Add utility to auto-trim FRC logs
This takes a log and automatically trims it to just the time period
where it was enabled. This is particularly helpful for analyzing match
logs where several hundred seconds may pass before the log begins.
Change-Id: If24548187f139b935699c8aaaddb53680471f9d9
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/analysis/trim_log_to_enabled.cc b/frc971/analysis/trim_log_to_enabled.cc
new file mode 100644
index 0000000..0853ea5
--- /dev/null
+++ b/frc971/analysis/trim_log_to_enabled.cc
@@ -0,0 +1,102 @@
+#include <optional>
+
+#include "gflags/gflags.h"
+
+#include "aos/events/logging/log_reader.h"
+#include "aos/init.h"
+#include "aos/util/simulation_logger.h"
+#include "frc971/input/joystick_state_generated.h"
+
+DEFINE_string(output_folder, "/tmp/trimmed/",
+ "Name of the folder to write the trimmed log to.");
+DEFINE_double(pre_enable_time_sec, 10.0,
+ "Amount of time to leave in the new log before the first enable "
+ "signal happens.");
+DEFINE_double(post_enable_time_sec, 1.0,
+ "Amount of time to leave in the new log after the final enable "
+ "signal ends.");
+
+int main(int argc, char *argv[]) {
+ gflags::SetUsageMessage(
+ "Trims the sections at the start/end of a log where the robot is "
+ "disabled.");
+ aos::InitGoogle(&argc, &argv);
+ const std::vector<aos::logger::LogFile> logfiles =
+ aos::logger::SortParts(aos::logger::FindLogs(argc, argv));
+ std::optional<aos::monotonic_clock::time_point> start_time;
+ std::optional<aos::monotonic_clock::time_point> end_time;
+ bool printed_match = false;
+ // We need to do two passes through the logfile; one to figure out when the
+ // start/end times are, one to actually do the trimming.
+ {
+ aos::logger::LogReader reader(logfiles);
+ const aos::Node *roborio =
+ aos::configuration::GetNode(reader.configuration(), "roborio");
+ reader.Register();
+ std::unique_ptr<aos::EventLoop> event_loop =
+ reader.event_loop_factory()->MakeEventLoop("roborio", roborio);
+ event_loop->MakeWatcher(
+ "/aos", [&start_time, &end_time, &printed_match,
+ &event_loop](const aos::JoystickState &msg) {
+ if (!printed_match && msg.match_type() != aos::MatchType::kNone) {
+ LOG(INFO) << "Match Type: "
+ << aos::EnumNameMatchType(msg.match_type());
+ LOG(INFO) << "Match #: " << msg.match_number();
+ printed_match = true;
+ }
+
+ if (msg.enabled()) {
+ // Note that time is monotonic, so we don't need to e.g. do min's or
+ // max's on the start/end time.
+ if (!start_time.has_value()) {
+ start_time = event_loop->context().monotonic_event_time;
+ }
+ end_time = event_loop->context().monotonic_event_time;
+ }
+ });
+
+ reader.event_loop_factory()->Run();
+
+ if (!printed_match) {
+ LOG(INFO) << "No match info.";
+ }
+ }
+ if (!start_time.has_value()) {
+ LOG(WARNING) << "Log does not ontain any JoystickState messages.";
+ return 1;
+ }
+ LOG(INFO) << "First enable at " << start_time.value();
+ LOG(INFO) << "Final enable at " << end_time.value();
+ start_time.value() -= std::chrono::duration_cast<std::chrono::nanoseconds>(
+ std::chrono::duration<double>(FLAGS_pre_enable_time_sec));
+ end_time.value() += std::chrono::duration_cast<std::chrono::nanoseconds>(
+ std::chrono::duration<double>(FLAGS_post_enable_time_sec));
+
+ {
+ aos::logger::LogReader reader(logfiles);
+ const aos::Node *roborio =
+ aos::configuration::GetNode(reader.configuration(), "roborio");
+ reader.Register();
+ std::unique_ptr<aos::EventLoop> event_loop =
+ reader.event_loop_factory()->MakeEventLoop("roborio", roborio);
+ auto exit_timer = event_loop->AddTimer(
+ [&reader]() { reader.event_loop_factory()->Exit(); });
+ exit_timer->Schedule(start_time.value());
+ reader.event_loop_factory()->Run();
+ const std::set<std::string> logger_nodes =
+ aos::logger::LoggerNodes(logfiles);
+ // Only start up loggers that generated the original set of logfiles.
+ // This mostly exists to make it so that utilities like log_to_mcap can
+ // easily auto-detect which node to replay as when consuming the input logs.
+ auto loggers = aos::util::MakeLoggersForNodes(
+ reader.event_loop_factory(), {logger_nodes.begin(), logger_nodes.end()},
+ FLAGS_output_folder);
+ exit_timer->Schedule(end_time.value());
+
+ reader.event_loop_factory()->Run();
+ }
+
+ LOG(INFO) << "Trimmed logs written to " << FLAGS_output_folder;
+
+ return EXIT_SUCCESS;
+}