Make 2023 localizer_replay binary
This lets us make changes and rerun the localizer.
Change-Id: I2e629ab4cd01317a24fd130e6e6c700d66ec9a36
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2023/localizer/localizer_replay.cc b/y2023/localizer/localizer_replay.cc
new file mode 100644
index 0000000..7176f4e
--- /dev/null
+++ b/y2023/localizer/localizer_replay.cc
@@ -0,0 +1,100 @@
+#include "aos/configuration.h"
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/log_writer.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 "y2023/localizer/localizer.h"
+#include "gflags/gflags.h"
+#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(config, "y2023/aos_config.json",
+ "Name of the config file to replay using.");
+DEFINE_int32(team, 9971, "Team number to use for logfile replay.");
+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::MultiNodeLogNamer>(
+ 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);
+
+ aos::network::OverrideTeamNumber(FLAGS_team);
+
+ const aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ // find logfiles
+ std::vector<std::string> unsorted_logfiles =
+ aos::logger::FindLogs(argc, argv);
+
+ // sort logfiles
+ const std::vector<aos::logger::LogFile> logfiles =
+ aos::logger::SortParts(unsorted_logfiles);
+
+ // open logfiles
+ aos::logger::LogReader reader(logfiles, &config.message());
+
+ reader.RemapLoggedChannel("/localizer",
+ "y2023.localizer.Status");
+ for (const auto pi : {"pi1", "pi2", "pi3", "pi4"}) {
+ reader.RemapLoggedChannel(absl::StrCat("/", pi, "/camera"),
+ "y2023.localizer.Visualization");
+ }
+ reader.RemapLoggedChannel("/localizer",
+ "frc971.controls.LocalizerOutput");
+
+ auto factory =
+ std::make_unique<aos::SimulatedEventLoopFactory>(reader.configuration());
+
+ 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)));
+ }
+
+ const aos::Node *node = nullptr;
+ if (aos::configuration::MultiNode(reader.configuration())) {
+ node = aos::configuration::GetNode(reader.configuration(), "imu");
+ }
+
+ std::unique_ptr<aos::EventLoop> localizer_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("localizer", node);
+ localizer_event_loop->SkipTimingReport();
+
+ y2023::localizer::Localizer localizer(
+ localizer_event_loop.get(),
+ y2023::control_loops::drivetrain::GetDrivetrainConfig());
+
+ reader.event_loop_factory()->Run();
+
+ reader.Deregister();
+
+ return 0;
+}