Add spline debug plot
Relatively minimal at the moment--just focused on logic for debugging
which spline is running and what splines are planned.
Change-Id: Ic18aba9dd1e65eed173663854b124fe8c6ef353f
diff --git a/frc971/control_loops/drivetrain/spline_plotter.ts b/frc971/control_loops/drivetrain/spline_plotter.ts
new file mode 100644
index 0000000..028a3fc
--- /dev/null
+++ b/frc971/control_loops/drivetrain/spline_plotter.ts
@@ -0,0 +1,68 @@
+// Provides a plot for debugging drivetrain-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT;
+
+export function plotSpline(conn: Connection, element: Element): void {
+ const aosPlotter = new AosPlotter(conn);
+
+ const goal = aosPlotter.addMessageSource(
+ '/drivetrain', 'frc971.control_loops.drivetrain.Goal');
+ const position = aosPlotter.addMessageSource(
+ '/drivetrain', 'frc971.control_loops.drivetrain.Position');
+ const status = aosPlotter.addMessageSource(
+ '/drivetrain', 'frc971.control_loops.drivetrain.Status');
+ const output = aosPlotter.addMessageSource(
+ '/drivetrain', 'frc971.control_loops.drivetrain.Output');
+
+ let currentTop = 0;
+
+ // Polydrivetrain (teleop control) plots
+ const longitudinalPlot = aosPlotter.addPlot(
+ element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ currentTop += DEFAULT_HEIGHT / 2;
+ longitudinalPlot.plot.getAxisLabels().setTitle('Longitudinal Distance');
+ longitudinalPlot.plot.getAxisLabels().setXLabel(TIME);
+ longitudinalPlot.plot.getAxisLabels().setYLabel('meters');
+
+ longitudinalPlot.addMessageLine(
+ status, ['trajectory_logging', 'distance_remaining']);
+
+ const boolPlot = aosPlotter.addPlot(
+ element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ currentTop += DEFAULT_HEIGHT / 2;
+ boolPlot.plot.getAxisLabels().setTitle('Bool Flags');
+ boolPlot.plot.getAxisLabels().setXLabel(TIME);
+ boolPlot.plot.getAxisLabels().setYLabel('boolean');
+
+ boolPlot.addMessageLine(status, ['trajectory_logging', 'is_executing'])
+ .setColor(RED);
+ boolPlot.addMessageLine(status, ['trajectory_logging', 'is_executed'])
+ .setColor(BLUE);
+
+ const handlePlot = aosPlotter.addPlot(
+ element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+ currentTop += DEFAULT_HEIGHT;
+ handlePlot.plot.getAxisLabels().setTitle('Spline Handles');
+ handlePlot.plot.getAxisLabels().setXLabel(TIME);
+ handlePlot.plot.getAxisLabels().setYLabel('handle number');
+
+ handlePlot
+ .addMessageLine(status, ['trajectory_logging', 'available_splines[]'])
+ .setColor(RED)
+ .setDrawLine(false);
+ handlePlot
+ .addMessageLine(status, ['trajectory_logging', 'goal_spline_handle'])
+ .setColor(BLUE)
+ .setPointSize(0.0);
+ handlePlot
+ .addMessageLine(status, ['trajectory_logging', 'current_spline_idx'])
+ .setColor(GREEN)
+ .setPointSize(0.0);
+}