scripts/can_transceiver.log"
+export RCUTILS_COLORIZED_OUTPUT="1"
+
+echo "ROS_LOG_DIR is set to: $ROS_LOG_DIR"
+
 colcon test --packages-ignore virtual_iridium --merge-install --event-handlers console_cohesion+
 colcon test-result
 exit 0

src/network_systems/launch/main_launch.py

@@ -8,7 +8,7 @@
 from launch_ros.actions import Node
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetEnvironmentVariable
 from launch.launch_context import LaunchContext
 from launch.some_substitutions_type import SomeSubstitutionsType
 from launch.substitutions import LaunchConfiguration
@@ -81,6 +81,11 @@ def setup_launch(context: LaunchContext) -> List[Node]:
     Returns:
         List[Nodes]: Nodes to launch.
     """
+    mode = LaunchConfiguration("mode").perform(context)
+    if mode == "development":
+        SetEnvironmentVariable(
+            name="ROS_LOG_DIR", value="/workspaces/sailbot_workspace/log"
+        ).visit(context)
     launch_description_entities = list()
     launch_description_entities.append(get_cached_fib_description(context))
     launch_description_entities.append(get_mock_ais_description(context))
@@ -221,12 +226,12 @@ def get_remote_transceiver_description(context: LaunchContext) -> Node:
 def get_local_transceiver_description(context: LaunchContext) -> Node:
     """Gets the launch description for the local_transceiver_node.
 
-        Args:
-            context (LaunchContext): The current launch context.
+    Args:
+        context (LaunchContext): The current launch context.
 
-        Returns:
-            Node: The node object that launches the local_transceiver_node.
-        """
+    Returns:
+        Node: The node object that launches the local_transceiver_node.
+    """
     node_name = "local_transceiver_node"
     ros_parameters = [
         global_launch_config,

src/network_systems/projects/can_transceiver/inc/can_frame_parser.h

@@ -135,6 +135,12 @@ class BaseFrame
      * @return A string that can be printed or logged for debugging
      */
     virtual std::string debugStr() const;
+
+    /**
+     * @brief A string representation of the dataframe
+     *
+     */
+    virtual std::string toString() const;
 };
 
 /**
@@ -186,6 +192,12 @@ class Battery final : public BaseFrame
      */
     std::string debugStr() const override;
 
+    /**
+     * @brief A string representation of the Battery object
+     *
+     */
+    std::string toString() const override;
+
 private:
     /**
      * @brief Private helper constructor for Battery objects
@@ -252,6 +264,12 @@ class MainTrimTab final : public BaseFrame
      */
     std::string debugStr() const override;
 
+    /**
+     * @brief A string representation of the MainTrimTab object
+     *
+     */
+    std::string toString() const override;
+
 private:
     /**
      * @brief Private helper constructor for MainTrimTab objects
@@ -317,6 +335,12 @@ class WindSensor final : public BaseFrame
      */
     std::string debugStr() const override;
 
+    /**
+     * @brief A string representation of the WindSensor object
+     *
+     */
+    std::string toString() const override;
+
     /**
      * @brief Factory method to convert the index of a wind sensor in the custom_interfaces ROS representation
      *        into a CanId if valid.
@@ -397,6 +421,12 @@ class GPS final : public BaseFrame
      */
     std::string debugStr() const override;
 
+    /**
+     * @brief A string representation of the GPS object
+     *
+     */
+    std::string toString() const override;
+
 private:
     /**
      * @brief Private helper constructor for GPS objects
@@ -476,6 +506,12 @@ class AISShips final : public BaseFrame
      */
     std::string debugStr() const override;
 
+    /**
+     * @brief A string representation of the AISShips object
+     *
+     */
+    std::string toString() const override;
+
     /**
      * @brief Returns the number of ships
      *
@@ -639,6 +675,12 @@ class DesiredHeading final : public BaseFrame
      */
     std::string debugStr() const override;
 
+    /**
+     * @brief A string representation of the DesiredHeading object
+     *
+     */
+    std::string toString() const override;
+
 private:
     /**
      * @brief Private helper constructor for DesiredHeading objects

src/network_systems/projects/can_transceiver/src/can_frame_parser.cpp

@@ -66,6 +66,8 @@ BaseFrame::BaseFrame(std::span<const CanId> valid_ids, CanId id, uint8_t can_byt
 
 std::string BaseFrame::debugStr() const { return CanDebugStr(id_); }
 
+std::string BaseFrame::toString() const { return CanIdToStr(id_); }
+
 CanFrame BaseFrame::toLinuxCan() const { return CanFrame{.can_id = static_cast<canid_t>(id_), .len = can_byte_dlen_}; }
 
 // BaseFrame protected END
@@ -123,6 +125,13 @@ std::string Battery::debugStr() const
     return ss.str();
 }
 
+std::string Battery::toString() const
+{
+    std::stringstream ss;
+    ss << "[BATTERY] Voltage: " << volt_;
+    return ss.str();
+}
+
 // Battery public END
 // Battery private START
 
@@ -190,6 +199,13 @@ std::string MainTrimTab::debugStr() const
     return ss.str();
 }
 
+std::string MainTrimTab::toString() const
+{
+    std::stringstream ss;
+    ss << "[MAIN TRIM TAB] Angle: " << angle_;
+    return ss.str();
+}
+
 // MainTrimTab public END
 // MainTrimTab private START
 
@@ -263,6 +279,13 @@ std::string WindSensor::debugStr() const
     return ss.str();
 }
 
+std::string WindSensor::toString() const
+{
+    std::stringstream ss;
+    ss << "[WIND SENSOR] Speed: " << wind_speed_ << " Angle: " << wind_angle_;
+    return ss.str();
+}
+
 std::optional<CanId> WindSensor::rosIdxToCanId(size_t wind_idx)
 {
     if (wind_idx < WIND_SENSOR_IDS.size()) {
@@ -381,6 +404,13 @@ std::string GPS::debugStr() const
     return ss.str();
 }
 
+std::string GPS::toString() const
+{
+    std::stringstream ss;
+    ss << "[GPS] Latitude: " << lat_ << " Longitude: " << lon_ << " Speed: " << speed_;  //NOTE HEADING IS NOT USED
+    return ss.str();
+}
+
 //GPS public END
 //GPS private START
 
@@ -550,6 +580,13 @@ std::string AISShips::debugStr() const
 
     return ss.str();
 }
+
+std::string AISShips::toString() const
+{
+    std::stringstream ss;
+    ss << "[AIS SHIP] ID: " << ship_id_ << " Latitude: " << lat_ << " Longitude: " << lon_;
+    return ss.str();
+}
 //AISShips public END
 //AISShips private START
 
@@ -698,6 +735,13 @@ std::string DesiredHeading::debugStr() const
     return ss.str();
 }
 
+std::string DesiredHeading::toString() const
+{
+    std::stringstream ss;
+    ss << "[DESIRED HEADING] Heading: " << heading_;
+    return ss.str();
+}
+
 // DesiredHeading public END
 // DesiredHeading private START
 

src/network_systems/projects/can_transceiver/src/can_transceiver_ros_intf.cpp

@@ -103,7 +103,7 @@ class CanTransceiverIntf : public NetNode
                   this->create_publisher<msg::CanSimToBoatSim>(ros_topics::BOAT_SIM_INPUT, QUEUE_SIZE);
 
                 timer_ = this->create_wall_timer(TIMER_INTERVAL, [this]() {
-                    mockBatteriesCb();
+                    //mockBatteriesCb();
                     publishBoatSimInput(boat_sim_input_msg_);
                     // Add any other necessary looping callbacks
                 });
@@ -172,6 +172,7 @@ class CanTransceiverIntf : public NetNode
             ais_ships_holder_.clear();
             ais_ships_num_ = 0;  // reset the number of ships
         }
+        RCLCPP_INFO(this->get_logger(), "%s %s", getCurrentTimeString().c_str(), ais_ship.toString().c_str());
     }
 
     /**
@@ -195,6 +196,17 @@ class CanTransceiverIntf : public NetNode
         }
         CAN_FP::PwrMode power_mode(set_pwr_mode, CAN_FP::CanId::PWR_MODE);
         can_trns_->send(power_mode.toLinuxCan());
+
+        // Get the current time as a time_point
+        auto now = std::chrono::system_clock::now();
+
+        // Convert it to a time_t object for extracting hours and minutes
+        std::time_t currentTime = std::chrono::system_clock::to_time_t(now);
+
+        std::stringstream ss;
+        ss << currentTime;
+
+        RCLCPP_INFO(this->get_logger(), "%s %s", getCurrentTimeString().c_str(), bat.toString().c_str());
     }
 
     /**
@@ -209,6 +221,7 @@ class CanTransceiverIntf : public NetNode
 
         msg::GPS gps_ = gps.toRosMsg();
         gps_pub_->publish(gps_);
+        RCLCPP_INFO(this->get_logger(), "%s %s", getCurrentTimeString().c_str(), gps.toString().c_str());
     }
 
     /**
@@ -229,8 +242,8 @@ class CanTransceiverIntf : public NetNode
         msg::WindSensor & wind_sensor_msg = wind_sensors_.wind_sensors[idx];
         wind_sensor_msg                   = wind_sensor.toRosMsg();
         wind_sensors_pub_->publish(wind_sensors_);
-
         publishFilteredWindSensor();
+        RCLCPP_INFO(this->get_logger(), "%s %s", getCurrentTimeString().c_str(), wind_sensor.toString().c_str());
     }
 
     /**
@@ -260,6 +273,9 @@ class CanTransceiverIntf : public NetNode
         filtered_wind_sensor_.set__direction(static_cast<int16_t>(average_direction));
 
         filtered_wind_sensor_pub_->publish(filtered_wind_sensor_);
+        std::stringstream ss;
+        ss << "[WIND SENSOR] Speed: " << filtered_speed.speed << " Angle: " << average_direction;
+        RCLCPP_INFO(this->get_logger(), "%s %s", getCurrentTimeString().c_str(), ss.str().c_str());
     }
 
     /**
@@ -286,6 +302,9 @@ class CanTransceiverIntf : public NetNode
         generic_sensor_msg.set__id(generic_frame.can_id);
 
         generic_sensors_pub_->publish(generic_sensors_);
+        std::stringstream ss;
+        ss << "[GENERIC SENSOR] CanID: " << generic_frame.can_id << " Data: " << generic_data;
+        RCLCPP_INFO(this->get_logger(), "%s %s", getCurrentTimeString().c_str(), ss.str().c_str());
     }
 
     // SIMULATION CALLBACKS //
@@ -309,8 +328,10 @@ class CanTransceiverIntf : public NetNode
     {
         sail_cmd_ = sail_cmd_input;
         boat_sim_input_msg_.set__sail_cmd(sail_cmd_);
-
-        can_trns_->send(CAN_FP::MainTrimTab(sail_cmd_input, CanId::MAIN_TR_TAB).toLinuxCan());
+        auto main_trim_tab_frame = CAN_FP::MainTrimTab(sail_cmd_input, CanId::MAIN_TR_TAB);
+        can_trns_->send(main_trim_tab_frame.toLinuxCan());
+        RCLCPP_INFO(
+          this->get_logger(), "%s %s", getCurrentTimeString().c_str(), main_trim_tab_frame.toString().c_str());
     }
 
     /**
@@ -331,7 +352,10 @@ class CanTransceiverIntf : public NetNode
     void subDesiredHeadingCb(msg::DesiredHeading desired_heading)
     {
         boat_sim_input_msg_.set__heading(desired_heading);
-        can_trns_->send(CAN_FP::DesiredHeading(desired_heading, CanId::MAIN_TR_TAB).toLinuxCan());
+        auto desired_heading_frame = CAN_FP::DesiredHeading(desired_heading, CanId::MAIN_TR_TAB);
+        can_trns_->send(desired_heading_frame.toLinuxCan());
+        RCLCPP_INFO(
+          this->get_logger(), "%s %s", getCurrentTimeString().c_str(), desired_heading_frame.toString().c_str());
     }
 
     /**
@@ -361,6 +385,18 @@ class CanTransceiverIntf : public NetNode
 
         can_trns_->send(CAN_FP::Battery(bat, CanId::BMS_DATA_FRAME).toLinuxCan());
     }
+    static std::string getCurrentTimeString()
+    {
+        auto        now      = rclcpp::Clock().now();
+        std::time_t time_now = static_cast<std::time_t>(now.seconds());
+        std::tm     time_info;
+        localtime_r(&time_now, &time_info);
+
+        std::ostringstream ss;
+        ss << '[' << std::put_time(&time_info, "%Y-%m-%d %H:%M:%S") << ']';
+
+        return ss.str();
+    }
 };
 
 int main(int argc, char * argv[])

src/network_systems/projects/can_transceiver/test/test_can_transceiver.cpp

@@ -1157,9 +1157,8 @@ TEST_F(TestCanTransceiver, TestNewGPSValid)
  */
 TEST_F(TestCanTransceiver, TestNewDataWindValid)
 {
-    volatile bool is_cb_called = false;
-
-    std::function<void(CAN_FP::CanFrame)> test_cb = [&is_cb_called](CAN_FP::CanFrame /*unused*/) {
+    volatile bool                         is_cb_called = false;
+    std::function<void(CAN_FP::CanFrame)> test_cb      = [&is_cb_called](CAN_FP::CanFrame /*unused*/) {
         is_cb_called = true;
     };
     canbus_t_->registerCanCbs({{