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Change network interface for PlotJugglerSink #3741

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Merged
williamckha merged 4 commits into from
May 26, 2026
Merged

Change network interface for PlotJugglerSink #3741

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1064127
change network interface for PlotJugglerink
annieisawesome2 May 24, 2026
fd0c9e5
[pre-commit.ci lite] apply automatic fixes
pre-commit-ci-lite[bot] May 24, 2026
479fd28
use network_interface only
annieisawesome2 May 24, 2026
a31510b
[pre-commit.ci lite] apply automatic fixes
pre-commit-ci-lite[bot] May 24, 2026
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4 changes: 3 additions & 1 deletion src/software/embedded/thunderloop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
#include "proto/robot_status_msg.pb.h"
#include "proto/tbots_software_msgs.pb.h"
#include "shared/constants.h"
#include "software/constants.h"
#include "software/embedded/primitive_executor.h"
#include "software/embedded/services/motor.h"
#include "software/logger/logger.h"
Expand Down Expand Up @@ -88,7 +89,8 @@ Thunderloop::Thunderloop(const robot_constants::RobotConstants& robot_constants,
waitForNetworkUp();

g3::overrideSetupSignals({});
NetworkLoggerSingleton::initializeLogger(robot_id_, enable_log_merging);
NetworkLoggerSingleton::initializeLogger(robot_id_, enable_log_merging,
network_interface_);

// catch all catch-able signals
std::signal(SIGSEGV, tbotsExit);
Expand Down
13 changes: 8 additions & 5 deletions src/software/logger/network_logger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,8 @@

std::shared_ptr<NetworkLoggerSingleton> NetworkLoggerSingleton::instance;

NetworkLoggerSingleton::NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging)
NetworkLoggerSingleton::NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging,
const std::string& network_interface)
{
logWorker = g3::LogWorker::createLogWorker();

Expand All @@ -21,18 +22,20 @@ NetworkLoggerSingleton::NetworkLoggerSingleton(RobotId robot_id, bool enable_log
logWorker->addSink(std::make_unique<CSVSink>(CSV_PATH), &CSVSink::appendToFile);

// Sink for PlotJuggler plotting
auto plotjuggler_handle = logWorker->addSink(std::make_unique<PlotJugglerSink>(),
&PlotJugglerSink::sendToPlotJuggler);
auto plotjuggler_handle =
logWorker->addSink(std::make_unique<PlotJugglerSink>(network_interface),
&PlotJugglerSink::sendToPlotJuggler);

g3::initializeLogging(logWorker.get());
}

void NetworkLoggerSingleton::initializeLogger(RobotId robot_id, bool enable_log_merging)
void NetworkLoggerSingleton::initializeLogger(RobotId robot_id, bool enable_log_merging,
const std::string& network_interface)
{
if (!instance)
{
NetworkLoggerSingleton::instance = std::shared_ptr<NetworkLoggerSingleton>(
new NetworkLoggerSingleton(robot_id, enable_log_merging));
new NetworkLoggerSingleton(robot_id, enable_log_merging, network_interface));
}
}

Expand Down
6 changes: 4 additions & 2 deletions src/software/logger/network_logger.h
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Expand Up @@ -21,7 +21,8 @@ class NetworkLoggerSingleton
* Initializes a g3log logger for the calling program. This should only be
* called once at the start of a program.
*/
static void initializeLogger(RobotId robot_id, bool enable_log_merging);
static void initializeLogger(RobotId robot_id, bool enable_log_merging,
const std::string& network_interface = "tbotswifi5");

/**
* Updates the underlying UDP sender associated with this network sink. Useful when a
Expand All @@ -31,7 +32,8 @@ class NetworkLoggerSingleton
std::shared_ptr<ThreadedProtoUdpSender<TbotsProto::RobotLog>> new_sender);

private:
NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging);
NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging,
const std::string& network_interface);

std::unique_ptr<g3::LogWorker> logWorker;
std::unique_ptr<g3::SinkHandle<NetworkSink>> network_sink_handle;
Expand Down
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