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Log motor state with logrus

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This commit is contained in:
AntoineH 2024-09-05 10:19:31 +02:00
parent ba40981076
commit 969bbdc6d1
3 changed files with 32 additions and 4 deletions
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1
go.mod
View file

@ -17,6 +17,7 @@ require (
github.com/pelletier/go-toml/v2 v2.2.2 // indirect
github.com/sagikazarmark/locafero v0.4.0 // indirect
github.com/sagikazarmark/slog-shim v0.1.0 // indirect
github.com/sirupsen/logrus v1.9.3 // indirect
github.com/sourcegraph/conc v0.3.0 // indirect
github.com/spf13/afero v1.11.0 // indirect
github.com/spf13/cast v1.6.0 // indirect

4
go.sum
View file

@ -23,6 +23,8 @@ github.com/sagikazarmark/locafero v0.4.0 h1:HApY1R9zGo4DBgr7dqsTH/JJxLTTsOt7u6ke
github.com/sagikazarmark/locafero v0.4.0/go.mod h1:Pe1W6UlPYUk/+wc/6KFhbORCfqzgYEpgQ3O5fPuL3H4=
github.com/sagikazarmark/slog-shim v0.1.0 h1:diDBnUNK9N/354PgrxMywXnAwEr1QZcOr6gto+ugjYE=
github.com/sagikazarmark/slog-shim v0.1.0/go.mod h1:SrcSrq8aKtyuqEI1uvTDTK1arOWRIczQRv+GVI1AkeQ=
github.com/sirupsen/logrus v1.9.3 h1:dueUQJ1C2q9oE3F7wvmSGAaVtTmUizReu6fjN8uqzbQ=
github.com/sirupsen/logrus v1.9.3/go.mod h1:naHLuLoDiP4jHNo9R0sCBMtWGeIprob74mVsIT4qYEQ=
github.com/sourcegraph/conc v0.3.0 h1:OQTbbt6P72L20UqAkXXuLOj79LfEanQ+YQFNpLA9ySo=
github.com/sourcegraph/conc v0.3.0/go.mod h1:Sdozi7LEKbFPqYX2/J+iBAM6HpqSLTASQIKqDmF7Mt0=
github.com/spf13/afero v1.11.0 h1:WJQKhtpdm3v2IzqG8VMqrr6Rf3UYpEF239Jy9wNepM8=
@ -40,6 +42,7 @@ github.com/stretchr/objx v0.4.0/go.mod h1:YvHI0jy2hoMjB+UWwv71VJQ9isScKT/TqJzVSS
github.com/stretchr/objx v0.5.0/go.mod h1:Yh+to48EsGEfYuaHDzXPcE3xhTkx73EhmCGUpEOglKo=
github.com/stretchr/objx v0.5.2/go.mod h1:FRsXN1f5AsAjCGJKqEizvkpNtU+EGNCLh3NxZ/8L+MA=
github.com/stretchr/testify v1.3.0/go.mod h1:M5WIy9Dh21IEIfnGCwXGc5bZfKNJtfHm1UVUgZn+9EI=
github.com/stretchr/testify v1.7.0/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
github.com/stretchr/testify v1.7.1/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
github.com/stretchr/testify v1.8.0/go.mod h1:yNjHg4UonilssWZ8iaSj1OCr/vHnekPRkoO+kdMU+MU=
github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo=
@ -56,6 +59,7 @@ golang.org/x/net v0.23.0 h1:7EYJ93RZ9vYSZAIb2x3lnuvqO5zneoD6IvWjuhfxjTs=
golang.org/x/net v0.23.0/go.mod h1:JKghWKKOSdJwpW2GEx0Ja7fmaKnMsbu+MWVZTokSYmg=
golang.org/x/net v0.26.0 h1:soB7SVo0PWrY4vPW/+ay0jKDNScG2X9wFeYlXIvJsOQ=
golang.org/x/net v0.26.0/go.mod h1:5YKkiSynbBIh3p6iOc/vibscux0x38BZDkn8sCUPxHE=
golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
golang.org/x/sys v0.18.0 h1:DBdB3niSjOA/O0blCZBqDefyWNYveAYMNF1Wum0DYQ4=
golang.org/x/sys v0.18.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
golang.org/x/sys v0.21.0 h1:rF+pYz3DAGSQAxAu1CbC7catZg4ebC4UIeIhKxBZvws=

31
src/cmd/motor/serve.go
View file

@ -9,6 +9,7 @@ import (
"time"
"github.com/spf13/cobra"
"github.com/sirupsen/logrus"
"context"
"log"
@ -74,6 +75,7 @@ func (s *server) SetVelocity(ctx context.Context, in *pb.Velocity) (*pb.Empty, e
func (s *server) GetData(ctx context.Context, in *pb.Empty) (*pb.MotorData, error) {
var state State
select {
//TODO: Risk of empty buffer due to logging ?
case state = <-stateChan :
return &pb.MotorData{Angle: state.Angle, Velocity: state.Velocity, Error: state.Error}, nil
default:
@ -103,11 +105,12 @@ func init_sim(){
state.Velocity = 0
state.Error = ""
//Channels
//Channels (Beware, blocking behavior might occur in case of channel buffer full due to high load)
stateChan = make(chan State, 1) // State channel of the simulation
cmdVelChan = make(chan float64, 1)// Command channel of the simulation
go motor_sim(state, curr_config, 1) //Run sim at 10Hz
go motor_sim(state, curr_config, 10) //Run sim at 10Hz
go state_log(1) //Log every seconds
//close(cmdVelChan) //Stop sim
}
@ -156,9 +159,29 @@ func motor_sim(state_init State, config Config, sim_freq float64){
break;
default: //No message sent (buffer full/no receiver)
}
log.Printf("Motor state: %+v", state)
//Wait for next iteration
time.Sleep(time.Duration(float64(time.Second)/sim_freq))
}
}
func state_log(log_freq float64){
//Logging coroutine
var state State
for{
select {
case state = <-stateChan :
//Log state
// log.Printf("Motor state: %+v", state)
logrus.WithFields(logrus.Fields{
"Angle (°)": state.Angle,
"Velocity (°/s)": state.Velocity,
"Error": state.Error,
}).Info("Motor state: ")
default:
log.Printf("No state:")
//No message received (buffer empty), do nothing
}
//Wait for next iteration
time.Sleep(time.Duration(float64(time.Second)/log_freq))
}
}