Merge "Enable --die_on_malloc by default!"
diff --git a/aos/util/BUILD b/aos/util/BUILD
index 2f10a70..b46cd14 100644
--- a/aos/util/BUILD
+++ b/aos/util/BUILD
@@ -528,3 +528,13 @@
"@com_github_gflags_gflags//:gflags",
],
)
+
+cc_library(
+ name = "simulation_logger",
+ srcs = ["simulation_logger.cc"],
+ hdrs = ["simulation_logger.h"],
+ deps = [
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_writer",
+ ],
+)
diff --git a/aos/util/simulation_logger.cc b/aos/util/simulation_logger.cc
new file mode 100644
index 0000000..e459978
--- /dev/null
+++ b/aos/util/simulation_logger.cc
@@ -0,0 +1,39 @@
+#include "aos/util/simulation_logger.h"
+
+namespace aos::util {
+LoggerState::LoggerState(aos::SimulatedEventLoopFactory *factory,
+ const aos::Node *node, std::string_view output_folder)
+ : event_loop_(factory->MakeEventLoop("logger", node)),
+ namer_(std::make_unique<aos::logger::MultiNodeFilesLogNamer>(
+ absl::StrCat(output_folder, "/", node->name()->string_view(), "/"),
+ event_loop_.get())),
+ logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
+ event_loop_->SkipTimingReport();
+ event_loop_->SkipAosLog();
+ event_loop_->OnRun([this]() { logger_->StartLogging(std::move(namer_)); });
+}
+
+std::vector<std::unique_ptr<LoggerState>> MakeLoggersForNodes(
+ aos::SimulatedEventLoopFactory *factory,
+ const std::vector<std::string> &nodes_to_log,
+ std::string_view output_folder) {
+ std::vector<std::unique_ptr<LoggerState>> loggers;
+ for (const std::string &node : nodes_to_log) {
+ loggers.emplace_back(std::make_unique<LoggerState>(
+ factory, aos::configuration::GetNode(factory->configuration(), node),
+ output_folder));
+ }
+ return loggers;
+}
+
+std::vector<std::unique_ptr<LoggerState>> MakeLoggersForAllNodes(
+ aos::SimulatedEventLoopFactory *factory, std::string_view output_folder) {
+ std::vector<std::unique_ptr<LoggerState>> loggers;
+ for (const aos::Node *node : configuration::GetNodes(factory->configuration())) {
+ loggers.emplace_back(
+ std::make_unique<LoggerState>(factory, node, output_folder));
+ }
+ return loggers;
+}
+
+} // namespace aos::util
diff --git a/aos/util/simulation_logger.h b/aos/util/simulation_logger.h
new file mode 100644
index 0000000..f431b4c
--- /dev/null
+++ b/aos/util/simulation_logger.h
@@ -0,0 +1,33 @@
+#ifndef AOS_UTIL_SIMULATION_LOGGER_H_
+#define AOS_UTIL_SIMULATION_LOGGER_H_
+#include <string_view>
+
+#include "aos/events/logging/log_writer.h"
+#include "aos/events/simulated_event_loop.h"
+namespace aos::util {
+
+class LoggerState {
+ public:
+ LoggerState(aos::SimulatedEventLoopFactory *factory, const aos::Node *node,
+ std::string_view output_folder);
+
+ private:
+ std::unique_ptr<aos::EventLoop> event_loop_;
+ std::unique_ptr<aos::logger::LogNamer> namer_;
+ std::unique_ptr<aos::logger::Logger> logger_;
+};
+
+// Creates a logger for each of the specified nodes. This makes it so that you
+// can easily setup some number of loggers in simulation or log replay without
+// needing to redo all the boilerplate every time.
+std::vector<std::unique_ptr<LoggerState>> MakeLoggersForNodes(
+ aos::SimulatedEventLoopFactory *factory,
+ const std::vector<std::string> &nodes_to_log,
+ std::string_view output_folder);
+
+// Creates loggers for all of the nodes.
+std::vector<std::unique_ptr<LoggerState>> MakeLoggersForAllNodes(
+ aos::SimulatedEventLoopFactory *factory, std::string_view output_folder);
+
+} // namespace aos::util
+#endif // AOS_UTIL_SIMULATION_LOGGER_H_
diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index fa153f0..8191404 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -207,6 +207,7 @@
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
"//aos/events/logging:log_writer",
+ "//aos/util:simulation_logger",
"//frc971/control_loops/drivetrain:drivetrain_lib",
"//frc971/control_loops/drivetrain:trajectory_generator",
"//y2020:constants",
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 57feabb..8373258 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -11,6 +11,7 @@
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
+#include "aos/util/simulation_logger.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/trajectory_generator.h"
#include "gflags/gflags.h"
@@ -26,27 +27,6 @@
DEFINE_int32(team, 971, "Team number to use for logfile replay.");
DEFINE_bool(log_all_nodes, false, "Whether to rerun the logger on every node.");
-class LoggerState {
- public:
- LoggerState(aos::logger::LogReader *reader, const aos::Node *node)
- : event_loop_(
- reader->event_loop_factory()->MakeEventLoop("logger", node)),
- namer_(std::make_unique<aos::logger::MultiNodeFilesLogNamer>(
- absl::StrCat(FLAGS_output_folder, "/", node->name()->string_view(),
- "/"),
- event_loop_.get())),
- logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
- event_loop_->SkipTimingReport();
- event_loop_->SkipAosLog();
- event_loop_->OnRun([this]() { logger_->StartLogging(std::move(namer_)); });
- }
-
- private:
- std::unique_ptr<aos::EventLoop> event_loop_;
- std::unique_ptr<aos::logger::LogNamer> namer_;
- std::unique_ptr<aos::logger::Logger> logger_;
-};
-
// TODO(james): Currently, this replay produces logfiles that can't be read due
// to time estimation issues. Pending the active refactorings of the
// timestamp-related code, fix this.
@@ -82,21 +62,17 @@
"y2020.control_loops.superstructure.Output");
reader.Register();
- std::vector<std::unique_ptr<LoggerState>> loggers;
+ std::vector<std::unique_ptr<aos::util::LoggerState>> loggers;
if (FLAGS_log_all_nodes) {
- for (const aos::Node *node :
- aos::configuration::GetNodes(reader.configuration())) {
- loggers.emplace_back(std::make_unique<LoggerState>(&reader, node));
- }
+ loggers = aos::util::MakeLoggersForAllNodes(reader.event_loop_factory(),
+ FLAGS_output_folder);
} else {
// List of nodes to create loggers for (note: currently just roborio; this
// code was refactored to allow easily adding new loggers to accommodate
// debugging and potential future changes).
const std::vector<std::string> nodes_to_log = {"roborio"};
- for (const std::string &node : nodes_to_log) {
- loggers.emplace_back(std::make_unique<LoggerState>(
- &reader, aos::configuration::GetNode(reader.configuration(), node)));
- }
+ loggers = aos::util::MakeLoggersForNodes(reader.event_loop_factory(),
+ nodes_to_log, FLAGS_output_folder);
}
const aos::Node *node = nullptr;
diff --git a/y2020/y2020_pi_template.json b/y2020/y2020_pi_template.json
index cf54c23..c609632 100644
--- a/y2020/y2020_pi_template.json
+++ b/y2020/y2020_pi_template.json
@@ -92,12 +92,19 @@
"time_to_live": 5000000,
"timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
"timestamp_logger_nodes": [
- "roborio"
+ "pi{{ NUM }}"
]
}
]
},
{
+ "name": "/pi{{ NUM }}/aos/remote_timestamps/roborio/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "pi{{ NUM }}",
+ "max_size": 208
+ },
+ {
"name": "/pi{{ NUM }}/camera",
"type": "frc971.vision.CameraImage",
"source_node": "pi{{ NUM }}",
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index dd0fb67..7f076e8 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -150,6 +150,7 @@
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
"//aos/events/logging:log_writer",
+ "//aos/util:simulation_logger",
"//y2022/control_loops/drivetrain:drivetrain_base",
],
)
diff --git a/y2022/localizer/localizer_replay.cc b/y2022/localizer/localizer_replay.cc
index 0c09535..6dcbb1e 100644
--- a/y2022/localizer/localizer_replay.cc
+++ b/y2022/localizer/localizer_replay.cc
@@ -1,6 +1,7 @@
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
+#include "aos/util/simulation_logger.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
@@ -16,27 +17,6 @@
DEFINE_string(output_folder, "/tmp/replayed",
"Name of the folder to write replayed logs to.");
-class LoggerState {
- public:
- LoggerState(aos::logger::LogReader *reader, const aos::Node *node)
- : event_loop_(
- reader->event_loop_factory()->MakeEventLoop("logger", node)),
- namer_(std::make_unique<aos::logger::MultiNodeFilesLogNamer>(
- absl::StrCat(FLAGS_output_folder, "/", node->name()->string_view(),
- "/"),
- event_loop_.get())),
- logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
- event_loop_->SkipTimingReport();
- event_loop_->SkipAosLog();
- event_loop_->OnRun([this]() { logger_->StartLogging(std::move(namer_)); });
- }
-
- private:
- std::unique_ptr<aos::EventLoop> event_loop_;
- std::unique_ptr<aos::logger::LogNamer> namer_;
- std::unique_ptr<aos::logger::Logger> logger_;
-};
-
// TODO(james): Currently, this replay produces logfiles that can't be read due
// to time estimation issues. Pending the active refactorings of the
// timestamp-related code, fix this.
@@ -71,15 +51,13 @@
reader.Register(factory.get());
- std::vector<std::unique_ptr<LoggerState>> loggers;
// List of nodes to create loggers for (note: currently just roborio; this
// code was refactored to allow easily adding new loggers to accommodate
// debugging and potential future changes).
const std::vector<std::string> nodes_to_log = {"imu"};
- for (const std::string &node : nodes_to_log) {
- loggers.emplace_back(std::make_unique<LoggerState>(
- &reader, aos::configuration::GetNode(reader.configuration(), node)));
- }
+ std::vector<std::unique_ptr<aos::util::LoggerState>> loggers =
+ aos::util::MakeLoggersForNodes(reader.event_loop_factory(), nodes_to_log,
+ FLAGS_output_folder);
const aos::Node *node = nullptr;
if (aos::configuration::MultiNode(reader.configuration())) {
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
index 01800bf..65a6e98 100644
--- a/y2022/y2022_logger.json
+++ b/y2022/y2022_logger.json
@@ -35,7 +35,7 @@
"priority": 2,
"timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
"timestamp_logger_nodes": [
- "roborio"
+ "logger"
],
"time_to_live": 5000000
}
@@ -46,7 +46,7 @@
"type": "aos.message_bridge.RemoteMessage",
"source_node": "logger",
"logger": "NOT_LOGGED",
- "frequency": 20,
+ "frequency": 200,
"num_senders": 2,
"max_size": 200
},
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index 4d3c427..cb90fee 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -104,7 +104,7 @@
"time_to_live": 5000000,
"timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
"timestamp_logger_nodes": [
- "roborio"
+ "pi{{ NUM }}"
]
},
{
@@ -113,7 +113,7 @@
"time_to_live": 5000000,
"timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
"timestamp_logger_nodes": [
- "imu"
+ "pi{{ NUM }}"
]
}
]
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
index 068c543..d046568 100644
--- a/y2022/y2022_roborio.json
+++ b/y2022/y2022_roborio.json
@@ -459,7 +459,7 @@
"priority": 5,
"timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
"timestamp_logger_nodes": [
- "imu"
+ "roborio"
],
"time_to_live": 0
}
diff --git a/y2023/localizer/BUILD b/y2023/localizer/BUILD
index 3ef024c..f9d0d28 100644
--- a/y2023/localizer/BUILD
+++ b/y2023/localizer/BUILD
@@ -220,6 +220,7 @@
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
"//aos/events/logging:log_writer",
+ "//aos/util:simulation_logger",
"//y2023/control_loops/drivetrain:drivetrain_base",
],
)
diff --git a/y2023/localizer/localizer_replay.cc b/y2023/localizer/localizer_replay.cc
index c74b708..27f0d18 100644
--- a/y2023/localizer/localizer_replay.cc
+++ b/y2023/localizer/localizer_replay.cc
@@ -5,9 +5,10 @@
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
-#include "y2023/localizer/localizer.h"
+#include "aos/util/simulation_logger.h"
#include "gflags/gflags.h"
#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+#include "y2023/localizer/localizer.h"
DEFINE_string(config, "y2023/aos_config.json",
"Name of the config file to replay using.");
@@ -15,27 +16,6 @@
DEFINE_string(output_folder, "/tmp/replayed",
"Name of the folder to write replayed logs to.");
-class LoggerState {
- public:
- LoggerState(aos::logger::LogReader *reader, const aos::Node *node)
- : event_loop_(
- reader->event_loop_factory()->MakeEventLoop("logger", node)),
- namer_(std::make_unique<aos::logger::MultiNodeFilesLogNamer>(
- absl::StrCat(FLAGS_output_folder, "/", node->name()->string_view(),
- "/"),
- event_loop_.get())),
- logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
- event_loop_->SkipTimingReport();
- event_loop_->SkipAosLog();
- event_loop_->OnRun([this]() { logger_->StartLogging(std::move(namer_)); });
- }
-
- private:
- std::unique_ptr<aos::EventLoop> event_loop_;
- std::unique_ptr<aos::logger::LogNamer> namer_;
- std::unique_ptr<aos::logger::Logger> logger_;
-};
-
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
@@ -69,15 +49,13 @@
reader.Register(factory.get());
- std::vector<std::unique_ptr<LoggerState>> loggers;
// List of nodes to create loggers for (note: currently just roborio; this
// code was refactored to allow easily adding new loggers to accommodate
// debugging and potential future changes).
const std::vector<std::string> nodes_to_log = {"imu"};
- for (const std::string &node : nodes_to_log) {
- loggers.emplace_back(std::make_unique<LoggerState>(
- &reader, aos::configuration::GetNode(reader.configuration(), node)));
- }
+ std::vector<std::unique_ptr<aos::util::LoggerState>> loggers =
+ aos::util::MakeLoggersForNodes(reader.event_loop_factory(), nodes_to_log,
+ FLAGS_output_folder);
const aos::Node *node = nullptr;
if (aos::configuration::MultiNode(reader.configuration())) {
diff --git a/y2023/y2023_roborio.json b/y2023/y2023_roborio.json
index 8ed9d73..172d11c 100644
--- a/y2023/y2023_roborio.json
+++ b/y2023/y2023_roborio.json
@@ -18,15 +18,6 @@
]
},
{
- "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
- "type": "aos.message_bridge.RemoteMessage",
- "source_node": "roborio",
- "logger": "NOT_LOGGED",
- "frequency": 300,
- "num_senders": 2,
- "max_size": 200
- },
- {
"name": "/roborio/aos",
"type": "aos.RobotState",
"source_node": "roborio",
@@ -234,15 +225,6 @@
]
},
{
- "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
- "type": "aos.message_bridge.RemoteMessage",
- "source_node": "roborio",
- "logger": "NOT_LOGGED",
- "frequency": 400,
- "num_senders": 2,
- "max_size": 200
- },
- {
"name": "/drivetrain",
"type": "frc971.control_loops.drivetrain.Status",
"source_node": "roborio",