ILogger.h

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#pragma once
 
#include <fmt/format.h>
#include <frc/geometry/Pose2d.h>
#include <wpi/json.h>
#include <wpi/sendable/Sendable.h>
 
#include <cstdarg>
#include <string>
 
#include "subzero/utils/UtilConstants.h"
 
namespace subzero {
 
class ILogger {
public:
  // string
  virtual void logVerbose(std::string key, const std::string format, ...) = 0;
  virtual void logInfo(std::string key, const std::string format, ...) = 0;
  virtual void logWarning(std::string key, const std::string format, ...) = 0;
  virtual void logError(std::string key, const std::string format, ...) = 0;
  virtual void logFatal(std::string key, const std::string format, ...) = 0;
 
  // int
  virtual void logVerbose(std::string key, int val) = 0;
  virtual void logInfo(std::string key, int val) = 0;
  virtual void logWarning(std::string key, int val) = 0;
  virtual void logError(std::string key, int val) = 0;
  virtual void logFatal(std::string key, int val) = 0;
 
  // double
  virtual void logVerbose(std::string key, double val) = 0;
  virtual void logInfo(std::string key, double val) = 0;
  virtual void logWarning(std::string key, double val) = 0;
  virtual void logError(std::string key, double val) = 0;
  virtual void logFatal(std::string key, double val) = 0;
 
  // bool
  virtual void logInfo(std::string key, bool val) = 0;
  virtual void logVerbose(std::string key, bool val) = 0;
  virtual void logWarning(std::string key, bool val) = 0;
  virtual void logError(std::string key, bool val) = 0;
  virtual void logFatal(std::string key, bool val) = 0;
 
  // Pose2d
  virtual void logInfo(std::string key, frc::Pose2d &val) = 0;
  virtual void logVerbose(std::string key, frc::Pose2d &val) = 0;
  virtual void logWarning(std::string key, frc::Pose2d &val) = 0;
  virtual void logError(std::string key, frc::Pose2d &val) = 0;
  virtual void logFatal(std::string key, frc::Pose2d &val) = 0;
 
  // Sendable
  virtual void logInfo(std::string key, wpi::Sendable *val) = 0;
  virtual void logVerbose(std::string key, wpi::Sendable *val) = 0;
  virtual void logWarning(std::string key, wpi::Sendable *val) = 0;
  virtual void logError(std::string key, wpi::Sendable *val) = 0;
  virtual void logFatal(std::string key, wpi::Sendable *val) = 0;
 
protected:
  std::string levelToString(Logging::Level level) const {
    using namespace Logging;
 
    switch (level) {
    case Level::VERBOSE:
      return "VERBOSE";
    case Level::INFO:
      return "INFO";
    case Level::WARNING:
      return "WARNING";
    case Level::ERROR:
      return "ERROR";
    case Level::FATAL:
      return "FATAL";
    default:
      return "INVALID LOG LEVEL";
    }
  }
 
  std::string formatString(const std::string format, va_list ap) {
    char buf[1000];
    vsnprintf(buf, sizeof(buf), format.c_str(), ap);
 
    return std::string(buf);
  }
 
  std::string poseToString(const frc::Pose2d &pose) {
    wpi::json json;
 
    frc::to_json(json, pose);
    return json.dump();
  }
 
  inline bool shouldLog(Logging::Level level) {
    return static_cast<int>(level) >= static_cast<int>(Logging::kMinLogLevel);
  }
};
} // namespace subzero