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

src/logger.cpp

@@ -0,0 +1,87 @@
+#include "logger.hpp"
+#include <iostream>
+
+namespace custom {
+
+Logger& Logger::getInstance() {
+    static Logger instance;
+    return instance;
+}
+
+void Logger::setLevel(LogLevel level) {
+    std::lock_guard<std::mutex> lock(logMutex_);
+    currentLevel_ = level;
+}
+
+void Logger::setLogFile(const std::string& filename) {
+    std::lock_guard<std::mutex> lock(logMutex_);
+    if (logFile_) {
+        logFile_->close();
+    }
+    logFile_ = std::make_unique<std::ofstream>(filename, std::ios::app);
+    if (!logFile_->is_open()) {
+        std::cerr << "Failed to open log file: " << filename << std::endl;
+        logFile_.reset();
+    }
+}
+
+void Logger::log(LogLevel level, const std::string& message) {
+    if (level < currentLevel_) {
+        return;
+    }
+    
+    std::lock_guard<std::mutex> lock(logMutex_);
+    std::string timestamp = getCurrentTime();
+    std::string levelStr = levelToString(level);
+    
+    std::string logMessage = "[" + timestamp + "] [" + levelStr + "] " + message;
+    
+    // Always log to console
+    std::cout << logMessage << std::endl;
+    
+    // Log to file if available
+    if (logFile_ && logFile_->is_open()) {
+        *logFile_ << logMessage << std::endl;
+        logFile_->flush();
+    }
+}
+
+void Logger::debug(const std::string& message) {
+    log(LogLevel::DEBUG, message);
+}
+
+void Logger::info(const std::string& message) {
+    log(LogLevel::INFO, message);
+}
+
+void Logger::warn(const std::string& message) {
+    log(LogLevel::WARN, message);
+}
+
+void Logger::error(const std::string& message) {
+    log(LogLevel::ERROR, message);
+}
+
+std::string Logger::getCurrentTime() {
+    auto now = std::chrono::system_clock::now();
+    auto time_t = std::chrono::system_clock::to_time_t(now);
+    auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
+        now.time_since_epoch()) % 1000;
+    
+    std::stringstream ss;
+    ss << std::put_time(std::localtime(&time_t), "%Y-%m-%d %H:%M:%S");
+    ss << "." << std::setfill('0') << std::setw(3) << ms.count();
+    return ss.str();
+}
+
+std::string Logger::levelToString(LogLevel level) {
+    switch (level) {
+        case LogLevel::DEBUG: return "DEBUG";
+        case LogLevel::INFO:  return "INFO ";
+        case LogLevel::WARN:  return "WARN ";
+        case LogLevel::ERROR: return "ERROR";
+        default: return "UNKNOWN";
+    }
+}
+
+} // namespace custom