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Create NTLogAppender #1745

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23 changes: 23 additions & 0 deletions photon-core/src/main/java/org/photonvision/common/logging/Logger.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,9 @@

package org.photonvision.common.logging;

import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.networktables.StringPublisher;
import java.io.*;
import java.nio.file.Path;
import java.text.ParseException;
Expand All @@ -28,6 +31,7 @@
import org.photonvision.common.configuration.PathManager;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
import org.photonvision.common.util.TimedTaskManager;

/** TODO: get rid of static {} blocks and refactor to singleton pattern */
Expand Down Expand Up @@ -127,6 +131,11 @@ public static void addFileAppender(Path logFilePath) {
currentAppenders.add(new FileLogAppender(logFilePath));
}

/** Publish log stringst to NT. This must be done AFTER loading ntcore. */
public static void addNtAppender() {
currentAppenders.add(new NTLogAppender());
}

public static void closeAllLoggers() {
currentAppenders.forEach(LogAppender::shutdown);
currentAppenders.clear();
Expand Down Expand Up @@ -317,6 +326,20 @@ public void log(String message, LogLevel level) {
}
}

private static class NTLogAppender implements LogAppender {
private StringPublisher pub =
NetworkTablesManager.getInstance()
.kRootTable
.getSubTable("log_outputs")
.getStringTopic(CameraServerJNI.getHostname())
.publish(PubSubOption.sendAll(true));

@Override
public void log(String message, LogLevel level) {
pub.accept(message);
}
}

private static class FileLogAppender implements LogAppender {
private OutputStream out;
private boolean wantsFlush;
Expand Down
2 changes: 2 additions & 0 deletions photon-server/src/main/java/org/photonvision/Main.java
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Original file line number Diff line number Diff line change
Expand Up @@ -203,6 +203,8 @@ public static void main(String[] args) {
}
logger.info("WPI JNI libraries loaded.");

Logger.addNtAppender();

try {
boolean success = PhotonTargetingJniLoader.load();

Expand Down
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