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[merge-to-it] sharpa_avatar: log through isaaccapture::Logger #1199

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Merged
lotusl-code merged 1 commit into from
Oct 8, 2026
Merged

[merge-to-it] sharpa_avatar: log through isaaccapture::Logger #1199

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19 changes: 12 additions & 7 deletions src/plugins/sharpa_avatar/app/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,11 +15,11 @@
#include "cli.hpp"

#include <avatar/avatar_hand_tracking_plugin.hpp>
#include <log_bridge/logger.hpp>

#include <atomic>
#include <chrono>
#include <csignal>
#include <iostream>
#include <stdexcept>
#include <string>
#include <thread>
Expand All @@ -46,6 +46,7 @@ AvatarPluginConfig parse_args(int argc, char** argv)
{
AvatarPluginConfig config;
std::string datasets_arg = "human,raw,robot,haptic";
auto logger = isaaccapture::Logger::get("isaaccapture.plugins.sharpa_avatar");

for (int i = 1; i < argc; ++i)
{
Expand All @@ -64,7 +65,7 @@ AvatarPluginConfig parse_args(int argc, char** argv)
}
else
{
std::cerr << "AvatarHandPlugin: ignoring unknown argument '" << arg << "'" << std::endl;
logger->warn("ignoring unknown argument '{}'", arg);
}
}

Expand Down Expand Up @@ -92,7 +93,7 @@ AvatarPluginConfig parse_args(int argc, char** argv)
}
else
{
std::cerr << "AvatarHandPlugin: ignoring unknown data set '" << ds << "'" << std::endl;
logger->warn("ignoring unknown data set '{}'", ds);
}
}

Expand All @@ -109,7 +110,8 @@ AvatarPluginConfig parse_args(int argc, char** argv)
int main(int argc, char** argv)
try
{
std::cout << "Avatar Hand Plugin starting..." << std::endl;
auto logger = isaaccapture::Logger::get("isaaccapture.plugins.sharpa_avatar");
logger->info("Avatar Hand Plugin starting...");

const AvatarPluginConfig config = parse_args(argc, argv);
AvatarTracker tracker(config);
Expand All @@ -118,7 +120,7 @@ try
std::signal(SIGINT, signal_handler);
std::signal(SIGTERM, signal_handler);

std::cout << "Plugin running. Press Ctrl+C to stop." << std::endl;
logger->info("Plugin running. Press Ctrl+C to stop.");

// Target 90Hz frequency (~11.1ms period).
const auto target_frame_duration = std::chrono::nanoseconds(1000000000 / 90);
Expand All @@ -132,15 +134,18 @@ try
std::this_thread::sleep_until(frame_start + target_frame_duration);
}

logger->info("Avatar Hand Plugin stopped: received SIGINT or SIGTERM.");
return 0;
}
catch (const std::exception& e)
{
std::cerr << argv[0] << ": " << e.what() << std::endl;
auto logger = isaaccapture::Logger::get("isaaccapture.plugins.sharpa_avatar");
logger->error("Avatar Hand Plugin exiting on error: {}", e.what());
return 1;
}
catch (...)
{
std::cerr << argv[0] << ": Unknown error occurred" << std::endl;
auto logger = isaaccapture::Logger::get("isaaccapture.plugins.sharpa_avatar");
logger->error("Avatar Hand Plugin exiting on an unknown error.");
return 1;
}
41 changes: 23 additions & 18 deletions src/plugins/sharpa_avatar/core/avatar_hand_tracking_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
#include "avatar_glove_collection.hpp"

#include <flatbuffers/flatbuffers.h>
#include <log_bridge/logger.hpp>
#include <oxr/oxr_session.hpp>
#include <oxr_utils/math.hpp>
#include <oxr_utils/os_time.hpp>
Expand All @@ -17,7 +18,6 @@
#include <array>
#include <chrono>
#include <cmath>
#include <iostream>
#include <memory>
#include <optional>
#include <stdexcept>
Expand All @@ -37,9 +37,14 @@ namespace
constexpr size_t kJointFlatbufferSize = 4096;
constexpr auto kAvatarDataTimeout = std::chrono::seconds(10);
constexpr auto kGloveRetryInterval = std::chrono::seconds(2);
constexpr auto kGloveWaitLogInterval = std::chrono::seconds(10);
constexpr auto kHapticCommandTimeout = std::chrono::milliseconds(200);

const std::shared_ptr<spdlog::logger>& logger()
{
static const auto instance = isaaccapture::Logger::get("isaaccapture.plugins.sharpa_avatar.AvatarTracker");
return instance;
}

size_t side_index(::avatar::DeviceSide side)
{
switch (side)
Expand Down Expand Up @@ -260,10 +265,9 @@ void GloveState::reset() noexcept

AvatarTracker::AvatarTracker(AvatarPluginConfig config) : m_config(std::move(config)), m_sdk(m_config.sdk_config_path)
{
std::cout << "[Avatar] Avatar SDK initialized." << std::endl;
std::cout << "[Avatar] datasets: human=" << (m_config.human ? "on" : "off")
<< " raw=" << (m_config.raw ? "on" : "off") << " robot=" << (m_config.robot ? "on" : "off")
<< " haptic=" << (m_config.haptic ? "on" : "off") << std::endl;
logger()->info("Avatar SDK initialized.");
logger()->info("datasets: human={} raw={} robot={} haptic={}", m_config.human ? "on" : "off",
m_config.raw ? "on" : "off", m_config.robot ? "on" : "off", m_config.haptic ? "on" : "off");
try_connect_missing_gloves();
initialize_openxr();
}
Expand Down Expand Up @@ -366,8 +370,8 @@ void AvatarTracker::start_glove_if_present(GloveState& glove, ::avatar::DeviceSi
const auto init_error = glove.device->init("{}");
if (init_error != ::avatar::ErrorCode::SUCCESS)
{
std::cerr << "[Avatar] " << to_string(side) << " glove initialization failed: " << error_name(init_error)
<< " (" << static_cast<int>(init_error) << ")" << std::endl;
logger()->warn("{} glove initialization failed: {} ({})", to_string(side), error_name(init_error),
static_cast<int>(init_error));
glove.reset();
return;
}
Expand All @@ -376,13 +380,13 @@ void AvatarTracker::start_glove_if_present(GloveState& glove, ::avatar::DeviceSi
const auto start_error = glove.device->start();
if (start_error != ::avatar::ErrorCode::SUCCESS)
{
std::cerr << "[Avatar] " << to_string(side) << " glove start failed: " << error_name(start_error) << " ("
<< static_cast<int>(start_error) << ")" << std::endl;
logger()->warn(
"{} glove start failed: {} ({})", to_string(side), error_name(start_error), static_cast<int>(start_error));
glove.reset();
return;
}
glove.last_successful_fetch = std::chrono::steady_clock::now();
std::cout << "[Avatar] " << to_string(side) << " glove connected and streaming." << std::endl;
logger()->info("{} glove connected and streaming.", to_string(side));
}

void AvatarTracker::try_connect_missing_gloves()
Expand All @@ -404,12 +408,13 @@ void AvatarTracker::try_connect_missing_gloves()
{
start_glove_if_present(glove(side), side);
}
if (std::none_of(m_gloves.begin(), m_gloves.end(), has_device) &&
(!m_last_glove_wait_log || now - *m_last_glove_wait_log >= kGloveWaitLogInterval))
// Log once per stretch with no glove; a glove connecting re-arms the message.
const bool waiting = std::none_of(m_gloves.begin(), m_gloves.end(), has_device);
if (waiting && !m_glove_wait_logged)
{
m_last_glove_wait_log = now;
std::cout << "[Avatar] Waiting for an online glove..." << std::endl;
logger()->info("Waiting for an online glove...");
}
m_glove_wait_logged = waiting;
}

void AvatarTracker::refresh_data()
Expand Down Expand Up @@ -472,6 +477,7 @@ void AvatarTracker::refresh_data()
}
else if (!state.last_successful_fetch || now - *state.last_successful_fetch >= kAvatarDataTimeout)
{
logger()->warn("{} glove disconnected: no data for {} s.", to_string(side), kAvatarDataTimeout.count());
state.reset();
}
}
Expand Down Expand Up @@ -631,9 +637,8 @@ void AvatarTracker::apply_haptic_command(::avatar::DeviceSide side, const std::a
if (!m_haptic_error_logged[index])
{
m_haptic_error_logged[index] = true;
std::cerr << "[Avatar] set_vibration failed for " << to_string(side) << " glove: " << error_name(error)
<< " (" << static_cast<int>(error) << "); further errors for this side will be silenced."
<< std::endl;
logger()->warn("set_vibration failed for {} glove: {} ({}); further errors for this side will be silenced.",
to_string(side), error_name(error), static_cast<int>(error));
}
}
}
Expand Down
2 changes: 1 addition & 1 deletion src/plugins/sharpa_avatar/core/inc/avatar/avatar_hand_tracking_plugin.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,7 @@ class __attribute__((visibility("default"))) AvatarTracker
std::array<bool, 2> m_haptic_stopped{ { true, true } };
std::array<bool, 2> m_haptic_error_logged{ { false, false } };
std::optional<std::chrono::steady_clock::time_point> m_last_glove_retry;
std::optional<std::chrono::steady_clock::time_point> m_last_glove_wait_log;
bool m_glove_wait_logged = false;
};

} // namespace avatar
Expand Down
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