Streamline receiver.

ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/Main.java

@@ -7,6 +7,7 @@ import config.Robotconfig.RobotConfig;
 import de.tudresden.inf.st.ros2rag.starter.ast.MqttUpdater;
 import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration;
 import de.tudresden.inf.st.ros2rag.starter.data.DataJoint;
+import org.apache.logging.log4j.Level;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 import panda.Linkstate.PandaLinkState;
@@ -19,6 +20,7 @@ import java.util.concurrent.TimeUnit;
 public class Main {
 
   private static final Logger logger = LogManager.getLogger(Main.class);
+  private String topicPattern;
 
   public static void main(String[] args) throws Exception {
     Main main = new Main();
@@ -32,6 +34,7 @@ public class Main {
   private void run(DataConfiguration config) throws IOException, InterruptedException {
     final CountDownLatch finish = new CountDownLatch(1);
 
+    int topicMaxLength = 0;
     MqttUpdater receiver = new MqttUpdater("receiver stub");
     receiver.setHost(config.mqttHost);
     receiver.waitUntilReady(2, TimeUnit.SECONDS);
@@ -39,7 +42,9 @@ public class Main {
     receiver.newConnection(config.dataConfigTopic, this::printDataConfig);
     for (DataJoint joint : config.joints) {
       receiver.newConnection(joint.topic, this::printPandaLinkState);
+      topicMaxLength = Math.max(topicMaxLength, joint.topic.length());
     }
+    this.topicPattern = "%" + topicMaxLength + "s";
 
     receiver.newConnection("components", bytes -> {
       String message = new String(bytes);
@@ -70,8 +75,10 @@ public class Main {
       PandaLinkState.Orientation tmpOrientation = pls.getOrient();
       PandaLinkState.TwistLinear tmpTwistLinear = pls.getTl();
       PandaLinkState.TwistAngular tmpTwistAngular = pls.getTa();
-      logger.info("{}: pos({},{},{}), orient({},{},{},{})," +
-              " twist-linear({},{},{}), twist-angular({},{},{})",
+      // panda::panda_link0: pos(-3.0621333E-8,-1.5197388E-8,3.3411725E-5), orient(0.0,0.0,0.0,0.0), twist-linear(0.0,0.0,0.0), twist-angular(0.0,0.0,0.0)
+
+      logger.printf(Level.INFO,topicPattern + ": pos(% .5f,% .5f,% .5f), ori(%.1f,%.1f,%.1f,%.1f)," +
+              " twL(%.1f,%.1f,%.1f), twA(%.1f,%.1f,%.1f)",
           pls.getName(),
           tmpPosition.getPositionX(),
           tmpPosition.getPositionY(),

ros2rag.receiverstub/src/main/resources/log4j2.xml

@@ -6,7 +6,7 @@
         </Console>
     </Appenders>
     <Loggers>
-        <Root level="debug">
+        <Root level="info">
             <AppenderRef ref="Console"/>
         </Root>
     </Loggers>