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[sysid] Load DataLog files directly for analysis (#6103)

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Co-authored-by: Oblarg <emichaelbrnett@gmail.com>
This commit is contained in:
Peter Johnson
2024-01-05 16:24:31 -08:00
committed by GitHub
parent f94e3d81b9
commit 7c26bc70ab
33 changed files with 1086 additions and 2013 deletions
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72
datalogtool/src/main/native/cpp/DataLogThread.cpp
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@@ -1,72 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "DataLogThread.h"
#include <fmt/format.h>
DataLogThread::~DataLogThread() {
if (m_thread.joinable()) {
m_active = false;
m_thread.join();
}
}
void DataLogThread::ReadMain() {
for (auto record : m_reader) {
if (!m_active) {
break;
}
++m_numRecords;
if (record.IsStart()) {
wpi::log::StartRecordData data;
if (record.GetStartData(&data)) {
std::scoped_lock lock{m_mutex};
if (m_entries.find(data.entry) != m_entries.end()) {
fmt::print("...DUPLICATE entry ID, overriding\n");
}
m_entries[data.entry] = data;
m_entryNames.emplace(data.name, data);
sigEntryAdded(data);
} else {
fmt::print("Start(INVALID)\n");
}
} else if (record.IsFinish()) {
int entry;
if (record.GetFinishEntry(&entry)) {
std::scoped_lock lock{m_mutex};
auto it = m_entries.find(entry);
if (it == m_entries.end()) {
fmt::print("...ID not found\n");
} else {
m_entries.erase(it);
}
} else {
fmt::print("Finish(INVALID)\n");
}
} else if (record.IsSetMetadata()) {
wpi::log::MetadataRecordData data;
if (record.GetSetMetadataData(&data)) {
std::scoped_lock lock{m_mutex};
auto it = m_entries.find(data.entry);
if (it == m_entries.end()) {
fmt::print("...ID not found\n");
} else {
it->second.metadata = data.metadata;
auto nameIt = m_entryNames.find(it->second.name);
if (nameIt != m_entryNames.end()) {
nameIt->second.metadata = data.metadata;
}
}
} else {
fmt::print("SetMetadata(INVALID)\n");
}
} else if (record.IsControl()) {
fmt::print("Unrecognized control record\n");
}
}
sigDone();
m_done = true;
}

71
datalogtool/src/main/native/cpp/DataLogThread.h
View File

@@ -1,71 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <atomic>
#include <functional>
#include <map>
#include <string>
#include <string_view>
#include <thread>
#include <utility>
#include <wpi/DataLogReader.h>
#include <wpi/DenseMap.h>
#include <wpi/Signal.h>
#include <wpi/mutex.h>
class DataLogThread {
public:
explicit DataLogThread(wpi::log::DataLogReader reader)
: m_reader{std::move(reader)}, m_thread{[=, this] { ReadMain(); }} {}
~DataLogThread();
bool IsDone() const { return m_done; }
std::string_view GetBufferIdentifier() const {
return m_reader.GetBufferIdentifier();
}
unsigned int GetNumRecords() const { return m_numRecords; }
unsigned int GetNumEntries() const {
std::scoped_lock lock{m_mutex};
return m_entryNames.size();
}
// Passes wpi::log::StartRecordData to func
template <typename T>
void ForEachEntryName(T&& func) {
std::scoped_lock lock{m_mutex};
for (auto&& kv : m_entryNames) {
func(kv.second);
}
}
wpi::log::StartRecordData GetEntry(std::string_view name) const {
std::scoped_lock lock{m_mutex};
auto it = m_entryNames.find(name);
if (it == m_entryNames.end()) {
return {};
}
return it->second;
}
const wpi::log::DataLogReader& GetReader() const { return m_reader; }
// note: these are called on separate thread
wpi::sig::Signal_mt<const wpi::log::StartRecordData&> sigEntryAdded;
wpi::sig::Signal_mt<> sigDone;
private:
void ReadMain();
wpi::log::DataLogReader m_reader;
mutable wpi::mutex m_mutex;
std::atomic_bool m_active{true};
std::atomic_bool m_done{false};
std::atomic<unsigned int> m_numRecords{0};
std::map<std::string, wpi::log::StartRecordData, std::less<>> m_entryNames;
wpi::DenseMap<int, wpi::log::StartRecordData> m_entries;
std::thread m_thread;
};

25
datalogtool/src/main/native/cpp/Exporter.cpp
View File

@@ -17,6 +17,7 @@
#include <fmt/chrono.h>
#include <fmt/format.h>
#include <glass/Storage.h>
#include <glass/support/DataLogReaderThread.h>
#include <imgui.h>
#include <imgui_internal.h>
#include <imgui_stdlib.h>
@@ -32,11 +33,10 @@
#include <wpi/raw_ostream.h>
#include "App.h"
#include "DataLogThread.h"
namespace {
struct InputFile {
explicit InputFile(std::unique_ptr<DataLogThread> datalog);
explicit InputFile(std::unique_ptr<glass::DataLogReaderThread> datalog);
InputFile(std::string_view filename, std::string_view status)
: filename{filename},
@@ -47,7 +47,7 @@ struct InputFile {
std::string filename;
std::string stem;
std::unique_ptr<DataLogThread> datalog;
std::unique_ptr<glass::DataLogReaderThread> datalog;
std::string status;
bool highlight = false;
};
@@ -135,7 +135,7 @@ static void RebuildEntryTree() {
}
}
InputFile::InputFile(std::unique_ptr<DataLogThread> datalog_)
InputFile::InputFile(std::unique_ptr<glass::DataLogReaderThread> datalog_)
: filename{datalog_->GetBufferIdentifier()},
stem{fs::path{filename}.stem().string()},
datalog{std::move(datalog_)} {
@@ -192,7 +192,7 @@ static std::unique_ptr<InputFile> LoadDataLog(std::string_view filename) {
}
return std::make_unique<InputFile>(
std::make_unique<DataLogThread>(std::move(reader)));
std::make_unique<glass::DataLogReaderThread>(std::move(reader)));
}
void DisplayInputFiles() {
@@ -284,9 +284,10 @@ static bool EmitEntry(const std::string& name, Entry& entry) {
if (ImGui::IsItemHovered()) {
ImGui::BeginTooltip();
for (auto inputFile : entry.inputFiles) {
ImGui::Text(
"%s: %s", inputFile->stem.c_str(),
std::string{inputFile->datalog->GetEntry(entry.name).type}.c_str());
if (auto info = inputFile->datalog->GetEntry(entry.name)) {
ImGui::Text("%s: %s", inputFile->stem.c_str(),
std::string{info->type}.c_str());
}
}
ImGui::EndTooltip();
}
@@ -300,10 +301,10 @@ static bool EmitEntry(const std::string& name, Entry& entry) {
if (ImGui::IsItemHovered()) {
ImGui::BeginTooltip();
for (auto inputFile : entry.inputFiles) {
ImGui::Text(
"%s: %s", inputFile->stem.c_str(),
std::string{inputFile->datalog->GetEntry(entry.name).metadata}
.c_str());
if (auto info = inputFile->datalog->GetEntry(entry.name)) {
ImGui::Text("%s: %s", inputFile->stem.c_str(),
std::string{info->metadata}.c_str());
}
}
ImGui::EndTooltip();
}