Provide simulation log writer in aos/util
I'd been copy-pasting the same code for all my simulation logging needs.
Change-Id: Id82714f2f0ab12f0078b73b625bf5099b433d656
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
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())) {