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224
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LogFiles.java
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| package org.firstinspires.ftc.teamcode.tuning; | ||
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| import android.annotation.SuppressLint; | ||
| import android.content.Context; | ||
|
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| import com.acmerobotics.roadrunner.Pose2d; | ||
| import com.fasterxml.jackson.core.JsonFactory; | ||
| import com.fasterxml.jackson.databind.ObjectMapper; | ||
| import com.fasterxml.jackson.databind.ObjectWriter; | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerImpl; | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerNotifier; | ||
| import com.qualcomm.robotcore.util.RobotLog; | ||
| import com.qualcomm.robotcore.util.WebHandlerManager; | ||
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|
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| import org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar; | ||
| import org.firstinspires.ftc.robotcore.internal.system.AppUtil; | ||
| import org.firstinspires.ftc.teamcode.MecanumDrive; | ||
| import org.firstinspires.ftc.teamcode.TankDrive; | ||
| import org.firstinspires.ftc.teamcode.ThreeDeadWheelLocalizer; | ||
| import org.firstinspires.ftc.teamcode.TwoDeadWheelLocalizer; | ||
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|
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| import java.io.File; | ||
| import java.io.FileInputStream; | ||
| import java.io.IOException; | ||
| import java.text.DateFormat; | ||
| import java.text.SimpleDateFormat; | ||
| import java.util.ArrayList; | ||
| import java.util.Arrays; | ||
| import java.util.Date; | ||
| import java.util.List; | ||
| import java.util.Objects; | ||
|
|
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| import fi.iki.elonen.NanoHTTPD; | ||
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| public final class LogFiles { | ||
| private static final File ROOT = | ||
| new File(AppUtil.ROOT_FOLDER + "/RoadRunner/logs/"); | ||
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| public static LogFile log = new LogFile("uninitialized"); | ||
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| public static class LogFile { | ||
| public int version = 0; | ||
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| public String opModeName; | ||
| public long msInit = System.currentTimeMillis(); | ||
| public long nsInit = System.nanoTime(); | ||
| public long nsStart, nsStop; | ||
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| public String driveClassName = TuningOpModes.DRIVE_CLASS.getCanonicalName(); | ||
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| public double mecInPerTick = MecanumDrive.IN_PER_TICK; | ||
| public double mecLateralInPerTick = MecanumDrive.LATERAL_IN_PER_TICK; | ||
| public double mecTrackWidthTicks = MecanumDrive.TRACK_WIDTH_TICKS; | ||
| public double mecKS = MecanumDrive.kS; | ||
| public double mecKV = MecanumDrive.kV; | ||
| public double mecKA = MecanumDrive.kA; | ||
| public double mecMaxWheelVel = MecanumDrive.MAX_WHEEL_VEL; | ||
| public double mecMinProfileAccel = MecanumDrive.MIN_PROFILE_ACCEL; | ||
| public double mecMaxProfileAccel = MecanumDrive.MAX_PROFILE_ACCEL; | ||
| public double mecMaxAngVel = MecanumDrive.MAX_ANG_VEL; | ||
| public double mecMaxAngAccel = MecanumDrive.MAX_ANG_ACCEL; | ||
| public double mecAxialGain = MecanumDrive.AXIAL_GAIN; | ||
| public double mecLateralGain = MecanumDrive.LATERAL_GAIN; | ||
| public double mecHeadingGain = MecanumDrive.HEADING_GAIN; | ||
| public double mecAxialVelGain = MecanumDrive.AXIAL_VEL_GAIN; | ||
| public double mecLateralVelGain = MecanumDrive.LATERAL_VEL_GAIN; | ||
| public double mecHeadingVelGain = MecanumDrive.HEADING_VEL_GAIN; | ||
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| public double tankInPerTick = TankDrive.IN_PER_TICK; | ||
| public double tankTrackWidthTicks = TankDrive.TRACK_WIDTH_TICKS; | ||
| public double tankKS = TankDrive.kS; | ||
| public double tankKV = TankDrive.kV; | ||
| public double tankKA = TankDrive.kA; | ||
| public double tankMaxWheelVel = TankDrive.MAX_WHEEL_VEL; | ||
| public double tankMinProfileAccel = TankDrive.MIN_PROFILE_ACCEL; | ||
| public double tankMaxProfileAccel = TankDrive.MAX_PROFILE_ACCEL; | ||
| public double tankMaxAngVel = TankDrive.MAX_ANG_VEL; | ||
| public double tankMaxAngAccel = TankDrive.MAX_ANG_ACCEL; | ||
| public double tankRamseteZeta = TankDrive.RAMSETE_ZETA; | ||
| public double tankRamseteBbar = TankDrive.RAMSETE_BBAR; | ||
| public double tankTurnGain = TankDrive.TURN_GAIN; | ||
| public double tankTurnVelGain = TankDrive.TURN_VEL_GAIN; | ||
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| public double threePar0YTicks = ThreeDeadWheelLocalizer.PAR0_Y_TICKS; | ||
| public double threePar1YTicks = ThreeDeadWheelLocalizer.PAR1_Y_TICKS; | ||
| public double threePerpXTicks = ThreeDeadWheelLocalizer.PERP_X_TICKS; | ||
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| public double twoParYTicks = TwoDeadWheelLocalizer.PAR_Y_TICKS; | ||
| public double twoPerpXTicks = TwoDeadWheelLocalizer.PERP_X_TICKS; | ||
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| public List<Long> nsTimes = new ArrayList<>(); | ||
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| public List<Double> targetXs = new ArrayList<>(); | ||
| public List<Double> targetYs = new ArrayList<>(); | ||
| public List<Double> targetHeadings = new ArrayList<>(); | ||
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| public List<Double> xs = new ArrayList<>(); | ||
| public List<Double> ys = new ArrayList<>(); | ||
| public List<Double> headings = new ArrayList<>(); | ||
|
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| public LogFile(String opModeName) { | ||
| this.opModeName = opModeName; | ||
| } | ||
| } | ||
|
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| public static void recordTargetPose(Pose2d targetPose) { | ||
| log.targetXs.add(targetPose.trans.x); | ||
| log.targetYs.add(targetPose.trans.y); | ||
| log.targetHeadings.add(targetPose.rot.log()); | ||
| } | ||
|
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| public static void recordPose(Pose2d pose) { | ||
| // arbitrarily add time here | ||
| log.nsTimes.add(System.nanoTime()); | ||
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| log.xs.add(pose.trans.x); | ||
| log.ys.add(pose.trans.y); | ||
| log.headings.add(pose.rot.log()); | ||
| } | ||
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| private static final OpModeManagerNotifier.Notifications notifHandler = new OpModeManagerNotifier.Notifications() { | ||
| @SuppressLint("SimpleDateFormat") | ||
| final DateFormat dateFormat = new SimpleDateFormat("yyyy_MM_dd__HH_mm_ss_SSS"); | ||
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| final ObjectWriter jsonWriter = new ObjectMapper(new JsonFactory()) | ||
| .writerWithDefaultPrettyPrinter(); | ||
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| @Override | ||
| public void onOpModePreInit(OpMode opMode) { | ||
| log = new LogFile(opMode.getClass().getCanonicalName()); | ||
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| // clean up old files | ||
| File[] fs = Objects.requireNonNull(ROOT.listFiles()); | ||
| Arrays.sort(fs, (a, b) -> Long.compare(a.lastModified(), b.lastModified())); | ||
| long totalSizeBytes = 0; | ||
| for (File f : fs) { | ||
| totalSizeBytes += f.length(); | ||
| } | ||
|
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| int i = 0; | ||
| while (i < fs.length && totalSizeBytes >= 8 * 1000 * 1000) { | ||
| totalSizeBytes -= fs[i].length(); | ||
| if (!fs[i].delete()) { | ||
| RobotLog.setGlobalErrorMsg("Unable to delete file " + fs[i].getAbsolutePath()); | ||
| } | ||
| ++i; | ||
| } | ||
| } | ||
|
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| @Override | ||
| public void onOpModePreStart(OpMode opMode) { | ||
| log.nsStart = System.nanoTime(); | ||
| } | ||
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| @Override | ||
| public void onOpModePostStop(OpMode opMode) { | ||
| log.nsStop = System.nanoTime(); | ||
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| if (!(opMode instanceof OpModeManagerImpl.DefaultOpMode)) { | ||
| String filename = dateFormat.format(new Date(log.msInit)) + "__" + opMode.getClass().getSimpleName() + ".json"; | ||
| File file = new File(ROOT, filename); | ||
| try { | ||
| jsonWriter.writeValue(file, log); | ||
| } catch (IOException e) { | ||
| RobotLog.setGlobalErrorMsg(new RuntimeException(e), | ||
| "Unable to write data to " + file.getAbsolutePath()); | ||
| } | ||
| } | ||
| } | ||
| }; | ||
|
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| @WebHandlerRegistrar | ||
| public static void registerRoutes(Context context, WebHandlerManager manager) { | ||
| //noinspection ResultOfMethodCallIgnored | ||
| ROOT.mkdirs(); | ||
|
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||
| // op mode manager only stores a weak reference, so we need to keep notifHandler alive ourselves | ||
| // don't use @OnCreateEventLoop because it's unreliable | ||
| OpModeManagerImpl.getOpModeManagerOfActivity( | ||
| AppUtil.getInstance().getActivity() | ||
| ).registerListener(notifHandler); | ||
|
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| manager.register("/logs", session -> { | ||
| final StringBuilder sb = new StringBuilder(); | ||
| sb.append("<!doctype html><html><head><title>Logs</title></head><body><ul>"); | ||
| File[] fs = Objects.requireNonNull(ROOT.listFiles()); | ||
| Arrays.sort(fs, (a, b) -> Long.compare(b.lastModified(), a.lastModified())); | ||
| for (File f : fs) { | ||
| sb.append("<li><a href=\"/logs/download?file="); | ||
| sb.append(f.getName()); | ||
| sb.append("\">"); | ||
| sb.append(f.getName()); | ||
| sb.append("</a></li>"); | ||
| } | ||
| sb.append("</ul></body></html>"); | ||
| return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.OK, | ||
| NanoHTTPD.MIME_HTML, sb.toString()); | ||
| }); | ||
|
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| manager.register("/logs/download", session -> { | ||
| final String[] pairs = session.getQueryParameterString().split("&"); | ||
| if (pairs.length != 1) { | ||
| return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.BAD_REQUEST, | ||
| NanoHTTPD.MIME_PLAINTEXT, "expected one query parameter, got " + pairs.length); | ||
| } | ||
|
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| final String[] parts = pairs[0].split("="); | ||
| if (!parts[0].equals("file")) { | ||
| return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.BAD_REQUEST, | ||
| NanoHTTPD.MIME_PLAINTEXT, "expected file query parameter, got " + parts[0]); | ||
| } | ||
|
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| File f = new File(ROOT, parts[1]); | ||
| if (!f.exists()) { | ||
| return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.NOT_FOUND, | ||
| NanoHTTPD.MIME_PLAINTEXT, "file " + f + " doesn't exist"); | ||
| } | ||
|
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| return NanoHTTPD.newChunkedResponse(NanoHTTPD.Response.Status.OK, | ||
| "application/json", new FileInputStream(f)); | ||
| }); | ||
| } | ||
| } |