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Create FileLogger JNI (#1517)

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This commit is contained in:
Matt
2024-11-06 20:16:36 -05:00
committed by GitHub
parent a99a8e750b
commit 8dcf0b31a2
14 changed files with 392 additions and 55 deletions
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73
photon-core/src/main/java/org/photonvision/common/logging/KernelLogLogger.java Normal file
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@@ -0,0 +1,73 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.logging;
import edu.wpi.first.util.RuntimeDetector;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import org.photonvision.common.util.TimedTaskManager;
import org.photonvision.jni.QueuedFileLogger;
/**
* Listens for and reproduces Linux kernel logs, from /var/log/kern.log, into the Photon logger
* ecosystem
*/
public class KernelLogLogger {
private static KernelLogLogger INSTANCE;
public static KernelLogLogger getInstance() {
if (INSTANCE == null) {
INSTANCE = new KernelLogLogger();
}
return INSTANCE;
}
QueuedFileLogger listener = null;
Logger logger = new Logger(KernelLogLogger.class, LogGroup.General);
public KernelLogLogger() {
if (RuntimeDetector.isLinux()) {
logger.info("Listening for klogs on /var/log/dmesg ! Boot logs:");
try {
var bootlog = Files.readAllLines(Path.of("/var/log/dmesg"));
for (var line : bootlog) {
logger.log(line, LogLevel.DEBUG);
}
} catch (IOException e) {
logger.error("Couldn't read /var/log/dmesg - not printing boot logs");
}
listener = new QueuedFileLogger("/var/log/kern.log");
} else {
System.out.println("NOT for klogs");
}
// arbitrary frequency to grab logs. The underlying native buffer will grow unbounded without
// this, lol
TimedTaskManager.getInstance().addTask("outputPrintk", this::outputNewPrintks, 1000);
}
public void outputNewPrintks() {
for (var msg : listener.getNewlines()) {
// We currently set all logs to debug regardless of their actual level
logger.log(msg, LogLevel.DEBUG);
}
}
}

1
photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java
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@@ -26,4 +26,5 @@ public enum LogGroup {
Config,
CSCore,
NetworkTables,
System,
}

51
photon-core/src/main/java/org/photonvision/common/logging/Logger.java
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@@ -30,8 +30,34 @@ import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
import org.photonvision.common.util.TimedTaskManager;
@SuppressWarnings("unused")
/** TODO: get rid of static {} blocks and refactor to singleton pattern */
public class Logger {
private static final HashMap<LogGroup, LogLevel> levelMap = new HashMap<>();
private static final List<LogAppender> currentAppenders = new ArrayList<>();
private static final UILogAppender uiLogAppender = new UILogAppender();
// // TODO why's the logger care about this? split it out
// private static KernelLogLogger klogListener = null;
static {
levelMap.put(LogGroup.Camera, LogLevel.INFO);
levelMap.put(LogGroup.General, LogLevel.INFO);
levelMap.put(LogGroup.WebServer, LogLevel.INFO);
levelMap.put(LogGroup.Data, LogLevel.INFO);
levelMap.put(LogGroup.VisionModule, LogLevel.INFO);
levelMap.put(LogGroup.Config, LogLevel.INFO);
levelMap.put(LogGroup.CSCore, LogLevel.TRACE);
levelMap.put(LogGroup.NetworkTables, LogLevel.DEBUG);
levelMap.put(LogGroup.System, LogLevel.DEBUG);
currentAppenders.add(new ConsoleLogAppender());
currentAppenders.add(uiLogAppender);
addFileAppender(PathManager.getInstance().getLogPath());
cleanLogs(PathManager.getInstance().getLogsDir());
}
public static final String ANSI_RESET = "\u001B[0m";
public static final String ANSI_BLACK = "\u001B[30m";
public static final String ANSI_RED = "\u001B[31m";
@@ -50,8 +76,6 @@ public class Logger {
private static final List<Pair<String, LogLevel>> uiBacklog = new ArrayList<>();
private static boolean connected = false;
private static final UILogAppender uiLogAppender = new UILogAppender();
private final String className;
private final LogGroup group;
@@ -89,27 +113,6 @@ public class Logger {
return builder.toString();
}
private static final HashMap<LogGroup, LogLevel> levelMap = new HashMap<>();
private static final List<LogAppender> currentAppenders = new ArrayList<>();
static {
levelMap.put(LogGroup.Camera, LogLevel.INFO);
levelMap.put(LogGroup.General, LogLevel.INFO);
levelMap.put(LogGroup.WebServer, LogLevel.INFO);
levelMap.put(LogGroup.Data, LogLevel.INFO);
levelMap.put(LogGroup.VisionModule, LogLevel.INFO);
levelMap.put(LogGroup.Config, LogLevel.INFO);
levelMap.put(LogGroup.CSCore, LogLevel.TRACE);
levelMap.put(LogGroup.NetworkTables, LogLevel.DEBUG);
}
static {
currentAppenders.add(new ConsoleLogAppender());
currentAppenders.add(uiLogAppender);
addFileAppender(PathManager.getInstance().getLogPath());
cleanLogs(PathManager.getInstance().getLogsDir());
}
@SuppressWarnings("ResultOfMethodCallIgnored")
public static void addFileAppender(Path logFilePath) {
var file = logFilePath.toFile();

3
photon-server/build.gradle
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@@ -11,6 +11,9 @@ apply from: "${rootDir}/shared/common.gradle"
dependencies {
implementation project(':photon-core')
// Zip
implementation 'org.zeroturnaround:zt-zip:1.14'
// Needed for Javalin Runtime Logging
implementation "org.slf4j:slf4j-simple:2.0.7"
}

5
photon-server/src/main/java/org/photonvision/Main.java
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@@ -33,6 +33,7 @@ import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
import org.photonvision.common.hardware.HardwareManager;
import org.photonvision.common.hardware.PiVersion;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.logging.KernelLogLogger;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.LogLevel;
import org.photonvision.common.logging.Logger;
@@ -437,6 +438,10 @@ public class Main {
Logger.setLevel(LogGroup.General, logLevel);
logger.info("Logging initialized in debug mode.");
// Add Linux kernel log->Photon logger
KernelLogLogger.getInstance();
// Add CSCore->Photon logger
PvCSCoreLogger.getInstance();
logger.debug("Loading ConfigManager...");

29
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
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@@ -53,6 +53,7 @@ import org.photonvision.common.util.file.ProgramDirectoryUtilities;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.camera.CameraQuirk;
import org.photonvision.vision.processes.VisionModuleManager;
import org.zeroturnaround.zip.ZipUtil;
public class RequestHandler {
// Treat all 2XX calls as "INFO"
@@ -422,20 +423,34 @@ public class RequestHandler {
try {
ShellExec shell = new ShellExec();
var tempPath = Files.createTempFile("photonvision-journalctl", ".txt");
shell.executeBashCommand("journalctl -u photonvision.service > " + tempPath.toAbsolutePath());
var tempPath2 = Files.createTempFile("photonvision-kernelogs", ".txt");
shell.executeBashCommand(
"journalctl -u photonvision.service > "
+ tempPath.toAbsolutePath()
+ " && journalctl -k > "
+ tempPath2.toAbsolutePath());
while (!shell.isOutputCompleted()) {
// TODO: add timeout
}
if (shell.getExitCode() == 0) {
// Wrote to the temp file! Add it to the ctx
var stream = new FileInputStream(tempPath.toFile());
ctx.contentType("text/plain");
ctx.header("Content-Disposition", "attachment; filename=\"photonvision-journalctl.txt\"");
ctx.status(200);
// Wrote to the temp file! Zip and yeet it to the client
var out = Files.createTempFile("photonvision-logs", "zip").toFile();
try {
ZipUtil.packEntries(new File[] {tempPath.toFile(), tempPath2.toFile()}, out);
} catch (Exception e) {
e.printStackTrace();
}
var stream = new FileInputStream(out);
ctx.contentType("application/zip");
ctx.header("Content-Disposition", "attachment; filename=\"photonvision-logs.zip\"");
ctx.result(stream);
logger.info("Uploading settings with size " + stream.available());
ctx.status(200);
logger.info("Outputting log ZIP with size " + stream.available());
} else {
ctx.status(500);
ctx.result("The journalctl service was unable to export logs");

3
photon-targeting/build.gradle
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@@ -220,3 +220,6 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")

60
photon-targeting/src/main/java/org/photonvision/jni/QueuedFileLogger.java Normal file
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@@ -0,0 +1,60 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.jni;
public class QueuedFileLogger {
long m_handle = 0;
public QueuedFileLogger(String path) {
m_handle = QueuedFileLogger.create(path);
}
public String[] getNewlines() {
String newBuffer = null;
synchronized (this) {
if (m_handle == 0) {
System.err.println("QueuedFileLogger use after free");
return new String[0];
}
newBuffer = QueuedFileLogger.getNewLines(m_handle);
}
if (newBuffer == null) {
return new String[0];
}
return newBuffer.split("\n");
}
public void stop() {
synchronized (this) {
if (m_handle != 0) {
QueuedFileLogger.destroy(m_handle);
m_handle = 0;
}
}
}
private static native long create(String path);
private static native void destroy(long handle);
private static native String getNewLines(long handle);
}

103
photon-targeting/src/main/native/jni/FileLoggerExtrasJNI.cpp Normal file
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@@ -0,0 +1,103 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include <functional>
#include <string>
#include <vector>
#include <wpi/FileLogger.h>
#include "jni_utils.h"
#include "org_photonvision_jni_QueuedFileLogger.h"
struct QueuedFileLogger {
// ew ew ew ew ew ew ew ew
std::vector<char> m_data{};
std::mutex m_mutex;
wpi::FileLogger logger;
explicit QueuedFileLogger(std::string_view file)
: logger{file, std::bind(&QueuedFileLogger::callback, this,
std::placeholders::_1)} {
// fmt::println("Watching {}", file);
}
void callback(std::string_view newline) {
std::lock_guard lock{m_mutex};
// fmt::println("FileLogger got: {}", newline);
m_data.insert(m_data.end(), newline.begin(), newline.end());
}
std::vector<char> SwapData() {
std::vector<char> ret;
{
std::lock_guard lock{m_mutex};
ret.swap(m_data);
}
return ret;
}
};
extern "C" {
/*
* Class: org_photonvision_jni_QueuedFileLogger
* Method: create
* Signature: (Ljava/lang/String;)J
*/
JNIEXPORT jlong JNICALL
Java_org_photonvision_jni_QueuedFileLogger_create
(JNIEnv* env, jclass, jstring name)
{
const char* c_name{env->GetStringUTFChars(name, 0)};
std::string cpp_name{c_name};
jlong ret{reinterpret_cast<jlong>(new QueuedFileLogger(cpp_name))};
env->ReleaseStringUTFChars(name, c_name);
return ret;
}
/*
* Class: org_photonvision_jni_QueuedFileLogger
* Method: destroy
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_org_photonvision_jni_QueuedFileLogger_destroy
(JNIEnv*, jclass, jlong handle)
{
CHECK_PTR(handle);
delete reinterpret_cast<QueuedFileLogger*>(handle);
}
/*
* Class: org_photonvision_jni_QueuedFileLogger
* Method: getNewLines
* Signature: (J)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL
Java_org_photonvision_jni_QueuedFileLogger_getNewLines
(JNIEnv* env, jclass, jlong handle)
{
CHECK_PTR_RETURN(handle, nullptr);
QueuedFileLogger* logger = reinterpret_cast<QueuedFileLogger*>(handle);
return env->NewStringUTF(logger->SwapData().data());
}
} // extern "C"

12
photon-targeting/src/main/native/jni/TimeSyncClientJNI.cpp
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@@ -20,21 +20,11 @@
#include <cstdio>
#include <string>
#include "jni_utils.h"
#include "net/TimeSyncClient.h"
using namespace wpi::tsp;
#define CHECK_PTR(ptr) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return; \
}
#define CHECK_PTR_RETURN(ptr, default) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return default; \
}
/**
* Finds a class and keeps it as a global reference.
*

12
photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp
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@@ -20,21 +20,11 @@
#include <cstdio>
#include "jni_utils.h"
#include "net/TimeSyncServer.h"
using namespace wpi::tsp;
#define CHECK_PTR(ptr) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return; \
}
#define CHECK_PTR_RETURN(ptr, default) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return default; \
}
extern "C" {
/*

29
photon-targeting/src/main/native/jni/jni_utils.h Normal file
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@@ -0,0 +1,29 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#define CHECK_PTR(ptr) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return; \
}
#define CHECK_PTR_RETURN(ptr, default) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return default; \
}

4
photon-targeting/src/test/java/net/TimeSyncTest.java
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@@ -36,6 +36,8 @@ public class TimeSyncTest {
if (!PhotonTargetingJniLoader.load()) {
fail();
}
HAL.initialize(1000, 0);
}
@AfterAll
@@ -45,8 +47,6 @@ public class TimeSyncTest {
@Test
public void smoketest() throws InterruptedException {
HAL.initialize(1000, 0);
// NetworkTableInstance.getDefault().stopClient();
// NetworkTableInstance.getDefault().startServer();

62
photon-targeting/src/test/java/wpiutil_extras/FileLoggerTest.java Normal file
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@@ -0,0 +1,62 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package wpiutil_extras;
import static org.junit.jupiter.api.Assertions.fail;
import edu.wpi.first.hal.HAL;
import java.io.IOException;
import org.junit.jupiter.api.AfterAll;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.photonvision.jni.PhotonTargetingJniLoader;
import org.photonvision.jni.QueuedFileLogger;
import org.photonvision.jni.WpilibLoader;
public class FileLoggerTest {
@BeforeAll
public static void load_wpilib() throws UnsatisfiedLinkError, IOException {
if (!WpilibLoader.loadLibraries()) {
fail();
}
if (!PhotonTargetingJniLoader.load()) {
fail();
}
HAL.initialize(1000, 0);
}
@AfterAll
public static void teardown() {
HAL.shutdown();
}
@Test
public void smoketest() throws InterruptedException {
var logger = new QueuedFileLogger("/var/log/kern.log");
for (int i = 0; i < 100; i++) {
Thread.sleep(1000);
for (var line : logger.getNewlines()) {
System.out.println(" ->:" + line);
}
}
logger.stop();
}
}