Suppress the use of loguru library.

PG.

Com_server/CMakeLists.txt

@@ -16,6 +16,9 @@ project(PixhawkProject CXX)
 cmake_minimum_required(VERSION 3.2)
 set(VERSION 1.0.0)
 
+set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_BUILD_TYPE RelWithDebInfo)
+
 # OUTPUT DIR SETTINGS
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib)
@@ -51,13 +54,14 @@ set(MAVLINK_LIB -I/lib/mavlink)
 include_directories(./lib/mavlink)
 
 
-message("- Checking : Loguru")
-if(EXISTS ${CMAKE_SOURCE_DIR}/lib/loguru)
-    message("-> succes " )
-else()
-    message("Fail: You must add loguru log system in lib folder")
-endif()
-include_directories(./lib/loguru)
+#message("- Checking : Loguru")
+#if(EXISTS ${CMAKE_SOURCE_DIR}/lib/loguru)
+#    message("-> succes " )
+#else()
+#    message("Fail: You must add loguru log system in lib folder")
+#endif()
+
+#include_directories(./lib/loguru)
 
 message("- Checking : Blc channels")
 find_package(blc_channel REQUIRED)
@@ -116,7 +120,7 @@ add_executable(
     src/Data_Drone.cpp
 
     src/Abstract_ThreadClass.cpp
-    lib/loguru/loguru.cpp
+#    lib/loguru/loguru.cpp
 )
 
 # Test trajectory launch

Com_server/include/Abstract_ThreadClass.h

@@ -17,7 +17,7 @@
 #include <memory>
 #include <algorithm>
 
-#include <loguru.hpp>
+//#include <loguru.hpp>
 
 #define THREAD_STATE_VOID 0 // Thread created and ready to be used
 #define THREAD_STATE_READY 1 // Thread created and ready to be used

Com_server/include/Com_Mavlink.h

@@ -21,7 +21,7 @@
 #include <sys/types.h>
 #include <dirent.h>
 
-#include <loguru.hpp>
+//#include <loguru.hpp>
 
 #include <common/mavlink.h>
 

Com_server/include/DataListener_Keyboard.h

@@ -21,7 +21,7 @@
 #include <panel.h>
 #include <sys/ioctl.h>
 
-#include <loguru.hpp>
+//#include <loguru.hpp>
 
 #include "Abstract_ThreadClass.h"
 

Com_server/include/Display_MainFrame.h

@@ -41,7 +41,7 @@
 #include <utility>
 	
 
-#include <loguru.hpp>
+//#include <loguru.hpp>
 
 #include "Abstract_ThreadClass.h"
 #include "Display_Panel.h"

Com_server/include/Display_Panel.h

@@ -40,7 +40,7 @@
 #include <queue>
 #include <utility>
 	
-#include <loguru.hpp>
+//#include <loguru.hpp>
 
 #include "Constants.h"
 

Com_server/include/Engine_mainLoop.h

@@ -23,7 +23,7 @@
 #include <dirent.h>
 
 
-#include <loguru.hpp>
+//#include <loguru.hpp>
 
 #include "blc_channel.h"
 #include "blc_program.h"

Com_server/include/MainApp.h

@@ -15,7 +15,7 @@
 #include <mutex>
 #include <sys/time.h>
 
-#include <loguru.hpp>
+// #include <loguru.hpp>
 
 #include "../include/Engine_mainLoop.h"
 

Com_server/include/Thread_SerialPort.h

@@ -66,6 +66,7 @@ private:
     std::shared_ptr<blc_channel> blc_control_motors; //x, y, z, r
     std::shared_ptr<blc_channel> blc_control_commands; // 1=on, 0=off
 
+    std::shared_ptr<blc_channel> blc_drone_data;
 protected: 
     
     /**

Com_server/src/Abstract_ThreadClass.cpp

 /**
- *  @author Sylvain Colomer
+ *  @author Sylvain Colomer, P. Gaussier
  *  @date 18/04/19.
  */
 
+ 
+#include <iostream>
+#include <string>
+
+using namespace std;
+
 #include <sys/time.h>
 #include "../include/Abstract_ThreadClass.h"
 
@@ -60,7 +66,7 @@ void Abstract_ThreadClass::init(){
 }
 
 void Abstract_ThreadClass::start(){
-    DLOG_F(INFO, "Start one thread");
+    cout<< "Start one thread\n";
     principalThread= std::thread(&Abstract_ThreadClass::run, this);
 
     state = THREAD_STATE_WORK_SLEEP;
@@ -68,7 +74,7 @@ void Abstract_ThreadClass::start(){
 
 
 void Abstract_ThreadClass::stop(){
-    DLOG_F(INFO, "Stop one thread");
+    cout<< "Stop one thread\n";
 
     runFlag_mutex.lock();
     runFlag = runFlag = false;
@@ -76,7 +82,7 @@ void Abstract_ThreadClass::stop(){
 }
 
 void Abstract_ThreadClass::stop_force(){
-    DLOG_F(INFO, "Force Stop one thread");
+    cout<< "Force Stop one thread\n";
     runFlag = false;
 }
 
@@ -87,7 +93,7 @@ void Abstract_ThreadClass::pause(){
 }
 
 void Abstract_ThreadClass::join(){
-    DLOG_F(INFO, "Join one thread");
+    cout<< "Join one thread\n";
     principalThread.join();
 }
 

Com_server/src/DataListener_Keyboard.cpp

@@ -3,6 +3,12 @@
  *  @date 18/04/19.
  */
 
+ 
+#include <iostream>
+#include <string>
+
+using namespace std;
+
 #include "../include/DataListener_Keyboard.h"
 #include "../include/Engine_mainLoop.h"
 
@@ -43,7 +49,7 @@ void DataListener_Keyboard::run(){
                 switch(getch_value) { // the real value
                     // Refresh IHM
                     case 'r' :
-                        DLOG_F(INFO, "Command refresh");
+                        //DLOG_F(INFO, "Command refresh");
                         Bus::getInstanceOf().getMainFrame().get()->add_log("Refresh command", NCURSES_TEXT_GREEN);
                         Bus::getInstanceOf().getMainFrame().get()->repaint();
                         //Bus::getInstanceOf().getEngine()->add_event(EVENT_REPAINT);
@@ -51,7 +57,7 @@ void DataListener_Keyboard::run(){
                     
                     // Demonstration
                     case 'd' : //Not protected -> very dangerous during controled fly
-                        DLOG_F(INFO, "Demo");
+                        //DLOG_F(INFO, "Demo");
                         Bus::getInstanceOf().getMainFrame().get()->add_log("Demo command: warning only for test", NCURSES_TEXT_RED);
                         Bus::getInstanceOf().getMainFrame().get()->repaint();
 
@@ -68,7 +74,7 @@ void DataListener_Keyboard::run(){
 
                     // Quit programm
                     case 'q' : // ECHAP
-                        DLOG_F(INFO, "Command exit");
+                        //DLOG_F(INFO, "Command exit");
                         Bus::getInstanceOf().getMainFrame().get()->add_log("Exit command", NCURSES_TEXT_RED);
                         Bus::getInstanceOf().getMainFrame().get()->repaint();
                         Bus::getInstanceOf().getEngine()->stop();

Com_server/src/Display_MainFrame.cpp

@@ -6,6 +6,11 @@
  * @version 1.0
  */
 
+#include <iostream>
+#include <string>
+
+using namespace std;
+
 #include "../include/Display_MainFrame.h"
 
 #include "../include/Constants.h"
@@ -36,8 +41,9 @@ MainFrame::MainFrame(int task_period, int task_deadline)
         init_pair(NCURSES_WINDOW_2, COLOR_BLACK, COLOR_MAGENTA);
 
     }
-    else{
-        DLOG_F(WARNING, "Your terminal does not support color");
+    else
+    {
+        cout<<"Your terminal does not support \n";
     }
 
     // Init element
@@ -233,7 +239,6 @@ void MainFrame::refresh_log()
  */
 void MainFrame::add_log(std::string text, int color)
 {
-    DLOG_F(INFO, "add_log");
     if(log_list.size()>NCURSES_LOG_MAX){
         log_list.erase(log_list.begin());
     }

Com_server/src/Engine_mainLoop.cpp

 #include "../include/Engine_mainLoop.h"
 
+#include <iostream>
+#include <string>
+
+using namespace std;
+
+
 Engine::Engine()
 {
 
@@ -147,7 +153,7 @@ void Engine::main_loop()
         
         if(serial_Port_1.get()->open_serial()==0)
         { 
-            DLOG_F(INFO, "Serial port open");
+            //DLOG_F(INFO, "Serial port open");
             MainFrame_1.get()->add_log("-> Serial port open", NCURSES_TEXT_GREEN);
             MainFrame_1.get()->add_log("Research a drone", NCURSES_TEXT_BLUE);
             MainFrame_1.get()->repaint();
@@ -155,7 +161,7 @@ void Engine::main_loop()
             
         }else
         {
-            DLOG_F(ERROR, "Serial port wan't be open");
+            //DLOG_F(ERROR, "Serial port wan't be open");
             MainFrame_1.get()->add_log("-> Serial port wan't be open. Retry", NCURSES_TEXT_RED);
             MainFrame_1.get()->repaint();
             usleep(100000);
@@ -196,6 +202,7 @@ void Engine::main_loop()
             MainFrame_1.get()->add_log("-> Launch serial port Listener", NCURSES_TEXT_GREEN);
             MainFrame_1.get()->repaint();
             dataListener_SerialPort_1.get()->start();
+   //         cout<<"fin init \n";
 
             state_engine_drones = ENGINE_DRONES_WORK;
         }
@@ -228,7 +235,8 @@ bool Engine::test_communication(){
 
 void Engine::stop()
 {
-    DLOG_F(INFO, "Stop one thread");
+   // DLOG_F(INFO, "Stop one thread");
+   cout<<"Stop one thread\n";
     runFlag_mutex->lock();
     runFlag = runFlag = false;
     runFlag_mutex->unlock();
@@ -236,7 +244,7 @@ void Engine::stop()
 
 void Engine::stop_force()
 {
-    DLOG_F(INFO, "Force Stop one thread");
+    cout<<"Force Stop one thread\n";
     runFlag = false;
 }
 

Com_server/src/MainApp.cpp

@@ -16,9 +16,9 @@ int main(int argc, char *argv[]){
 
     //%% INIT %%
     //0. Init of object
-    loguru::init(argc, argv);
+/*    loguru::init(argc, argv);
     loguru::add_file("output/log/debug.log", loguru::Append, loguru::Verbosity_INFO);
-    loguru::g_stderr_verbosity = -2;
+    loguru::g_stderr_verbosity = -2;*/
 
     Engine main_engine;
 

Com_server/src/Thread_SerialPort.cpp

 /**
- *  @author Sylvain Colomer, Alexis Constant
+ *  @author Sylvain Colomer, Alexis Constant, P. Gaussier
  *  @date 19/11/19.
  *  trash-put /dev/shm/file
  */
+ 
+#include <iostream>
+#include <string>
+
+using namespace std;
 
 #include "../include/Thread_SerialPort.h"
 
 
+
 //#define DISPLAY
 
 
@@ -20,6 +26,21 @@ Thread_SerialPort::Thread_SerialPort(int task_period, int task_deadline, std::sh
     blc_control_motors = std::shared_ptr<blc_channel>(new blc_channel("/pixhawk.control.motors", BLC_CHANNEL_READ, 'FL32', 'NDEF', 1, 4));
     //Channels use to command the drone
     blc_control_commands= std::shared_ptr<blc_channel>(new blc_channel("/pixhawk.control.commands", BLC_CHANNEL_READ, 'FL32', 'NDEF', 1, 4)); // 1=on, 0=off
+    blc_drone_data   = std::shared_ptr<blc_channel>(new blc_channel("/pixhawk.control.data", BLC_CHANNEL_WRITE, 'FL32', 'NDEF', 1, 12)); // 1=on, 0=off
+    //Roll,Pitch,Yaw (3), xAcc, yAcc, zAcc (3), Bat, Heading, Heartbeat (3), Lat, Lon, Alt (3),  => 4x3=12 
+    // battery_status.battery_remaining
+    // altitude.altitude_relative
+    // attitude.pitch*180/PI
+    // attitude.roll*180/PI
+    // attitude.yaw*180/PI
+    // vfr_hud.heading
+    // highres_imu.xgyro
+    // highres_imu.ygyro
+    // highres_imu.zgyro
+
+    //Create or reopen an asynchrone channel "/channel_example" sending data of type int8/char in format undefined format of one dimension (vector) of SIZE.
+/*    channel.create_or_open("/pixhawks.control.data", BLC_CHANNEL_WRITE, 'UIN8', 'TEXT',  1, SIZE);*/
+    blc_drone_data.reset(); //Clear the memory 
 
 }
 
@@ -145,7 +166,7 @@ void Thread_SerialPort::write_messages(){
 void Thread_SerialPort::read_messages(){
 
     Bus::getInstanceOf().event_newMessage(message);
-    DLOG_F(INFO, "LOG "+message.msgid);
+    cout<< "LOG "<<message.msgid<<"\n";
 
     switch (message.msgid)
     {