cleaned up lots of logging
There were many LOGs that made more sense as LOG_STRUCTs to save space,
reduce CPU usage, and make it a bit more obvious what they're saying.
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 7334166..b07d75b 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -6,6 +6,7 @@
#include "aos/common/control_loop/control_loops.q.h"
#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
#include "frc971/constants.h"
#include "frc971/control_loops/claw/claw_motor_plant.h"
@@ -75,9 +76,9 @@
const double k_max_voltage = is_zeroing_ ? kZeroingVoltage : kMaxVoltage;
if (max_value > k_max_voltage) {
- LOG(DEBUG, "Capping U because max is %f\n", max_value);
U = U * k_max_voltage / max_value;
- LOG(DEBUG, "Capping U is now %f %f\n", U(0, 0), U(1, 0));
+ LOG(DEBUG, "Capping U is now %f %f (max is %f)\n",
+ U(0, 0), U(1, 0), max_value);
}
}
@@ -238,7 +239,7 @@
if (SawFilteredPosedge(this_sensor, sensorA, sensorB)) {
if (min_hall_effect_off_angle_ == max_hall_effect_off_angle_) {
- LOG(INFO, "%s: Uncertain which side, rejecting posedge\n", name_);
+ LOG(WARNING, "%s: Uncertain which side, rejecting posedge\n", name_);
} else {
const double average_last_encoder =
(min_hall_effect_off_angle_ + max_hall_effect_off_angle_) / 2.0;
@@ -260,7 +261,7 @@
if (SawFilteredNegedge(this_sensor, sensorA, sensorB)) {
if (min_hall_effect_on_angle_ == max_hall_effect_on_angle_) {
- LOG(INFO, "%s: Uncertain which side, rejecting negedge\n", name_);
+ LOG(WARNING, "%s: Uncertain which side, rejecting negedge\n", name_);
} else {
const double average_last_encoder =
(min_hall_effect_on_angle_ + max_hall_effect_on_angle_) / 2.0;
@@ -450,8 +451,9 @@
initial_separation_ =
top_claw_.absolute_position() - bottom_claw_.absolute_position();
}
- LOG(DEBUG, "Claw position is (top: %f bottom: %f\n",
- top_claw_.absolute_position(), bottom_claw_.absolute_position());
+ LOG_STRUCT(DEBUG, "absolute position",
+ ClawPositionToLog(top_claw_.absolute_position(),
+ bottom_claw_.absolute_position()));
}
const bool autonomous = ::aos::robot_state->autonomous;
@@ -675,8 +677,8 @@
if (position != nullptr) {
separation = position->top.position - position->bottom.position;
}
- LOG(DEBUG, "Goal is %f (bottom) %f, separation is %f\n", claw_.R(0, 0),
- claw_.R(1, 0), separation);
+ LOG_STRUCT(DEBUG, "actual goal",
+ ClawGoalToLog(claw_.R(0, 0), claw_.R(1, 0), separation));
// Only cap power when one of the halves of the claw is moving slowly and
// could wind up.
@@ -702,8 +704,9 @@
bottom_claw_goal_ -= dx;
top_claw_goal_ -= dx;
capped_goal_ = true;
- LOG(DEBUG, "Moving the goal by %f to prevent windup\n", dx);
- LOG(DEBUG, "Uncapped is %f, max is %f, difference is %f\n",
+ LOG(DEBUG, "Moving the goal by %f to prevent windup."
+ " Uncapped is %f, max is %f, difference is %f\n",
+ dx,
claw_.uncapped_average_voltage(), values.claw.max_zeroing_voltage,
(claw_.uncapped_average_voltage() -
values.claw.max_zeroing_voltage));
diff --git a/frc971/control_loops/claw/claw.gyp b/frc971/control_loops/claw/claw.gyp
index 8bb94c0..588ce79 100644
--- a/frc971/control_loops/claw/claw.gyp
+++ b/frc971/control_loops/claw/claw.gyp
@@ -29,6 +29,7 @@
'<(AOS)/common/common.gyp:controls',
'<(DEPTH)/frc971/frc971.gyp:constants',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
],
'export_dependent_settings': [
'claw_loop',
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 38e7efb..3225d2f 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -73,3 +73,14 @@
};
queue_group ClawGroup claw_queue_group;
+
+struct ClawPositionToLog {
+ double top;
+ double bottom;
+};
+
+struct ClawGoalToLog {
+ double bottom_pos;
+ double bottom_vel;
+ double separation;
+};
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index 0ba599b..3b03832 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -6,6 +6,7 @@
#include "aos/common/control_loop/control_loops.q.h"
#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
#include "frc971/constants.h"
#include "frc971/control_loops/shooter/shooter_motor_plant.h"
@@ -36,7 +37,7 @@
voltage_ = std::max(-max_voltage_, voltage_);
U(0, 0) = voltage_ - old_voltage;
- LOG(DEBUG, "X_hat is %f, applied is %f\n", X_hat(2, 0), voltage_);
+ LOG_STRUCT(DEBUG, "output", ShooterVoltageToLog(X_hat(2, 0), voltage_));
last_voltage_ = voltage_;
capped_goal_ = false;
@@ -55,7 +56,7 @@
R(0, 0) -= dx;
}
capped_goal_ = true;
- LOG(DEBUG, "Moving the goal by %f to prevent windup\n", dx);
+ LOG_STRUCT(DEBUG, "to prevent windup", ShooterMovingGoal(dx));
} else if (uncapped_voltage() < -max_voltage_) {
double dx;
if (controller_index() == 0) {
@@ -68,7 +69,7 @@
R(0, 0) -= dx;
}
capped_goal_ = true;
- LOG(DEBUG, "Moving the goal by %f to prevent windup\n", dx);
+ LOG_STRUCT(DEBUG, "to prevent windup", ShooterMovingGoal(dx));
} else {
capped_goal_ = false;
}
@@ -84,13 +85,10 @@
void ZeroedStateFeedbackLoop::SetCalibration(double encoder_val,
double known_position) {
- LOG(INFO, "Setting calibration such that %f -> %f\n", encoder_val,
- known_position);
- LOG(INFO, "Position was %f\n", absolute_position());
+ double old_position = absolute_position();
double previous_offset = offset_;
offset_ = known_position - encoder_val;
double doffset = offset_ - previous_offset;
- LOG(INFO, "Changing offset from %f to %f\n", previous_offset, offset_);
X_hat(0, 0) += doffset;
// Offset our measurements because the offset is baked into them.
Y_(0, 0) += doffset;
@@ -99,7 +97,10 @@
if (controller_index() == 0) {
R(2, 0) += -A(1, 0) / A(1, 2) * (doffset);
}
- LOG(INFO, "Validation: position is %f\n", absolute_position());
+ LOG_STRUCT(
+ INFO, "sensor edge",
+ ShooterChangeCalibration(encoder_val, known_position, old_position,
+ absolute_position(), previous_offset, offset_));
}
ShooterMotor::ShooterMotor(control_loops::ShooterGroup *my_shooter)
@@ -164,7 +165,7 @@
if (::std::isnan(goal->shot_power)) {
state_ = STATE_ESTOP;
- LOG(ERROR, "Got a shot power of NAN.\n");
+ LOG(ERROR, "Estopping because got a shot power of NAN.\n");
}
// we must always have these or we have issues.
@@ -244,7 +245,8 @@
state_ = STATE_REQUEST_LOAD;
} else {
shooter_loop_disable = true;
- LOG(DEBUG, "Not moving on until the latch has moved to avoid a crash\n");
+ LOG(DEBUG,
+ "Not moving on until the latch has moved to avoid a crash\n");
}
} else {
// If we can't start yet because we don't know where we are, set the
@@ -393,6 +395,7 @@
if (!position->pusher_distal.current ||
!position->pusher_proximal.current) {
state_ = STATE_ESTOP;
+ LOG(ERROR, "Estopping because took too long to load.\n");
}
}
} else if (goal->unload_requested) {
@@ -558,6 +561,7 @@
// We have been stuck trying to unload for way too long, give up and
// turn everything off.
state_ = STATE_ESTOP;
+ LOG(ERROR, "Estopping because took too long to unload.\n");
}
brake_piston_ = false;
@@ -603,6 +607,7 @@
break;
case STATE_ESTOP:
+ LOG(DEBUG, "estopped\n");
// Totally lost, go to a safe state.
shooter_loop_disable = true;
latch_piston_ = true;
@@ -611,8 +616,9 @@
}
if (!shooter_loop_disable) {
- LOG(DEBUG, "Running the loop, goal is %f, position is %f\n",
- shooter_.goal_position(), shooter_.absolute_position());
+ LOG_STRUCT(DEBUG, "running the loop",
+ ShooterStatusToLog(shooter_.goal_position(),
+ shooter_.absolute_position()));
if (!cap_goal) {
shooter_.set_max_voltage(12.0);
}
@@ -635,15 +641,15 @@
}
if (position) {
+ LOG_STRUCT(DEBUG, "internal state",
+ ShooterStateToLog(
+ shooter_.absolute_position(), shooter_.absolute_velocity(),
+ state_, position->latch, position->pusher_proximal.current,
+ position->pusher_distal.current, position->plunger,
+ brake_piston_, latch_piston_));
+
last_position_ = *position;
- LOG(DEBUG, "pos > absolute: %f velocity: %f state= %d l= %d pp= %d, pd= %d "
- "p= %d b=%d\n",
- shooter_.absolute_position(), shooter_.absolute_velocity(),
- state_, position->latch, position->pusher_proximal.current,
- position->pusher_distal.current,
- position->plunger, brake_piston_);
- }
- if (position) {
+
last_distal_posedge_count_ = position->pusher_distal.posedge_count;
last_proximal_posedge_count_ = position->pusher_proximal.posedge_count;
last_distal_current_ = position->pusher_distal.current;
diff --git a/frc971/control_loops/shooter/shooter.gyp b/frc971/control_loops/shooter/shooter.gyp
index efcc0e7..10e0f4e 100755
--- a/frc971/control_loops/shooter/shooter.gyp
+++ b/frc971/control_loops/shooter/shooter.gyp
@@ -30,6 +30,7 @@
'<(AOS)/common/common.gyp:controls',
'<(DEPTH)/frc971/frc971.gyp:constants',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
],
'export_dependent_settings': [
'shooter_loop',
diff --git a/frc971/control_loops/shooter/shooter.q b/frc971/control_loops/shooter/shooter.q
index 7475873..8613669 100755
--- a/frc971/control_loops/shooter/shooter.q
+++ b/frc971/control_loops/shooter/shooter.q
@@ -58,3 +58,38 @@
};
queue_group ShooterGroup shooter_queue_group;
+
+struct ShooterStateToLog {
+ double absolute_position;
+ double absolute_velocity;
+ uint32_t state;
+ bool latch_sensor;
+ bool proximal;
+ bool distal;
+ bool plunger;
+ bool brake;
+ bool latch_piston;
+};
+
+struct ShooterVoltageToLog {
+ double X_hat;
+ double applied;
+};
+
+struct ShooterMovingGoal {
+ double dx;
+};
+
+struct ShooterChangeCalibration {
+ double encoder;
+ double real_position;
+ double old_position;
+ double new_position;
+ double old_offset;
+ double new_offset;
+};
+
+struct ShooterStatusToLog {
+ double goal;
+ double position;
+};