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https://github.com/wpilibsuite/allwpilib
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[wpilib] Add DataLogManager
This creates a default log file that captures NT changes and automatically renames the log file based on time and match info. DriverStation joystick logging will be implemented by the DriverStation class instead.
This commit is contained in:
Peter Johnson
376
wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
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376
wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.util.WPIUtilJNI;
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import edu.wpi.first.util.datalog.DataLog;
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import edu.wpi.first.util.datalog.IntegerLogEntry;
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import edu.wpi.first.util.datalog.StringLogEntry;
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import java.io.File;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.time.LocalDateTime;
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import java.time.ZoneId;
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import java.time.format.DateTimeFormatter;
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import java.util.Arrays;
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import java.util.Comparator;
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import java.util.Random;
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/**
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* Centralized data log that provides automatic data log file management. It automatically cleans up
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* old files when disk space is low and renames the file based either on current date/time or (if
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* available) competition match number. The deta file will be saved to a USB flash drive if one is
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* attached, or to /home/lvuser otherwise.
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*
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* <p>Log files are initially named "FRC_TBD_{random}.wpilog" until the DS connects. After the DS
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* connects, the log file is renamed to "FRC_yyyyMMdd_HHmmss.wpilog" (where the date/time is UTC).
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* If the FMS is connected and provides a match number, the log file is renamed to
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* "FRC_yyyyMMdd_HHmmss_{event}_{match}.wpilog".
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*
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* <p>On startup, all existing FRC_TBD log files are deleted. If there is less than 50 MB of free
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* space on the target storage, FRC_ log files are deleted (oldest to newest) until there is 50 MB
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* free OR there are 10 files remaining.
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*
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* <p>By default, all NetworkTables value changes are stored to the data log.
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*/
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public final class DataLogManager {
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private static DataLog m_log;
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private static String m_logDir;
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private static boolean m_filenameOverride;
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private static final Thread m_thread;
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private static final ZoneId m_utc = ZoneId.of("UTC");
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private static final DateTimeFormatter m_timeFormatter =
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DateTimeFormatter.ofPattern("yyyyMMdd_HHmmss").withZone(m_utc);
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private static boolean m_ntLoggerEnabled = true;
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private static int m_ntEntryLogger;
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private static int m_ntConnLogger;
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private static StringLogEntry m_messageLog;
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// if less than this much free space, delete log files until there is this much free space
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// OR there are this many files remaining.
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private static final long kFreeSpaceThreshold = 50000000L;
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private static final int kFileCountThreshold = 10;
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private DataLogManager() {}
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static {
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m_thread = new Thread(DataLogManager::logMain, "DataLogDS");
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m_thread.setDaemon(true);
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}
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/** Start data log manager with default directory location. */
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public static synchronized void start() {
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start("", "", 0.25);
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}
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/**
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* Start data log manager. The parameters have no effect if the data log manager was already
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* started (e.g. by calling another static function).
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*
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* @param dir if not empty, directory to use for data log storage
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*/
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public static synchronized void start(String dir) {
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start(dir, "", 0.25);
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}
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/**
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* Start data log manager. The parameters have no effect if the data log manager was already
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* started (e.g. by calling another static function).
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*
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* @param dir if not empty, directory to use for data log storage
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* @param filename filename to use; if none provided, the filename is automatically generated
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*/
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public static synchronized void start(String dir, String filename) {
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start(dir, filename, 0.25);
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}
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/**
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* Start data log manager. The parameters have no effect if the data log manager was already
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* started (e.g. by calling another static function).
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*
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* @param dir if not empty, directory to use for data log storage
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* @param filename filename to use; if none provided, the filename is automatically generated
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* @param period time between automatic flushes to disk, in seconds; this is a time/storage
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* tradeoff
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*/
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public static synchronized void start(String dir, String filename, double period) {
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if (m_log != null) {
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return;
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}
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m_logDir = makeLogDir(dir);
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m_filenameOverride = !filename.isEmpty();
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// Delete all previously existing FRC_TBD_*.wpilog files. These only exist when the robot
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// never connects to the DS, so they are very unlikely to have useful data and just clutter
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// the filesystem.
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File[] files =
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new File(m_logDir)
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.listFiles((d, name) -> name.startsWith("FRC_TBD_") && name.endsWith(".wpilog"));
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if (files != null) {
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for (File file : files) {
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if (!file.delete()) {
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System.err.println("DataLogManager: could not delete " + file);
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}
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}
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}
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m_log = new DataLog(m_logDir, makeLogFilename(filename), period);
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m_messageLog = new StringLogEntry(m_log, "messages");
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m_thread.start();
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// Log all NT entries and connections
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if (m_ntLoggerEnabled) {
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startNtLog();
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}
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}
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/**
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* Log a message to the "messages" entry. The message is also printed to standard output (followed
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* by a newline).
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*
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* @param message message
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*/
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public static synchronized void log(String message) {
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if (m_messageLog == null) {
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start();
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}
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m_messageLog.append(message);
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System.out.println(message);
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}
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/**
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* Get the managed data log (for custom logging). Starts the data log manager if not already
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* started.
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*
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* @return data log
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*/
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public static synchronized DataLog getLog() {
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if (m_log == null) {
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start();
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}
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return m_log;
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}
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/**
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* Get the log directory.
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*
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* @return log directory, or empty string if logging not yet started
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*/
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public static synchronized String getLogDir() {
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if (m_logDir == null) {
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return "";
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}
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return m_logDir;
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}
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/**
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* Enable or disable logging of NetworkTables data. Note that unlike the network interface for
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* NetworkTables, this will capture every value change. Defaults to enabled.
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*
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* @param enabled true to enable, false to disable
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*/
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public static synchronized void logNetworkTables(boolean enabled) {
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boolean wasEnabled = m_ntLoggerEnabled;
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m_ntLoggerEnabled = enabled;
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if (m_log == null) {
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start();
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return;
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}
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if (enabled && !wasEnabled) {
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startNtLog();
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} else if (!enabled && wasEnabled) {
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stopNtLog();
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}
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}
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@SuppressWarnings("PMD.EmptyCatchBlock")
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private static String makeLogDir(String dir) {
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if (!dir.isEmpty()) {
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return dir;
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}
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if (RobotBase.isReal()) {
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try {
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// prefer a mounted USB drive if one is accessible
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Path usbDir = Paths.get("/u").toRealPath();
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if (Files.isWritable(usbDir)) {
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return usbDir.toString();
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}
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} catch (IOException ex) {
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// ignored
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}
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}
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return Filesystem.getOperatingDirectory().getAbsolutePath();
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}
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private static String makeLogFilename(String filenameOverride) {
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if (!filenameOverride.isEmpty()) {
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return filenameOverride;
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}
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Random rnd = new Random();
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StringBuilder filename = new StringBuilder();
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filename.append("FRC_TBD_");
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for (int i = 0; i < 4; i++) {
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filename.append(String.format("%04x", rnd.nextInt(0x10000)));
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}
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filename.append(".wpilog");
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return filename.toString();
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}
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private static void startNtLog() {
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NetworkTableInstance inst = NetworkTableInstance.getDefault();
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m_ntEntryLogger = inst.startEntryDataLog(m_log, "", "NT:");
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m_ntConnLogger = inst.startConnectionDataLog(m_log, "NTConnection");
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}
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private static void stopNtLog() {
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NetworkTableInstance.stopEntryDataLog(m_ntEntryLogger);
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NetworkTableInstance.stopConnectionDataLog(m_ntConnLogger);
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}
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private static void logMain() {
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// based on free disk space, scan for "old" FRC_*.wpilog files and remove
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{
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File logDir = new File(m_logDir);
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long freeSpace = logDir.getFreeSpace();
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if (freeSpace < kFreeSpaceThreshold) {
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// Delete oldest FRC_*.wpilog files (ignore FRC_TBD_*.wpilog as we just created one)
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File[] files =
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logDir.listFiles(
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(dir, name) ->
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name.startsWith("FRC_")
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&& name.endsWith(".wpilog")
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&& !name.startsWith("FRC_TBD_"));
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if (files != null) {
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Arrays.sort(files, Comparator.comparingLong(File::lastModified));
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int count = files.length;
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for (File file : files) {
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--count;
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if (count < kFileCountThreshold) {
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break;
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}
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long length = file.length();
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if (file.delete()) {
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freeSpace += length;
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if (freeSpace >= kFreeSpaceThreshold) {
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break;
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}
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} else {
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System.err.println("DataLogManager: could not delete " + file);
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}
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}
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}
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}
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}
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int timeoutCount = 0;
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boolean paused = false;
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int dsAttachCount = 0;
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int fmsAttachCount = 0;
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boolean dsRenamed = m_filenameOverride;
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boolean fmsRenamed = m_filenameOverride;
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int sysTimeCount = 0;
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IntegerLogEntry sysTimeEntry =
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new IntegerLogEntry(
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m_log, "systemTime", "{\"source\":\"DataLogManager\",\"format\":\"time_t_us\"}");
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while (!Thread.interrupted()) {
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boolean newData = DriverStation.waitForData(0.25);
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if (Thread.interrupted()) {
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break;
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}
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if (!newData) {
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timeoutCount++;
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// pause logging after being disconnected for 10 seconds
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if (timeoutCount > 40 && !paused) {
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timeoutCount = 0;
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paused = true;
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m_log.pause();
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}
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continue;
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}
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// when we connect to the DS, resume logging
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timeoutCount = 0;
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if (paused) {
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paused = false;
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m_log.resume();
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}
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if (!dsRenamed) {
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// track DS attach
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if (DriverStation.isDSAttached()) {
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dsAttachCount++;
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} else {
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dsAttachCount = 0;
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}
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if (dsAttachCount > 50) { // 1 second
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LocalDateTime now = LocalDateTime.now(m_utc);
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if (now.getYear() > 2000) {
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// assume local clock is now synchronized to DS, so rename based on
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// local time
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m_log.setFilename("FRC_" + m_timeFormatter.format(now) + ".wpilog");
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dsRenamed = true;
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} else {
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dsAttachCount = 0; // wait a bit and try again
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}
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}
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}
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if (!fmsRenamed) {
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// track FMS attach
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if (DriverStation.isFMSAttached()) {
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fmsAttachCount++;
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} else {
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fmsAttachCount = 0;
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}
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if (fmsAttachCount > 100) { // 2 seconds
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// match info comes through TCP, so we need to double-check we've
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// actually received it
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DriverStation.MatchType matchType = DriverStation.getMatchType();
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if (matchType != DriverStation.MatchType.None) {
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// rename per match info
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char matchTypeChar;
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switch (matchType) {
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case Practice:
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matchTypeChar = 'P';
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break;
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case Qualification:
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matchTypeChar = 'Q';
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break;
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case Elimination:
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matchTypeChar = 'E';
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break;
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default:
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matchTypeChar = '_';
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break;
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}
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m_log.setFilename(
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"FRC_"
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+ m_timeFormatter.format(LocalDateTime.now(m_utc))
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+ "_"
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+ DriverStation.getEventName()
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+ "_"
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+ matchTypeChar
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+ DriverStation.getMatchNumber()
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+ ".wpilog");
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fmsRenamed = true;
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dsRenamed = true; // don't override FMS rename
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}
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}
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}
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// Write system time every ~5 seconds
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sysTimeCount++;
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if (sysTimeCount >= 250) {
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sysTimeCount = 0;
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sysTimeEntry.append(WPIUtilJNI.getSystemTime(), WPIUtilJNI.now());
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}
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}
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}
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}
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