y2022/control_loops/localizer/localizer_replay.cc

#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 "y2022/control_loops/localizer/localizer.h"
#include "y2022/control_loops/localizer/localizer_schema.h"
#include "gflags/gflags.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"

DEFINE_string(config, "y2020/config.json",
              "Name of the config file to replay using.");
DEFINE_int32(team, 7971, "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_;
};

// TODO(james): Currently, this replay produces logfiles that can't be read due
// to time estimation issues. Pending the active refactorings of the
// timestamp-related code, fix this.
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);
  // Patch in any new channels.
  // TODO(james): With some of the extra changes I've made recently, this is no
  // longer adequate for replaying old logfiles. Just stop trying to support old
  // logs.
  aos::FlatbufferDetachedBuffer<aos::Configuration> updated_config =
      aos::configuration::MergeWithConfig(
          reader.configuration(),
          aos::configuration::AddSchema(
              R"channel({
  "channels": [
    {
      "name": "/localizer",
      "type": "frc971.controls.LocalizerStatus",
      "source_node": "roborio",
      "frequency": 2000,
      "max_size": 2000,
      "num_senders": 2
    }
  ]
})channel",
              {aos::FlatbufferVector<reflection::Schema>(
                  aos::FlatbufferSpan<reflection::Schema>(
                      frc971::controls::LocalizerStatusSchema()))}));

  auto factory = std::make_unique<aos::SimulatedEventLoopFactory>(
      &updated_config.message());

  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 = {"roborio"};
  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(), "roborio");
  }

  std::unique_ptr<aos::EventLoop> localizer_event_loop =
      reader.event_loop_factory()->MakeEventLoop("localizer", node);
  localizer_event_loop->SkipTimingReport();

  frc971::controls::EventLoopLocalizer localizer(
      localizer_event_loop.get(),
      y2020::control_loops::drivetrain::GetDrivetrainConfig());

  reader.event_loop_factory()->Run();

  reader.Deregister();

  return 0;
}