From 6435c82d067e72940b61902f1e424f0f6dbebe90 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 11 Apr 2014 19:02:24 +0400
Subject: [PATCH] Linux driver got default logger that dumps everything into
 stderr

---
 .../linux/include/uavcan_linux/helpers.hpp    | 24 +++++++++++++++++--
 libuavcan_drivers/linux/test/test_node.cpp    | 13 ----------
 2 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp b/libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp
index 533a551a65..11ebdab444 100644
--- a/libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp
+++ b/libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp
@@ -7,10 +7,25 @@
 #include <memory>
 #include <string>
 #include <vector>
+#include <chrono>
+#include <iostream>
 #include <uavcan/uavcan.hpp>
 
 namespace uavcan_linux
 {
+/**
+ * Default log sink will dump everything into stderr
+ */
+class DefaultLogSink : public uavcan::ILogSink
+{
+    virtual void log(const uavcan::protocol::debug::LogMessage& message)
+    {
+        const auto tt = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
+        const auto tstr = std::ctime(&tt);
+        std::cerr << "### UAVCAN " << tstr << message << std::endl;
+    }
+};
+
 /**
  * Contains all drivers needed for uavcan::Node.
  */
@@ -37,6 +52,7 @@ static constexpr std::size_t NodeMemPoolSize = 1024 * 512;  // One size fits all
 class Node : public uavcan::Node<NodeMemPoolSize>
 {
     DriverPackPtr driver_pack_;
+    DefaultLogSink log_sink_;
 
     static void enforce(int error, const char* msg)
     {
@@ -52,7 +68,9 @@ public:
      */
     Node(uavcan::ICanDriver& can_driver, uavcan::ISystemClock& clock)
         : uavcan::Node<NodeMemPoolSize>(can_driver, clock)
-    { }
+    {
+        getLogger().setExternalSink(&log_sink_);
+    }
 
     /**
      * Takes ownership of the driver container.
@@ -60,7 +78,9 @@ public:
     Node(DriverPackPtr driver_pack)
         : uavcan::Node<NodeMemPoolSize>(driver_pack->can, driver_pack->clock)
         , driver_pack_(driver_pack)
-    { }
+    {
+        getLogger().setExternalSink(&log_sink_);
+    }
 
     template <typename DataType>
     std::shared_ptr<uavcan::Subscriber<DataType>>
diff --git a/libuavcan_drivers/linux/test/test_node.cpp b/libuavcan_drivers/linux/test/test_node.cpp
index af496e0e11..a32037eb46 100644
--- a/libuavcan_drivers/linux/test/test_node.cpp
+++ b/libuavcan_drivers/linux/test/test_node.cpp
@@ -7,18 +7,6 @@
 #include <uavcan/protocol/node_status_monitor.hpp>
 #include "debug.hpp"
 
-class LogSink : public uavcan::ILogSink
-{
-    virtual void log(const uavcan::protocol::debug::LogMessage& message)
-    {
-        std::cout << "--- LOCAL LOG ---\n"
-                  << message << "\n"
-                  << "-----------------" << std::endl;
-    }
-};
-
-static LogSink log_sink_;
-
 static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid,
                                       const std::string& name)
 {
@@ -31,7 +19,6 @@ static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, ua
     node->setName(name.c_str());
 
     node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
-    node->getLogger().setExternalSink(&log_sink_);
 
     /*
      * Starting the node. This may take a few seconds.