Stop using custom logger

Stop using a custom logger for subscriber.
When drone logs are required during execution (a.k.a debug mode), they are now
send through OPC-UA.

include/dronedge.h

@@ -5,7 +5,7 @@
 #include "autopilot_wrapper.h"
 #include "pubsub.h"
 
-#define DRONE_VARIABLE_NB 3
+#define DRONE_VARIABLE_NB 4
 #define SUBSCRIBER_VARIABLE_NB 1
 struct messageNode {
   char *message;
@@ -22,7 +22,7 @@ UA_UInt32 positionArrayDims[] = {POSITION_ARRAY_SIZE};
 UA_Double speedArray[SPEED_ARRAY_SIZE] = { 0 };
 UA_UInt32 speedArrayDims[] = {SPEED_ARRAY_SIZE};
 
-UA_String message = {
+UA_String initial_ua_string = {
     .length = 0,
     .data = NULL,
 };
@@ -55,7 +55,7 @@ VariableData droneVariableArray[] = {
     {
         .name = "message",
         .description = "Message to send to the other drones",
-        .value = &message,
+        .value = &initial_ua_string,
         .type = UA_TYPES_STRING,
         .builtInType = UA_NS0ID_STRING,
         .valueRank = UA_VALUERANK_SCALAR,
@@ -63,6 +63,17 @@ VariableData droneVariableArray[] = {
         .arrayDimensions = NULL,
         .getter.getString = get_message,
     },
+    {
+        .name = "log",
+        .description = "Message to send to the other drones",
+        .value = &initial_ua_string,
+        .type = UA_TYPES_STRING,
+        .builtInType = UA_NS0ID_STRING,
+        .valueRank = UA_VALUERANK_SCALAR,
+        .arrayDimensionsSize = 0,
+        .arrayDimensions = NULL,
+        .getter.getString = get_log,
+    },
 };
 
 VariableStruct droneVariables = {
@@ -74,7 +85,7 @@ VariableData subscriberVariableArray[] = {
     {
         .name = "message",
         .description = "Message to send to the other drones",
-        .value = &message,
+        .value = &initial_ua_string,
         .type = UA_TYPES_STRING,
         .builtInType = UA_NS0ID_STRING,
         .valueRank = UA_VALUERANK_SCALAR,
@@ -89,7 +100,4 @@ VariableStruct subscriberVariables = {
     .variableArray = subscriberVariableArray,
 };
 
-void Subscriber_log(void *context, UA_LogLevel level, UA_LogCategory category,
-                    const char *msg, va_list args);
-
 #endif /* __DRONEDGE_H__ */

include/pubsub.h

@@ -31,6 +31,8 @@ typedef struct {
     UA_Float  climbRate;
     char      message[MAX_MESSAGE_SIZE];
     UA_UInt32 messageId;
+    char      log[MAX_MESSAGE_SIZE];
+    UA_UInt32 logId;
 } JSDroneData;
 
 typedef struct {
@@ -79,6 +81,8 @@ int runPubsub(const UA_Logger *logger, UA_String *transportProfile,
 
 UA_String get_message(void);
 
+UA_String get_log(void);
+
 UA_UInt16 get_drone_id(UA_UInt32 nb);
 
 void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);

qjs_wrapper.c

@@ -2,14 +2,6 @@
 #include <pthread.h>
 #include "dronedge.h"
 
-# define ANSI_COLOR_RED     "\x1b[31m"
-# define ANSI_COLOR_GREEN   "\x1b[32m"
-# define ANSI_COLOR_YELLOW  "\x1b[33m"
-# define ANSI_COLOR_BLUE    "\x1b[34m"
-# define ANSI_COLOR_MAGENTA "\x1b[35m"
-# define ANSI_COLOR_CYAN    "\x1b[36m"
-# define ANSI_COLOR_RESET   "\x1b[0m"
-
 static JSClassID jsDroneClassId;
 static JSClassID jsPositionClassId;
 
@@ -19,30 +11,19 @@ static UA_Boolean pubsubExited = true;
 static UA_UInt32 nbDrone;
 static UA_UInt32 nbSubscriber;
 static JSValueConst *droneObjectIdList;
-static MessageQueue logQueue = {
-    .head = NULL,
-    .tail = NULL,
-};
 static MessageQueue messageQueue = {
     .head = NULL,
     .tail = NULL,
 };
 UA_String currentMessage;
-
-const UA_Logger Subscriber_Log = {Subscriber_log, NULL, UA_Log_Stdout_clear};
-const UA_Logger *logger;
+UA_String currentLog;
 
 pthread_mutex_t mutex;
 pthread_cond_t threadCond;
 
-const char *logLevelNames[6] = {"trace", "debug",
-                                ANSI_COLOR_GREEN "info",
-                                ANSI_COLOR_YELLOW "warn",
-                                ANSI_COLOR_RED "error",
-                                ANSI_COLOR_MAGENTA "fatal"};
-const char *logCategoryNames[10] =
-    {"network", "channel", "session", "server", "client",
-     "userland", "securitypolicy", "eventloop", "pubsub", "discovery"};
+bool isADrone;
+bool debug;
+FILE *quickjsLogFptr;
 
 // Position class functions
 
@@ -158,10 +139,21 @@ static JSValue js_drone_init(JSContext *ctx, JSValueConst thisVal,
     return JS_UNDEFINED;
 }
 
+static JSValue readDroneDataStr(JSContext *ctx, char *str)
+{
+    JSValue res;
+
+    pthread_mutex_lock(&mutex);
+    res = JS_NewString(ctx, str);
+    strcpy(str, "");
+    pthread_cond_signal(&threadCond);
+    pthread_mutex_unlock(&mutex);
+    return res;
+}
+
 static JSValue js_drone_get(JSContext *ctx, JSValueConst thisVal, int magic)
 {
     JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, thisVal, jsDroneClassId);
-    JSValue res;
     if (!s)
         return JS_EXCEPTION;
     switch(magic) {
@@ -182,13 +174,10 @@ static JSValue js_drone_get(JSContext *ctx, JSValueConst thisVal, int magic)
         case 7:
             return JS_NewFloat64(ctx, s->climbRate);
         case 8:
-            pthread_mutex_lock(&mutex);
-            res = JS_NewString(ctx, s->message);
-            strcpy(s->message, "");
-            pthread_cond_signal(&threadCond);
-            pthread_mutex_unlock(&mutex);
-            return res;
+            return readDroneDataStr(ctx, s->message);
         case 9:
+            return readDroneDataStr(ctx, s->log);
+        case 10:
             return JS_NewInt64(ctx, s->timestamp);
         default:
             return JS_EXCEPTION;
@@ -216,7 +205,7 @@ static JSValue js_drone_set_message(JSContext *ctx, JSValueConst thisVal,
     const char *message;
     message = JS_ToCString(ctx, argv[0]);
     if (strlen(message) > MAX_MESSAGE_SIZE) {
-        UA_LOG_ERROR(logger, UA_LOGCATEGORY_SERVER, "Message too long");
+        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Message too long");
         return JS_EXCEPTION;
     }
 
@@ -253,6 +242,16 @@ UA_String get_message(void)
     return currentMessage;
 }
 
+UA_String get_log(void)
+{
+    char log_str[MAX_MESSAGE_SIZE];
+    if (debug && isADrone && fread(log_str, sizeof(char), MAX_MESSAGE_SIZE, quickjsLogFptr) > 0) {
+        clear_message(currentLog);
+        currentLog = UA_STRING_ALLOC(log_str);
+    }
+    return currentLog;
+}
+
 static JSClassDef jsDroneClass = {
     "Drone",
     .finalizer = js_drone_finalizer,
@@ -268,7 +267,8 @@ static const JSCFunctionListEntry js_drone_proto_funcs[] = {
     JS_CGETSET_MAGIC_DEF("speed", js_drone_get, NULL, 6),
     JS_CGETSET_MAGIC_DEF("climbRate", js_drone_get, NULL, 7),
     JS_CGETSET_MAGIC_DEF("message", js_drone_get, NULL, 8),
-    JS_CGETSET_MAGIC_DEF("timestamp", js_drone_get, NULL, 9),
+    JS_CGETSET_MAGIC_DEF("log", js_drone_get, NULL, 9),
+    JS_CGETSET_MAGIC_DEF("timestamp", js_drone_get, NULL, 10),
     JS_CFUNC_DEF("init", 1, js_drone_init),
 };
 
@@ -295,7 +295,7 @@ VariableData pubsub_get_value(UA_String identifier) {
                             *(UA_String*)varDetails.value = varDetails.getter.getString();
                             break;
                         default:
-                            UA_LOG_ERROR(logger, UA_LOGCATEGORY_SERVER, "UA_TYPE not handled");
+                            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_TYPE not handled");
                             break;
                     }
                     break;
@@ -317,14 +317,14 @@ VariableData pubsub_get_value(UA_String identifier) {
                             ptrd += type.memSize;
                         }
                         if(retval != UA_STATUSCODE_GOOD)
-                            UA_LOG_ERROR(logger, UA_LOGCATEGORY_SERVER, "Failed to update array");
+                            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to update array");
                     }
 
                     free(array);
                     break;
 
                 default:
-                    UA_LOG_ERROR(logger, UA_LOGCATEGORY_SERVER, "UA_VALUERANK not handled");
+                    UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_VALUERANK not handled");
                     break;
             }
         }
@@ -345,8 +345,11 @@ void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
         case 2:
             s->messageId = id;
             break;
+        case 3:
+            s->logId = id;
+            break;
         default:
-            UA_LOG_ERROR(logger, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
+            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
             break;
     }
 }
@@ -358,15 +361,27 @@ void init_subscriber_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
             s->messageId = id;
             break;
         default:
-            UA_LOG_ERROR(logger, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
+            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
             break;
     }
 }
 
+static void setDroneDataStr(void *data, char *str)
+{
+    UA_String uaStr = *(UA_String*) data;
+    pthread_mutex_lock(&mutex);
+    while(strlen(str) != 0)
+        pthread_cond_wait(&threadCond, &mutex);
+
+    memcpy(str, uaStr.data, uaStr.length);
+    str[uaStr.length] = '\0';
+
+    pthread_mutex_unlock(&mutex);
+}
+
 static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool print)
 {
     JSDroneData*  s;
-    UA_String     uaStr;
     UA_Int64*    positionArray;
     UA_Float*     speedArray;
 
@@ -381,7 +396,7 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
             s->timestamp = positionArray[4];
 
             if (print) {
-                UA_LOG_INFO(logger, UA_LOGCATEGORY_CLIENT,
+                UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
                   "Received position of drone %d: %.6f ° %.6f ° %.2f m %.2f m",
                   s->id, s->latitude, s->longitude, s->altitudeAbs, s->altitudeRel);
             }
@@ -393,70 +408,22 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
             s->climbRate = speedArray[2];
 
             if (print) {
-                UA_LOG_INFO(logger, UA_LOGCATEGORY_CLIENT,
+                UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
                   "Received speed of drone %d: %.2f ° %.2f m/s %.2f m/s",
                   s->id, s->yaw, s->speed, s->climbRate);
             }
             return;
         } else if (s->messageId == id) {
-            uaStr = *(UA_String*) var->value.data;
-            pthread_mutex_lock(&mutex);
-            while(strlen(s->message) != 0)
-                pthread_cond_wait(&threadCond, &mutex);
-
-            memcpy(s->message, uaStr.data, uaStr.length);
-            s->message[uaStr.length] = '\0';
-
-            pthread_mutex_unlock(&mutex);
+            setDroneDataStr(var->value.data, s->message);
             return;
+        } else if (s->logId == id) {
+            if (!isADrone) {
+                setDroneDataStr(var->value.data, s->log);
             }
-    }
-    UA_LOG_ERROR(logger, UA_LOGCATEGORY_CLIENT, "NodeId not found");
-}
-
-void Subscriber_log(void *context, UA_LogLevel level, UA_LogCategory category,
-                    const char *msg, va_list args) {
-    char log_str[MAX_MESSAGE_SIZE];
-    char formatted_msg[MAX_MESSAGE_SIZE];
-
-    /* MinLevel encoded in the context pointer */
-    UA_LogLevel minLevel = (UA_LogLevel)(uintptr_t)context;
-    if(minLevel > level)
             return;
-
-    UA_Int64 tOffset = UA_DateTime_localTimeUtcOffset();
-    UA_DateTimeStruct dts = UA_DateTime_toStruct(UA_DateTime_now() + tOffset);
-
-    int logLevelSlot = (int)level;
-    if(logLevelSlot < 0 || logLevelSlot > 5)
-        logLevelSlot = 5; /* Set to fatal if the level is outside the range */
-
-    /* Log */
-    snprintf(log_str, MAX_MESSAGE_SIZE,
-             "[%04u-%02u-%02u %02u:%02u:%02u.%03u (UTC%+05d)] %s/%s" ANSI_COLOR_RESET "\t",
-             dts.year, dts.month, dts.day, dts.hour, dts.min, dts.sec, dts.milliSec,
-             (int)(tOffset / UA_DATETIME_SEC / 36), logLevelNames[logLevelSlot],
-             logCategoryNames[category]);
-    vsnprintf(formatted_msg, MAX_MESSAGE_SIZE, msg, args);
-    strncat(log_str, formatted_msg, MAX_MESSAGE_SIZE - strlen(log_str) - 1);
-    strcat(log_str, "\n");
-    addMessageToQueue(log_str, &logQueue);
-}
-
-static JSValue js_get_log(JSContext *ctx, JSValueConst this_val,
-                          int argc, JSValueConst *argv) {
-    JSValue res;
-    struct messageNode *current;
-
-    current = logQueue.head;
-    if (current != NULL) {
-        res = JS_NewString(ctx, current->message);
-        logQueue.head = current->next == NULL ? (logQueue.tail = NULL) : current->next;
-        delete_message_node(current);
-    } else {
-        res = JS_NewString(ctx, "");
         }
-    return res;
+    }
+    UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "NodeId not found");
 }
 
 /*
@@ -476,7 +443,6 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
     char urlBuffer[44];
     UA_UInt32 id;
     UA_Duration interval;
-    bool isADrone;
     VariableStruct variables;
     InstanceData *instanceArray;
     UA_UInt32 nbPeer = nbDrone + nbSubscriber;
@@ -503,7 +469,6 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
 
     isADrone = JS_ToBool(ctx, argv[5]);
     variables = isADrone ? droneVariables : subscriberVariables;
-    logger = isADrone ? UA_Log_Stdout : &Subscriber_Log;
 
     instanceArray = (InstanceData *) malloc((nbPeer) * sizeof(InstanceData));
     for(UA_UInt32 i = 0; i < nbDrone; i++) {
@@ -516,8 +481,8 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
     }
 
     pubsubExited = false;
-    res = runPubsub(logger, &transportProfile, &networkAddressUrl, variables,
-                    id, instanceArray, nbPeer,
+    res = runPubsub(UA_Log_Stdout, &transportProfile, &networkAddressUrl,
+                    variables, id, instanceArray, nbPeer,
                     fmax(DRONE_VARIABLE_NB, SUBSCRIBER_VARIABLE_NB), interval,
                     get_drone_id, pubsub_get_value, pubsub_update_variables,
                     &pubsubShouldRun);
@@ -541,6 +506,7 @@ static JSValue js_init_pubsub(JSContext *ctx, JSValueConst thisVal,
         return JS_EXCEPTION;
 
     currentMessage = UA_STRING("");
+    currentLog = UA_STRING("");
     droneObjectIdList = (JSValue *) malloc((nbDrone + nbSubscriber) * sizeof(JSValueConst));
     return JS_NewInt32(ctx, 0);
 }
@@ -561,11 +527,10 @@ static JSValue js_stop_pubsub(JSContext *ctx, JSValueConst thisVal,
         delete_message_node(current);
     }
     clear_message(currentMessage);
+    clear_message(currentLog);
 
-    while(logQueue.head != NULL) {
-        current = logQueue.head;
-        logQueue.head = current->next;
-        delete_message_node(current);
+    if (quickjsLogFptr != NULL) {
+        fclose(quickjsLogFptr);
     }
 
     return JS_NewInt32(ctx, 0);
@@ -577,7 +542,8 @@ static JSValue js_start(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
     const char *ip;
-    const char *log_file;
+    const char *mavsdk_log_file;
+    const char *quickjs_log_file;
     int port;
     int timeout;
     int res;
@@ -585,13 +551,19 @@ static JSValue js_start(JSContext *ctx, JSValueConst thisVal,
     ip = JS_ToCString(ctx, argv[0]);
     if (JS_ToInt32(ctx, &port, argv[1]))
         return JS_EXCEPTION;
-    log_file = JS_ToCString(ctx, argv[2]);
-    if (JS_ToInt32(ctx, &timeout, argv[3]))
+    mavsdk_log_file = JS_ToCString(ctx, argv[2]);
+    quickjs_log_file = JS_ToCString(ctx, argv[3]);
+    if (JS_ToInt32(ctx, &timeout, argv[4]))
         return JS_EXCEPTION;
+    debug = JS_ToBool(ctx, argv[5]);
+    if (debug) {
+        quickjsLogFptr = fopen(quickjs_log_file, "r");
+    }
 
-    res = start(ip, port, log_file, timeout);
+    res = start(ip, port, mavsdk_log_file, timeout);
     JS_FreeCString(ctx, ip);
-    JS_FreeCString(ctx, log_file);
+    JS_FreeCString(ctx, mavsdk_log_file);
+    JS_FreeCString(ctx, quickjs_log_file);
 
     return JS_NewInt32(ctx, res);
 }
@@ -771,7 +743,7 @@ static const JSCFunctionListEntry js_funcs[] = {
     JS_CFUNC_DEF("setMessage", 1, js_drone_set_message ),
     JS_CFUNC_DEF("runPubsub", 6, js_run_pubsub ),
     JS_CFUNC_DEF("stopPubsub", 0, js_stop_pubsub ),
-    JS_CFUNC_DEF("start", 4, js_start ),
+    JS_CFUNC_DEF("start", 6, js_start ),
     JS_CFUNC_DEF("stop", 0, js_stop ),
     JS_CFUNC_DEF("reboot", 0, js_reboot ),
     JS_CFUNC_DEF("arm", 0, js_arm ),
@@ -794,7 +766,6 @@ static const JSCFunctionListEntry js_funcs[] = {
     JS_CFUNC_DEF("isLanding", 0, js_isLanding ),
     JS_CFUNC_DEF("healthAllOk", 0, js_healthAllOk ),
     JS_CFUNC_DEF("initPubsub", 2, js_init_pubsub ),
-    JS_CFUNC_DEF("getLog", 0, js_get_log ),
     JS_CFUNC_DEF("updateLogAndProjection", 0, js_updateLogAndProjection ),
 };