Set NodeEventLoopFactory boot_uuid to logged boot_uuid
Previously, we couldn't replay relogged logfiles because they
did not correctly track the boot uuid from the ServerStatistics message,
which was very unfortunate. Since the goal of replay is to reproduce
the state of the world when we were running, set the simulated boot UUID
to match what was logged.
I still don't seem to be able to fully replay relogged files (see
comments in drivetrain_replay.cc), but I think that those issues are
likely independent of this particular problem and I haven't yet written
a test to conveniently reproduce it.
Change-Id: I121ea4001e6fee7595b4fe1a2b200ffa1ae9bd40
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 59c2a52..1acdce4 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -17,9 +17,35 @@
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_string(output_file, "/tmp/replayed",
+ "Name of the folder to write replayed logs to.");
DEFINE_int32(team, 971, "Team number to use for logfile replay.");
+
+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::MultiNodeLogNamer>(
+ absl::StrCat(FLAGS_output_file, "/", node->name()->string_view(),
+ "/"),
+ event_loop_->configuration(), node)),
+ logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
+ event_loop_->SkipTimingReport();
+ event_loop_->OnRun([this]() {
+ logger_->StartLogging(std::move(namer_), aos::UUID::Zero().string_view());
+ });
+ }
+
+ 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.
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
@@ -33,7 +59,8 @@
aos::logger::FindLogs(argc, argv);
// sort logfiles
- const std::vector<aos::logger::LogFile> logfiles = aos::logger::SortParts(unsorted_logfiles);
+ const std::vector<aos::logger::LogFile> logfiles =
+ aos::logger::SortParts(unsorted_logfiles);
// open logfiles
aos::logger::LogReader reader(logfiles, &config.message());
@@ -45,28 +72,22 @@
"frc971.control_loops.drivetrain.Output");
reader.Register();
+ // 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"};
+ std::vector<std::unique_ptr<LoggerState>> loggers;
+ for (const std::string& node : nodes_to_log) {
+ loggers.emplace_back(std::make_unique<LoggerState>(
+ &reader,
+ aos::configuration::GetNode(reader.configuration(), node)));
+ }
+
const aos::Node *node = nullptr;
if (aos::configuration::MultiNode(reader.configuration())) {
node = aos::configuration::GetNode(reader.configuration(), "roborio");
}
- std::unique_ptr<aos::EventLoop> log_writer_event_loop =
- reader.event_loop_factory()->MakeEventLoop("log_writer", node);
- log_writer_event_loop->SkipTimingReport();
- aos::logger::Logger writer(log_writer_event_loop.get());
-
-
- std::unique_ptr<aos::logger::LogNamer> log_namer;
- log_namer = std::make_unique<aos::logger::MultiNodeLogNamer>(
- absl::StrCat(FLAGS_output_file, "/"),
- log_writer_event_loop->configuration(),
- log_writer_event_loop->node());
-
- aos::logger::Logger logger(log_writer_event_loop.get());
- log_writer_event_loop->OnRun([&log_namer, &logger]() {
- logger.StartLogging(std::move(log_namer));
- });
-
std::unique_ptr<aos::EventLoop> drivetrain_event_loop =
reader.event_loop_factory()->MakeEventLoop("drivetrain", node);
drivetrain_event_loop->SkipTimingReport();