Add 2022 superstructure replay
Also add more info to status and fix plot colors
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I5c9112e013f5e3b75e8f4128db5f35cf9cec336d
diff --git a/y2022/control_loops/superstructure/superstructure_replay.cc b/y2022/control_loops/superstructure/superstructure_replay.cc
new file mode 100644
index 0000000..b05cdb9
--- /dev/null
+++ b/y2022/control_loops/superstructure/superstructure_replay.cc
@@ -0,0 +1,74 @@
+// This binary allows us to replay the superstructure code over existing logfile.
+// When you run this code, it generates a new logfile with the data all
+// replayed, so that it can then be run through the plotting tool or analyzed
+// in some other way. The original superstructure status data will be on the
+// /original/superstructure channel.
+#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/logging/log_message_generated.h"
+#include "aos/network/team_number.h"
+#include "gflags/gflags.h"
+#include "y2022/constants.h"
+#include "y2022/control_loops/superstructure/superstructure.h"
+
+DEFINE_int32(team, 971, "Team number to use for logfile replay.");
+DEFINE_string(output_folder, "/tmp/superstructure_replay/",
+ "Logs all channels to the provided logfile.");
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::network::OverrideTeamNumber(FLAGS_team);
+
+ // open logfiles
+ aos::logger::LogReader reader(
+ aos::logger::SortParts(aos::logger::FindLogs(argc, argv)));
+ // TODO(james): Actually enforce not sending on the same buses as the logfile
+ // spews out.
+ reader.RemapLoggedChannel("/superstructure",
+ "y2022.control_loops.superstructure.Status");
+ reader.RemapLoggedChannel("/superstructure",
+ "y2022.control_loops.superstructure.Output");
+
+ aos::SimulatedEventLoopFactory factory(reader.configuration());
+ reader.Register(&factory);
+
+ aos::NodeEventLoopFactory *roborio =
+ factory.GetNodeEventLoopFactory("roborio");
+
+ unlink(FLAGS_output_folder.c_str());
+ std::unique_ptr<aos::EventLoop> logger_event_loop =
+ roborio->MakeEventLoop("logger");
+ auto logger = std::make_unique<aos::logger::Logger>(logger_event_loop.get());
+ logger->StartLoggingOnRun(FLAGS_output_folder);
+
+ roborio->OnStartup([roborio]() {
+ roborio->AlwaysStart<y2022::control_loops::superstructure::Superstructure>(
+ "superstructure", std::make_shared<y2022::constants::Values>(
+ y2022::constants::MakeValues()));
+ });
+
+ std::unique_ptr<aos::EventLoop> print_loop = roborio->MakeEventLoop("print");
+ print_loop->SkipAosLog();
+ print_loop->MakeWatcher(
+ "/aos", [&print_loop](const aos::logging::LogMessageFbs &msg) {
+ LOG(INFO) << print_loop->context().monotonic_event_time << " "
+ << aos::FlatbufferToJson(&msg);
+ });
+ print_loop->MakeWatcher(
+ "/superstructure",
+ [&](const y2022::control_loops::superstructure::Status &status) {
+ if (status.estopped()) {
+ LOG(ERROR) << "Estopped";
+ }
+ });
+
+ factory.Run();
+
+ reader.Deregister();
+
+ return 0;
+}