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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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2
tools/sysid/src/main/native/cpp/App.cpp
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@@ -70,7 +70,7 @@ void Application(std::string_view saveDir) {
wpi::glass::SetStorageName("sysid");
wpi::glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
: saveDir);
: saveDir);
// Add messages from the global sysid logger into the Log window.
gLogger.SetLogger([](unsigned int level, const char* file, unsigned int line,

6
tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
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@@ -37,7 +37,7 @@ static double Lerp(wpi::units::second_t time,
const auto prev = next - 1;
return wpi::util::Lerp(prev->measurement, next->measurement,
(time - prev->time) / (next->time - prev->time));
(time - prev->time) / (next->time - prev->time));
}
/**
@@ -79,8 +79,8 @@ static std::vector<PreparedData> ConvertToPrepared(const MotorData& data) {
/**
* To preserve a raw copy of the data, this method saves a raw version
* in the dataset wpi::util::StringMap where the key of the raw data starts with "raw-"
* before the name of the original data.
* in the dataset wpi::util::StringMap where the key of the raw data starts with
* "raw-" before the name of the original data.
*
* @tparam S The size of the array data that's being used
*

9
tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp
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@@ -32,9 +32,9 @@ void ArmSim::Update(wpi::units::volt_t voltage, wpi::units::second_t dt) {
auto f = [=, this](
const Eigen::Vector<double, 2>& x,
const Eigen::Vector<double, 1>& u) -> Eigen::Vector<double, 2> {
return Eigen::Vector<double, 2>{
x(1), (m_A * x.block<1, 1>(1, 0) + m_B * u + m_c * wpi::util::sgn(x(1)) +
m_d * std::cos(x(0) + m_offset))(0)};
return Eigen::Vector<double, 2>{x(1), (m_A * x.block<1, 1>(1, 0) + m_B * u +
m_c * wpi::util::sgn(x(1)) +
m_d * std::cos(x(0) + m_offset))(0)};
};
// Max error is large because an accurate sim isn't as important as the sim
@@ -56,7 +56,8 @@ double ArmSim::GetVelocity() const {
double ArmSim::GetAcceleration(wpi::units::volt_t voltage) const {
Eigen::Vector<double, 1> u{voltage.value()};
return (m_A * m_x.block<1, 1>(1, 0) + m_B * u +
m_c * wpi::util::sgn(GetVelocity()) + m_d * std::cos(m_x(0) + m_offset))(0);
m_c * wpi::util::sgn(GetVelocity()) +
m_d * std::cos(m_x(0) + m_offset))(0);
}
void ArmSim::Reset(double position, double velocity) {

5
tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp
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@@ -28,8 +28,9 @@ void ElevatorSim::Update(wpi::units::volt_t voltage, wpi::units::second_t dt) {
Eigen::Matrix<double, 2, 2> Ad;
Eigen::Matrix<double, 2, 1> Bd;
wpi::math::DiscretizeAB<2, 1>(m_A, m_B, dt, &Ad, &Bd);
m_x = Ad * m_x + Bd * u +
Bd * m_B.householderQr().solve(m_c * wpi::util::sgn(GetVelocity()) + m_d);
m_x =
Ad * m_x + Bd * u +
Bd * m_B.householderQr().solve(m_c * wpi::util::sgn(GetVelocity()) + m_d);
}
double ElevatorSim::GetPosition() const {

20
tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
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@@ -33,7 +33,7 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
if (std::abs(Ka) < 1e-7) {
// System has position state and velocity input
wpi::math::LinearSystem<1, 1, 1> system{Matrix1d{0.0}, Matrix1d{1.0},
Matrix1d{1.0}, Matrix1d{0.0}};
Matrix1d{1.0}, Matrix1d{0.0}};
wpi::math::LinearQuadraticRegulator<1, 1> controller{
system, {params.qp}, {params.r}, preset.period};
@@ -43,16 +43,19 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
return {Kv * controller.K(0, 0) * preset.outputConversionFactor, 0.0};
}
auto system = wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meters>(
Kv_t{Kv}, Ka_t{Ka});
auto system =
wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meters>(
Kv_t{Kv}, Ka_t{Ka});
wpi::math::LinearQuadraticRegulator<2, 1> controller{
system, {params.qp, params.qv}, {params.r}, preset.period};
controller.LatencyCompensate(system, preset.period, preset.measurementDelay);
return {controller.K(0, 0) * preset.outputConversionFactor,
controller.K(0, 1) * preset.outputConversionFactor /
(preset.normalized ? 1 : wpi::units::second_t{preset.period}.value())};
return {
controller.K(0, 0) * preset.outputConversionFactor,
controller.K(0, 1) * preset.outputConversionFactor /
(preset.normalized ? 1
: wpi::units::second_t{preset.period}.value())};
}
FeedbackGains sysid::CalculateVelocityFeedbackGains(
@@ -69,8 +72,9 @@ FeedbackGains sysid::CalculateVelocityFeedbackGains(
return {0.0, 0.0};
}
auto system = wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meters>(
Kv_t{Kv}, Ka_t{Ka});
auto system =
wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meters>(
Kv_t{Kv}, Ka_t{Ka});
wpi::math::LinearQuadraticRegulator<1, 1> controller{
system, {params.qv}, {params.r}, preset.period};
controller.LatencyCompensate(system, preset.period, preset.measurementDelay);

17
tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
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@@ -49,7 +49,8 @@ static void CheckSize(const std::vector<PreparedData>& data, size_t window,
* @return True, if the key corresponds to a raw dataset.
*/
static bool IsRaw(std::string_view key) {
return wpi::util::contains(key, "raw") && !wpi::util::contains(key, "original");
return wpi::util::contains(key, "raw") &&
!wpi::util::contains(key, "original");
}
/**
@@ -60,7 +61,8 @@ static bool IsRaw(std::string_view key) {
* @return True, if the key corresponds to a filtered dataset.
*/
static bool IsFiltered(std::string_view key) {
return !wpi::util::contains(key, "raw") && !wpi::util::contains(key, "original");
return !wpi::util::contains(key, "raw") &&
!wpi::util::contains(key, "original");
}
/**
@@ -156,7 +158,8 @@ sysid::TrimStepVoltageData(std::vector<PreparedData>* data,
auto accelBegins = std::find_if(
data->begin(), data->end(), [&maxAccel](const auto& measurement) {
return wpi::util::sgn(measurement.velocity) * measurement.acceleration >
0.8 * wpi::util::sgn(maxAccel->velocity) * maxAccel->acceleration;
0.8 * wpi::util::sgn(maxAccel->velocity) *
maxAccel->acceleration;
});
wpi::units::second_t velocityDelay;
@@ -229,7 +232,8 @@ double sysid::GetMaxSpeed(
return max;
}
wpi::units::second_t sysid::GetMeanTimeDelta(const std::vector<PreparedData>& data) {
wpi::units::second_t sysid::GetMeanTimeDelta(
const std::vector<PreparedData>& data) {
std::vector<wpi::units::second_t> dts;
for (const auto& pt : data) {
@@ -342,8 +346,9 @@ void sysid::InitialTrimAndFilter(
wpi::util::StringMap<std::vector<PreparedData>>* data,
AnalysisManager::Settings* settings,
std::vector<wpi::units::second_t>& positionDelays,
std::vector<wpi::units::second_t>& velocityDelays, wpi::units::second_t& minStepTime,
wpi::units::second_t& maxStepTime, std::string_view unit) {
std::vector<wpi::units::second_t>& velocityDelays,
wpi::units::second_t& minStepTime, wpi::units::second_t& maxStepTime,
std::string_view unit) {
auto& preparedData = *data;
// Find the maximum Step Test Duration of the dynamic tests

3
tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp
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@@ -17,7 +17,8 @@ SimpleMotorSim::SimpleMotorSim(double Ks, double Kv, double Ka,
Reset(initialPosition, initialVelocity);
}
void SimpleMotorSim::Update(wpi::units::volt_t voltage, wpi::units::second_t dt) {
void SimpleMotorSim::Update(wpi::units::volt_t voltage,
wpi::units::second_t dt) {
Eigen::Vector<double, 1> u{voltage.value()};
// Given dx/dt = Ax + Bu + c sgn(x),

20
tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
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@@ -30,8 +30,8 @@ static ImPlotPoint Getter(int idx, void* data) {
template <typename Model>
static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
const std::vector<PreparedData>& data,
const std::array<wpi::units::second_t, 4>& startTimes, size_t step, Model model,
double* simSquaredErrorSum, double* squaredVariationSum,
const std::array<wpi::units::second_t, 4>& startTimes, size_t step,
Model model, double* simSquaredErrorSum, double* squaredVariationSum,
int* timeSeriesPoints) {
// Create the vector of ImPlotPoints that will contain our simulated data.
std::vector<std::vector<ImPlotPoint>> pts;
@@ -60,7 +60,8 @@ static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
continue;
}
model.Update(wpi::units::volt_t{pre.voltage}, now.timestamp - pre.timestamp);
model.Update(wpi::units::volt_t{pre.voltage},
now.timestamp - pre.timestamp);
tmp.emplace_back((startTime + t).value(), model.GetVelocity());
*simSquaredErrorSum += std::pow(now.velocity - model.GetVelocity(), 2);
*squaredVariationSum += std::pow(now.velocity, 2);
@@ -128,11 +129,11 @@ void AnalyzerPlot::SetRawData(const Storage& data, std::string_view unit,
SetRawTimeData(slow, fast, abort);
}
void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
std::string_view unit,
const AnalysisManager::FeedforwardGains& ffGains,
const std::array<wpi::units::second_t, 4>& startTimes,
AnalysisType type, std::atomic<bool>& abort) {
void AnalyzerPlot::SetData(
const Storage& rawData, const Storage& filteredData, std::string_view unit,
const AnalysisManager::FeedforwardGains& ffGains,
const std::array<wpi::units::second_t, 4>& startTimes, AnalysisType type,
std::atomic<bool>& abort) {
double simSquaredErrorSum = 0;
double squaredVariationSum = 0;
int timeSeriesPoints = 0;
@@ -361,7 +362,8 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
m_timestepData.fitLine[0] =
ImPlotPoint{minTime.value(), wpi::units::millisecond_t{dtMean}.value()};
auto maxTime = wpi::units::math::max(slow.back().timestamp, fast.back().timestamp);
auto maxTime =
wpi::units::math::max(slow.back().timestamp, fast.back().timestamp);
m_timestepData.fitLine[1] =
ImPlotPoint{maxTime.value(), wpi::units::millisecond_t{dtMean}.value()};

3
tools/sysid/src/main/native/cpp/view/DataSelector.cpp
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@@ -252,7 +252,8 @@ static void AddSamples(std::vector<MotorData::Run::Sample<T>>& samples,
[](const auto& datapoint, double val) { return datapoint.first < val; });
for (auto it = begin; it != end; ++it) {
samples.emplace_back(wpi::units::second_t{it->first * 1.0e-6}, T{it->second});
samples.emplace_back(wpi::units::second_t{it->first * 1.0e-6},
T{it->second});
}
}

5
tools/sysid/src/main/native/cpp/view/LogLoader.cpp
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@@ -130,7 +130,7 @@ void LogLoader::RebuildEntryTree() {
parts.emplace_back(prefix);
}
wpi::util::split(mainpart, '/', -1, false,
[&](auto part) { parts.emplace_back(part); });
[&](auto part) { parts.emplace_back(part); });
// ignore a raw "/" key
if (parts.empty()) {
@@ -139,7 +139,8 @@ void LogLoader::RebuildEntryTree() {
// get to leaf
auto nodes = &m_entryTree;
for (auto part : wpi::util::drop_back(std::span{parts.begin(), parts.end()})) {
for (auto part :
wpi::util::drop_back(std::span{parts.begin(), parts.end()})) {
auto it =
std::find_if(nodes->begin(), nodes->end(),
[&](const auto& node) { return node.name == part; });

6
tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp
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@@ -148,7 +148,8 @@ void ApplyMedianFilter(std::vector<PreparedData>* data, int window);
std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::units::second_t>
TrimStepVoltageData(std::vector<PreparedData>* data,
AnalysisManager::Settings* settings,
wpi::units::second_t minStepTime, wpi::units::second_t maxStepTime);
wpi::units::second_t minStepTime,
wpi::units::second_t maxStepTime);
/**
* Compute the mean time delta of the given data.
@@ -187,7 +188,8 @@ wpi::units::second_t GetMeanTimeDelta(const Storage& data);
* @param period The period in seconds between samples taken by the user.
*/
template <int Derivative, int Samples>
wpi::math::LinearFilter<double> CentralFiniteDifference(wpi::units::second_t period) {
wpi::math::LinearFilter<double> CentralFiniteDifference(
wpi::units::second_t period) {
static_assert(Samples % 2 != 0, "Number of samples must be odd.");
// Generate stencil points from -(samples - 1)/2 to (samples - 1)/2

2
tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp
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@@ -27,7 +27,7 @@ struct ImPlotPoint;
namespace wpi::glass {
class Storage;
} // namespace glass
} // namespace wpi::glass
namespace sysid {
/**

4
tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
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@@ -19,7 +19,7 @@
namespace wpi::glass {
class Storage;
} // namespace glass
} // namespace wpi::glass
namespace wpi {
namespace log {
@@ -27,7 +27,7 @@ class DataLogReaderEntry;
} // namespace log
namespace util {
class Logger;
}
} // namespace util
} // namespace wpi
namespace sysid {

4
tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
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@@ -14,7 +14,7 @@
namespace wpi::glass {
class Storage;
} // namespace glass
} // namespace wpi::glass
namespace pfd {
class open_file;
@@ -27,7 +27,7 @@ class DataLogReaderThread;
} // namespace log
namespace util {
class Logger;
}
} // namespace util
} // namespace wpi
namespace sysid {