Add 2020 drivetrain replay binary
Also, add a small comment to the 2020 wpilib_interface.
Change-Id: Ie6e070566884f535db459dd15fb54c2069c02379
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
new file mode 100644
index 0000000..c7d81c2
--- /dev/null
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -0,0 +1,65 @@
+// This binary allows us to replay the drivetrain code over existing logfile,
+// primarily for use in testing changes to the localizer code.
+// When you run this code, it generates a new logfile with the data all
+// replayed, so that it can then be run through the plotting tool or analyzed
+// in some other way. The original drivetrain status data will be on the
+// /original/drivetrain channel.
+#include "aos/configuration.h"
+#include "aos/events/logging/logger.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/network/team_number.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "gflags/gflags.h"
+#include "y2020/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(logfile, "/tmp/logfile.bfbs",
+ "Name of the logfile to read from.");
+DEFINE_string(config, "y2020/config.json",
+ "Name of the config file to replay using.");
+DEFINE_string(output_file, "/tmp/replayed.bfbs",
+ "Name of the logfile to write replayed data to.");
+DEFINE_int32(team, 971, "Team number to use for logfile replay.");
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::network::OverrideTeamNumber(FLAGS_team);
+
+ aos::InitCreate();
+
+ const aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::logger::LogReader reader(FLAGS_logfile, &config.message());
+ // TODO(james): Actually enforce not sending on the same buses as the logfile
+ // spews out.
+ reader.RemapLoggedChannel("/drivetrain",
+ "frc971.control_loops.drivetrain.Status");
+ reader.RemapLoggedChannel("/drivetrain",
+ "frc971.control_loops.drivetrain.Output");
+ reader.Register();
+
+ aos::logger::DetachedBufferWriter file_writer(FLAGS_output_file);
+ std::unique_ptr<aos::EventLoop> log_writer_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("log_writer");
+ log_writer_event_loop->SkipTimingReport();
+ CHECK(nullptr == log_writer_event_loop->node());
+ aos::logger::Logger writer(&file_writer, log_writer_event_loop.get());
+
+ std::unique_ptr<aos::EventLoop> drivetrain_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("drivetrain");
+ drivetrain_event_loop->SkipTimingReport();
+
+ frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+ drivetrain_event_loop.get(),
+ y2020::control_loops::drivetrain::GetDrivetrainConfig());
+ frc971::control_loops::drivetrain::DrivetrainLoop drivetrain(
+ y2020::control_loops::drivetrain::GetDrivetrainConfig(),
+ drivetrain_event_loop.get(), &localizer);
+
+ reader.event_loop_factory()->Run();
+
+ aos::Cleanup();
+ return 0;
+}