Add initial project structure with CMake configuration, source files, and README documentation for Unitree GO2 Custom Controller

include/logger.hpp

@@ -0,0 +1,53 @@
+#pragma once
+
+#include <string>
+#include <fstream>
+#include <memory>
+#include <mutex>
+#include <sstream>
+#include <chrono>
+#include <iomanip>
+
+namespace custom {
+
+enum class LogLevel {
+    DEBUG = 0,
+    INFO = 1,
+    WARN = 2,
+    ERROR = 3
+};
+
+class Logger {
+public:
+    static Logger& getInstance();
+    
+    void setLevel(LogLevel level);
+    void setLogFile(const std::string& filename);
+    
+    void log(LogLevel level, const std::string& message);
+    void debug(const std::string& message);
+    void info(const std::string& message);
+    void warn(const std::string& message);
+    void error(const std::string& message);
+
+private:
+    Logger() = default;
+    ~Logger() = default;
+    Logger(const Logger&) = delete;
+    Logger& operator=(const Logger&) = delete;
+    
+    std::string getCurrentTime();
+    std::string levelToString(LogLevel level);
+    
+    LogLevel currentLevel_ = LogLevel::INFO;
+    std::unique_ptr<std::ofstream> logFile_;
+    std::mutex logMutex_;
+};
+
+// Convenience macros
+#define LOG_DEBUG(msg) Logger::getInstance().debug(msg)
+#define LOG_INFO(msg) Logger::getInstance().info(msg)
+#define LOG_WARN(msg) Logger::getInstance().warn(msg)
+#define LOG_ERROR(msg) Logger::getInstance().error(msg)
+
+} // namespace custom