Implement support for defmt

Cargo.toml

@@ -22,3 +22,7 @@ members = [
     "canadensis_udp",
     "canadensis_write_crc"
 ]
+
+[workspace.dependencies]
+defmt = "1.0.1"
+l0g = "1"

canadensis/Cargo.toml

@@ -12,9 +12,10 @@ description = "A Cyphal implementation: Node types and re-exports from some othe
 [dependencies]
 crc-any = { version = "2.4.0", default-features = false  }
 fallible_collections = "0.5.1"
-heapless = "0.8.0"
+heapless = { version = "0.8.0", features = ["defmt-03"] }
 half = { version = ">=2.2, <2.5", default-features = false }
-log = "0.4"
+defmt.workspace = true
+l0g.workspace = true
 
 # Depends on most other canadensis crates that are not transport-specific
 [dependencies.canadensis_core]
@@ -37,6 +38,7 @@ path = "../canadensis_data_types"
 socketcan = { version = "3.5.0", default-features = false }
 rand = "0.8.0"
 simplelog = "0.12.0"
+log = "0.4"
 
 [dev-dependencies.canadensis_linux]
 version = "0.3.0"
@@ -50,4 +52,3 @@ path = "../canadensis_serial"
 [dev-dependencies.canadensis_udp]
 version = "0.4.1"
 path = "../canadensis_udp"
-

canadensis/src/lib.rs

@@ -45,6 +45,7 @@ use canadensis_core::transfer::*;
 use canadensis_core::transport::{Receiver, Transmitter};
 use canadensis_core::{ServiceId, SubjectId};
 use canadensis_encoding::{Message, Request, Response, Serialize};
+use defmt::Format;
 
 /// A token from a request that is needed to send a response
 pub struct ResponseToken<T: Transport> {
@@ -560,7 +561,7 @@ impl<T> ServiceToken<T> {
 }
 
 /// Errors that may occur when starting to send messages or requests
-#[derive(Debug)]
+#[derive(Debug, Format)]
 pub enum StartSendError<E> {
     /// Memory to store the publisher was not available
     Memory(OutOfMemoryError),

canadensis/src/register.rs

@@ -17,6 +17,7 @@ use canadensis_data_types::uavcan::register::name_1_0::Name;
 use canadensis_data_types::uavcan::register::value_1_0::Value;
 use canadensis_data_types::uavcan::time::synchronized_timestamp_1_0::SynchronizedTimestamp;
 use canadensis_encoding::Deserialize;
+use l0g::{debug, warn};
 
 pub use canadensis_derive_register_block::RegisterBlock;
 
@@ -165,7 +166,7 @@ where
     fn handle_access_request(&mut self, request: &AccessRequest) -> AccessResponse {
         match str::from_utf8(&request.name.name) {
             Ok(register_name) => {
-                log::debug!("Handling access request for {}", register_name);
+                debug!("Handling access request for {}", register_name);
                 if let Some(register) = self.block.register_by_name_mut(register_name) {
                     register_handle_access(register, request)
                 } else {
@@ -195,7 +196,7 @@ where
     }
 
     fn handle_list_request(&mut self, request: &ListRequest) -> ListResponse {
-        log::debug!("Handling register list request, index {}", {
+        debug!("Handling register list request, index {}", {
             request.index
         });
         match self.block.register_by_index(request.index.into()) {
@@ -262,7 +263,7 @@ where
                     let response = self.handle_access_request(&request);
                     let status = node.send_response(token, milliseconds(1000), &response);
                     if status.is_err() {
-                        log::warn!("Out of memory when sending register access response");
+                        warn!("Out of memory when sending register access response");
                     }
                     true
                 } else {
@@ -274,7 +275,7 @@ where
                     let response = self.handle_list_request(&request);
                     let status = node.send_response(token, milliseconds(1000), &response);
                     if status.is_err() {
-                        log::warn!("Out of memory when sending register list response");
+                        warn!("Out of memory when sending register list response");
                     }
                     true
                 } else {

canadensis/src/service/pnp_client.rs

@@ -17,6 +17,7 @@ use canadensis_data_types::uavcan::pnp::{
 use core::convert::TryFrom;
 use core::marker::PhantomData;
 use crc_any::CRCu64;
+use defmt::Format;
 
 /// A plug-and-play allocation client that can be used to find a node ID
 pub struct PnpClientService<N, M> {
@@ -85,7 +86,7 @@ where
 }
 
 /// Error type returned by [`PnpClientService::new`].
-#[derive(Debug)]
+#[derive(Debug, Format)]
 pub enum NewError<N: Node> {
     /// The client could not subscribe to the message subject due to a receiver error.
     Subscribe(<N::Receiver as Receiver<N::Clock>>::Error),
@@ -98,7 +99,7 @@ pub enum NewError<N: Node> {
 }
 
 /// Error type returned by [`PnpClientService::send_request`].
-#[derive(Debug)]
+#[derive(Debug, Format)]
 pub enum SendRequestError<N: Node> {
     /// The client has allocated an address already and no longer holds a publish token.
     Allocated,

canadensis/src/service/register_server.rs

@@ -14,7 +14,7 @@ use canadensis_data_types::uavcan::time::synchronized_timestamp_1_0::Synchronize
 use canadensis_encoding::Deserialize;
 use core::marker::PhantomData;
 use core::str;
-use log::{debug, warn};
+use l0g::{debug, warn};
 
 /// A service that responds to `uavcan.register.List` and `uavcan.register.Access`
 pub struct RegisterServerService<N: Node, B: RegisterBlock> {

canadensis/tests/can_loopback.rs

@@ -4,7 +4,6 @@ extern crate canadensis;
 extern crate canadensis_can;
 extern crate canadensis_data_types;
 extern crate canadensis_encoding;
-extern crate log;
 extern crate simplelog;
 
 use canadensis::node::CoreNode;

canadensis_bxcan/Cargo.toml

@@ -14,7 +14,6 @@ description = "Bridge between Canadensis and the BXCAN peripherals found in some
 [dependencies]
 bxcan = "0.7.0"
 nb = "1.0.0"
-log = "0.4"
 fallible_collections = "0.5.1"
 heapless = "0.8.0"
 cortex-m = "0.7.3"

canadensis_bxcan/src/lib.rs

@@ -18,7 +18,6 @@ extern crate canadensis_pnp_client;
 extern crate cortex_m;
 extern crate fallible_collections;
 extern crate heapless;
-extern crate log;
 extern crate nb;
 
 pub mod pnp;

canadensis_can/Cargo.toml

@@ -12,7 +12,8 @@ description = "A Cyphal implementation: Cyphal/CAN (CAN and CAN FD) transport la
 [dependencies]
 fallible_collections = "0.5.1"
 heapless = "0.8.0"
-log = "0.4"
+defmt.workspace = true
+l0g.workspace = true
 
 [dependencies.canadensis_core]
 version = "0.3.1"

canadensis_can/src/lib.rs

@@ -13,7 +13,6 @@ extern crate canadensis_core;
 extern crate canadensis_filter_config;
 extern crate fallible_collections;
 extern crate heapless;
-extern crate log;
 
 pub use crate::crc::TransferCrc;
 pub use crate::data::*;

canadensis_can/src/redundant/redundant_queue.rs

@@ -2,6 +2,7 @@ use crate::driver::TransmitDriver;
 use crate::Frame;
 use canadensis_core::time::Clock;
 use canadensis_core::{nb, OutOfMemoryError};
+use defmt::Format;
 
 /// An aggregation of two outgoing frame queues that can be used for double-redundant transports
 ///
@@ -102,7 +103,7 @@ where
 }
 
 /// An error from a DoubleRedundantQueueDriver
-#[derive(Debug)]
+#[derive(Debug, Format)]
 pub enum RedundantError<E0, E1> {
     /// An error from driver 0
     Driver0(E0),

canadensis_can/src/rx.rs

@@ -12,6 +12,7 @@ use core::fmt::Debug;
 use core::marker::PhantomData;
 
 use fallible_collections::FallibleVec;
+use l0g::{debug, info};
 
 use crate::data::{CanId, Frame};
 use crate::driver::ReceiveDriver;
@@ -294,7 +295,7 @@ where
             Some(data) => data,
             None => {
                 // Can't use this frame
-                log::debug!("Frame failed sanity checks, ignoring");
+                debug!("Frame failed sanity checks, ignoring");
                 self.increment_error_count();
                 return Ok(None);
             }
@@ -338,7 +339,7 @@ where
                 }
                 Ok(None) => Ok(None),
                 Err(e) => {
-                    log::info!("Receiver accept error {:?}", e);
+                    info!("Receiver accept error {:?}", e);
                     self.increment_error_count();
                     match e {
                         SubscriptionError::Session(SessionError::Memory(e))
@@ -369,7 +370,7 @@ where
             if message_header.source.is_none() {
                 // Anonymous message transfers must always fit into one frame
                 if !(tail_byte.toggle && tail_byte.start && tail_byte.end) {
-                    log::debug!("Anonymous multi-frame transfer, ignoring");
+                    debug!("Anonymous multi-frame transfer, ignoring");
                     return None;
                 }
             }

canadensis_can/src/rx/session.rs

@@ -6,6 +6,8 @@ use alloc::vec::Vec;
 use canadensis_core::time::{MicrosecondDuration32, Microseconds32};
 use canadensis_core::OutOfMemoryError;
 use core::fmt::Debug;
+use defmt::Format;
+use l0g::{info, warn};
 
 /// A receive session, associated with a particular port ID and source node
 #[derive(Debug)]
@@ -53,17 +55,17 @@ impl Session {
         if tail.transfer_id != self.buildup.transfer_id() {
             // This is a frame from some other transfer. Ignore it, but keep this session to receive
             // possible later frames.
-            log::info!("Frame transfer ID does not match, ignoring");
+            info!("Frame transfer ID does not match, ignoring");
             return Ok(None);
         }
         if frame.loopback() != self.loopback {
-            log::info!("Frame loopback flag does not match, ignoring");
+            info!("Frame loopback flag does not match, ignoring");
             return Ok(None);
         }
         // Check if this frame will make the transfer exceed the maximum length
         let new_payload_length = self.buildup.payload_length() + (frame.data().len() - 1);
         if new_payload_length > max_payload_length {
-            log::warn!(
+            warn!(
                 "Payload too large ({} + {} > {}), ending session",
                 self.buildup.payload_length(),
                 frame.data().len() - 1,
@@ -76,7 +78,7 @@ impl Session {
 
         if time_since_first_frame > transfer_timeout {
             // Frame arrived too late. Give up on this session.
-            log::info!("Frame timeout expired, ending session");
+            info!("Frame timeout expired, ending session");
             return Err(SessionError::Timeout);
         }
         // This frame looks OK. Do the reassembly.
@@ -130,7 +132,7 @@ impl Session {
     }
 }
 
-#[derive(Debug)]
+#[derive(Debug, Format)]
 pub enum SessionError {
     /// A transfer CRC was invalid
     Crc,

canadensis_can/src/rx/subscription.rs

@@ -8,7 +8,9 @@ use canadensis_core::time::MicrosecondDuration32;
 use canadensis_core::{OutOfMemoryError, PortId};
 use core::fmt;
 use core::fmt::Debug;
+use defmt::Format;
 use fallible_collections::{FallibleBox, FallibleVec, TryReserveError};
+use l0g::debug;
 
 /// One session per node ID
 const RX_SESSIONS_PER_SUBSCRIPTION: usize = CanNodeId::MAX.to_u8() as usize + 1;
@@ -125,7 +127,7 @@ impl Subscription {
         let slot = &mut self.sessions[usize::from(source_node)];
         let session = match slot {
             Some(session) => {
-                log::debug!(
+                debug!(
                     "Using existing session with transfer ID {:?} for port {:?} (frame transfer ID {:?})",
                     session.transfer_id(),
                     self.port_id,
@@ -146,10 +148,9 @@ impl Subscription {
                     self.payload_size_max,
                     frame.loopback(),
                 )?)?);
-                log::debug!(
+                debug!(
                     "Created new session for transfer ID {:?} on port {:?}",
-                    tail.transfer_id,
-                    self.port_id
+                    tail.transfer_id, self.port_id
                 );
                 slot.as_deref_mut().unwrap()
             }
@@ -214,7 +215,7 @@ impl Subscription {
 }
 
 /// Errors that a subscription may encounter
-#[derive(Debug)]
+#[derive(Debug, Format)]
 pub enum SubscriptionError {
     /// Received a frame with no corresponding session, but its start bit was not set
     NotStart,

canadensis_can/src/types.rs

@@ -6,6 +6,7 @@ use core::convert::TryFrom;
 use core::fmt;
 use core::fmt::Debug;
 use core::ops::RangeInclusive;
+use defmt::Format;
 
 /// The Cyphal/CAN transport
 pub struct CanTransport(());
@@ -125,7 +126,7 @@ impl From<CanNodeId> for usize {
 const VALID_TRANSFER_IDS: RangeInclusive<u8> = 0..=31;
 
 /// Transfer ID, 5 bits, in range 0..=31
-#[derive(Debug, Copy, Clone, Ord, PartialOrd, Eq, PartialEq)]
+#[derive(Debug, Copy, Clone, Ord, PartialOrd, Eq, PartialEq, Format)]
 pub struct CanTransferId(u8);
 
 impl CanTransferId {
@@ -192,7 +193,7 @@ impl Default for CanTransferId {
 }
 
 /// CAN transport errors
-#[derive(Debug, PartialEq)]
+#[derive(Debug, PartialEq, Format)]
 pub enum Error<E> {
     /// Memory allocation failed
     Memory(OutOfMemoryError),

canadensis_core/Cargo.toml

@@ -13,5 +13,6 @@ description = "A Cyphal implementation: Common definitions"
 fugit = "0.3.7"
 fallible_collections = "0.5.1"
 heapless = "0.8.0"
-log = "0.4.14"
-nb = "1.0.0"
+nb = { version = "1.0.0", features = ["defmt-0-3"] }
+defmt.workspace = true
+l0g.workspace = true

canadensis_core/src/error.rs

@@ -2,10 +2,11 @@
 //! Error definitions
 //!
 
+use defmt::Format;
 use fallible_collections::TryReserveError;
 
 /// An error indicating that memory could not be allocated
-#[derive(Debug, Eq, PartialEq, Clone)]
+#[derive(Debug, Eq, PartialEq, Clone, Format)]
 pub struct OutOfMemoryError;
 
 impl From<TryReserveError> for OutOfMemoryError {
@@ -15,7 +16,7 @@ impl From<TryReserveError> for OutOfMemoryError {
 }
 
 /// An error that may occur when subscribing to a service
-#[derive(Debug, Eq, PartialEq, Clone)]
+#[derive(Debug, Eq, PartialEq, Clone, Format)]
 pub enum ServiceSubscribeError<E> {
     /// Can't subscribe to a service because this is an anonymous node
     Anonymous,