RSDK-5986: Resource-level logging for the C++ SDK

CMakeLists.txt

@@ -328,7 +328,18 @@ if (VIAMCPPSDK_BUILD_TESTS)
   set(VIAMCPPSDK_BOOST_TEST "unit_test_framework")
 endif()
 
-find_package(Boost ${VIAMCPPSDK_BOOST_VERSION_MINIMUM} REQUIRED COMPONENTS headers log program_options ${VIAMCPPSDK_BOOST_TEST})
+if (VIAMCPPSDK_BUILD_EXAMPLES)
+  set(VIAMCPPSDK_BOOST_PROGRAM_OPTIONS "program_options")
+endif()
+
+find_package(Boost ${VIAMCPPSDK_BOOST_VERSION_MINIMUM} REQUIRED 
+  COMPONENTS 
+    headers 
+    log 
+    log_setup 
+    ${VIAMCPPSDK_BOOST_PROGRAM_OPTIONS}
+    ${VIAMCPPSDK_BOOST_TEST}
+)
 
 # Time to find `protobuf` and `gRPC[++]`. Normally this would just be
 # something like `find_package(gRPC <version> CONFIG REQUIRED)`, and

src/viam/examples/modules/complex/main.cpp

@@ -1,7 +1,6 @@
 #include <memory>
 #include <signal.h>
 
-#include <boost/log/trivial.hpp>
 #include <grpcpp/grpcpp.h>
 #include <grpcpp/server_context.h>
 

src/viam/sdk/CMakeLists.txt

@@ -103,6 +103,8 @@ target_sources(viamsdk
     components/sensor.cpp
     components/servo.cpp
     config/resource.cpp
+    log/logger.cpp
+    log/private/log_backend.cpp
     module/handler_map.cpp
     module/module.cpp
     module/service.cpp
@@ -170,6 +172,7 @@ target_sources(viamsdk
       ../../viam/sdk/components/sensor.hpp
       ../../viam/sdk/components/servo.hpp
       ../../viam/sdk/config/resource.hpp
+      ../../viam/sdk/log/logger.hpp
       ../../viam/sdk/module/handler_map.hpp
       ../../viam/sdk/module/module.hpp
       ../../viam/sdk/module/service.hpp
@@ -244,6 +247,7 @@ viamcppsdk_link_viam_api(viamsdk PRIVATE)
 target_link_libraries(viamsdk
   PUBLIC Boost::headers
   PUBLIC Boost::log
+  PUBLIC Boost::log_setup
   PUBLIC xtensor
   PRIVATE ${VIAMCPPSDK_GRPCXX_REFLECTION_LIBRARIES}
   PRIVATE ${VIAMCPPSDK_GRPCXX_LIBRARIES}

src/viam/sdk/common/client_helper.cpp

@@ -5,18 +5,17 @@
 #include <grpcpp/client_context.h>
 #include <grpcpp/support/status.h>
 
-#include <boost/log/trivial.hpp>
-
 #include <viam/sdk/common/private/version_metadata.hpp>
+#include <viam/sdk/log/logger.hpp>
 
 namespace viam {
 namespace sdk {
 
 namespace client_helper_details {
 
 [[noreturn]] void errorHandlerReturnedUnexpectedly(const ::grpc::Status* status) noexcept {
-    BOOST_LOG_TRIVIAL(fatal) << "ClientHelper error handler callback returned instead of throwing: "
-                             << status->error_message() << '(' << status->error_details() << ')';
+    VIAM_LOG(fatal) << "ClientHelper error handler callback returned instead of throwing: "
+                    << status->error_message() << '(' << status->error_details() << ')';
     std::abort();
 }
 

src/viam/sdk/common/instance.cpp

@@ -27,6 +27,7 @@ Instance::Instance() {
 
     impl_ = std::make_unique<Instance::Impl>();
     impl_->registry.initialize();
+    impl_->logger.init_logging();
 }
 
 Instance::~Instance() {

src/viam/sdk/common/instance.hpp

@@ -28,6 +28,7 @@ class Instance {
 
    private:
     friend class Registry;
+    friend class Logger;
 
     struct Impl;
     std::unique_ptr<Impl> impl_;

src/viam/sdk/common/private/instance.hpp

@@ -1,13 +1,15 @@
 #pragma once
 
 #include <viam/sdk/common/instance.hpp>
+#include <viam/sdk/log/logger.hpp>
 #include <viam/sdk/registry/registry.hpp>
 
 namespace viam {
 namespace sdk {
 
 struct Instance::Impl {
     Registry registry;
+    Logger logger;
 };
 
 }  // namespace sdk

src/viam/sdk/common/utils.cpp

@@ -10,9 +10,6 @@
 
 #include <boost/algorithm/string.hpp>
 #include <boost/blank.hpp>
-#include <boost/log/core.hpp>
-#include <boost/log/expressions.hpp>
-#include <boost/log/trivial.hpp>
 #include <boost/optional/optional.hpp>
 
 #include <viam/api/common/v1/common.pb.h>
@@ -96,15 +93,6 @@ std::string bytes_to_string(const std::vector<unsigned char>& b) {
     return img_string;
 }
 
-void set_logger_severity_from_args(int argc, char** argv) {
-    if (argc >= 3 && strcmp(argv[2], "--log-level=debug") == 0) {
-        boost::log::core::get()->set_filter(boost::log::trivial::severity >=
-                                            boost::log::trivial::debug);
-        return;
-    }
-    boost::log::core::get()->set_filter(boost::log::trivial::severity >= boost::log::trivial::info);
-}
-
 std::string random_debug_key() {
     static const char alphanum[] = "abcdefghijklmnopqrstuvwxyz";
     static std::default_random_engine generator(

src/viam/sdk/common/utils.hpp

@@ -110,16 +110,6 @@ ProtoStruct with_debug_entry(ProtoStruct&& map, std::string debug_key);
 /// @returns the new ProtoStruct
 ProtoStruct with_debug_entry(ProtoStruct&& map);
 
-/// @brief Set the boost trivial logger's severity depending on args.
-/// @param argc The number of args.
-/// @param argv The commandline arguments to parse.
-///
-/// Sets the boost trivial logger's severity to debug if "--log-level=debug" is the
-/// the third argument. Sets severity to info otherwise. Useful for module
-/// implementations. See LogLevel documentation in the RDK for more information on
-/// how to start modules with a "log-level" commandline argument.
-void set_logger_severity_from_args(int argc, char** argv);
-
 /// @brief Used in modular filter components to get the 'fromDataManagement' value from an extra
 /// ProtoStruct.
 /// @param extra The extra ProtoStruct.

src/viam/sdk/config/resource.cpp

@@ -26,14 +26,16 @@ ResourceConfig::ResourceConfig(std::string type,
                                ProtoStruct attributes,
                                std::string api,
                                Model model,
-                               LinkConfig frame)
+                               LinkConfig frame,
+                               sdk::log_level lvl)
     : api_({kRDK, type, ""}),
       frame_(std::move(frame)),
       model_(std::move(model)),
       name_(std::move(name)),
       namespace__(std::move(namespace_)),
       type_(std::move(type)),
-      attributes_(std::move(attributes)) {
+      attributes_(std::move(attributes)),
+      log_level_(lvl) {
     if (api.find(':') != std::string::npos) {
         api_ = API::from_string(std::move(api));
     }
@@ -81,6 +83,10 @@ const std::string& ResourceConfig::type() const {
     return type_;
 }
 
+log_level ResourceConfig::get_log_level() const {
+    return log_level_;
+}
+
 const std::vector<std::string>& viam::sdk::ResourceConfig::depends_on() const {
     return depends_on_;
 }
@@ -137,6 +143,7 @@ void to_proto_impl<ResourceConfig>::operator()(const ResourceConfig& self,
     *proto->mutable_namespace_() = self.namespace_();
     *proto->mutable_type() = self.type();
     *proto->mutable_api() = self.api().to_string();
+    *proto->mutable_log_configuration()->mutable_level() = to_string(self.get_log_level());
     *proto->mutable_model() = self.model().to_string();
     *proto->mutable_attributes() = to_proto(self.attributes());
 
@@ -154,7 +161,8 @@ ResourceConfig from_proto_impl<app::v1::ComponentConfig>::operator()(
                           from_proto(proto->attributes()),
                           proto->api(),
                           Model::from_str(proto->model()),
-                          proto->has_frame() ? from_proto(proto->frame()) : LinkConfig{});
+                          proto->has_frame() ? from_proto(proto->frame()) : LinkConfig{},
+                          level_from_string(proto->log_configuration().level()));
 }
 
 std::vector<ResourceConfig>

src/viam/sdk/config/resource.hpp

@@ -5,6 +5,7 @@
 
 #include <viam/sdk/common/proto_convert.hpp>
 #include <viam/sdk/common/proto_value.hpp>
+#include <viam/sdk/log/logger.hpp>
 #include <viam/sdk/referenceframe/frame.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
 
@@ -45,34 +46,54 @@ class ResourceConfig {
                    ProtoStruct attributes,
                    std::string api,
                    Model model,
-                   LinkConfig frame);
+                   LinkConfig frame,
+                   sdk::log_level lvl = sdk::log_level::info);
 
     ResourceConfig(std::string type);
 
     Name resource_name();
+
     const API& api() const;
+
     const LinkConfig& frame() const;
+
     const Model& model() const;
+
     const std::string& name() const;
     const std::string& namespace_() const;
     const std::string& type() const;
+
+    log_level get_log_level() const;
+
     const std::vector<std::string>& depends_on() const;
+
     const std::vector<ResourceLevelServiceConfig>& service_config() const;
+
     const ProtoStruct& attributes() const;
 
    private:
+    void fix_api();
+
     API api_;
+
     LinkConfig frame_;
+
     Model model_;
+
     std::string name_;
     std::string namespace__;
     std::string type_;
+
     std::vector<std::string> depends_on_;
+
     std::vector<ResourceLevelServiceConfig> service_config_;
+
     ProtoStruct attributes_;
     ProtoValue converted_attributes_;
+
     std::vector<std::string> implicit_depends_on_;
-    void fix_api();
+
+    sdk::log_level log_level_;
 };
 
 namespace proto_convert_details {