Log motor state with logrus

go.mod

@@ -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

go.sum

@@ -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=

src/cmd/motor/serve.go

@@ -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))
+	}
 }