[sysid] Error on missing tests in loaded DataLog (#7747)

* add exception

* detect missing tests

* throw in analyzer

* define tests setter

* change to std::map

* alignas fail

* make missingTests parameter const&

* const& impl

* use set and naive comparison

* use default comparison

* add <utility>

* Revert "alignas fail"

This reverts commit 5e97940f34.

* indent validtests

* format

sysid/src/main/native/cpp/App.cpp

@@ -106,8 +106,10 @@ void Application(std::string_view saveDir) {
   auto analyzer = std::make_unique<sysid::Analyzer>(storage, gLogger);
 
   logLoader->unload.connect([ds = dataSelector.get()] { ds->Reset(); });
-  dataSelector->testdata = [_analyzer = analyzer.get()](auto data) {
+  dataSelector->testdata = [_analyzer = analyzer.get(),
+                            ds = dataSelector.get()](auto data) {
     _analyzer->m_data = data;
+    _analyzer->SetMissingTests(ds->m_missingTests);
     _analyzer->AnalyzeData();
   };
 

sysid/src/main/native/cpp/view/Analyzer.cpp

@@ -10,6 +10,7 @@
 #include <numbers>
 #include <string>
 #include <thread>
+#include <vector>
 
 #include <fmt/format.h>
 #include <glass/Context.h>
@@ -251,6 +252,13 @@ void Analyzer::Display() {
       }
       break;
     }
+    case AnalyzerState::kMissingTestsError: {
+      CreateErrorPopup(m_errorPopup, m_exception);
+      if (!m_errorPopup) {
+        m_state = AnalyzerState::kWaitingForData;
+      }
+      break;
+    }
     case AnalyzerState::kGeneralDataError:
     case AnalyzerState::kTestDurationError:
     case AnalyzerState::kVelocityThresholdError: {
@@ -269,6 +277,9 @@ void Analyzer::Display() {
 void Analyzer::PrepareData() {
   WPI_INFO(m_logger, "{}", "Preparing data");
   try {
+    if (m_missingTests.size() > 0) {
+      throw sysid::MissingTestsError{m_missingTests};
+    }
     m_manager->PrepareData();
     UpdateFeedforwardGains();
     UpdateFeedbackGains();
@@ -281,6 +292,9 @@ void Analyzer::PrepareData() {
   } catch (const sysid::NoDynamicDataError& e) {
     m_state = AnalyzerState::kTestDurationError;
     HandleError(e.what());
+  } catch (const sysid::MissingTestsError& e) {
+    m_state = AnalyzerState::kMissingTestsError;
+    HandleError(e.what());
   } catch (const AnalysisManager::FileReadingError& e) {
     m_state = AnalyzerState::kFileError;
     HandleError(e.what());
@@ -324,6 +338,10 @@ void Analyzer::HandleError(std::string_view msg) {
   PrepareRawGraphs();
 }
 
+void Analyzer::SetMissingTests(const std::vector<std::string>& missingTests) {
+  m_missingTests = missingTests;
+}
+
 void Analyzer::DisplayGraphs() {
   ImGui::SetNextWindowPos(ImVec2{kDiagnosticPlotWindowPos},
                           ImGuiCond_FirstUseEver);

sysid/src/main/native/cpp/view/DataSelector.cpp

@@ -6,6 +6,7 @@
 
 #include <algorithm>
 #include <string>
+#include <string_view>
 #include <utility>
 #include <vector>
 
@@ -111,6 +112,7 @@ void DataSelector::Display() {
           continue;
         }
         WPI_INFO(m_logger, "Loaded test state {}", it2->first);
+        m_executedTests.insert(it2->first);
         ++it2;
       }
       if (it->second.empty()) {
@@ -132,6 +134,15 @@ void DataSelector::Display() {
     return;
   }
 
+  if (m_executedTests.size() < 4 && !m_testCountValidated) {
+    for (auto test : kValidTests) {
+      if (!m_executedTests.contains(test)) {
+        m_missingTests.push_back(test);
+        m_testCountValidated = true;
+      }
+    }
+  }
+
 #if 0
   // Test filtering
   if (ImGui::BeginCombo("Test", m_selectedTest.c_str())) {

sysid/src/main/native/include/sysid/analysis/FilteringUtils.h

@@ -4,15 +4,16 @@
 
 #pragma once
 
-#include <cmath>
 #include <exception>
 #include <functional>
 #include <string>
 #include <string_view>
 #include <tuple>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>
+#include <fmt/ranges.h>
 #include <frc/filter/LinearFilter.h>
 #include <units/time.h>
 #include <wpi/StringMap.h>
@@ -68,6 +69,25 @@ class NoQuasistaticDataError : public std::exception {
   }
 };
 
+/**
+ * Exception for not all tests being present.
+ */
+class MissingTestsError : public std::exception {
+ public:
+  explicit MissingTestsError(std::vector<std::string> MissingTests)
+      : missingTests(std::move(MissingTests)) {
+    errorString = fmt::format(
+        "The following tests were not detected: {}. Make sure to perform all "
+        "four tests as described in the SysId documentation.",
+        fmt::join(missingTests, ", "));
+  }
+  const char* what() const noexcept override { return errorString.c_str(); }
+
+ private:
+  std::vector<std::string> missingTests;
+  std::string errorString;
+};
+
 /**
  * Exception for Dynamic Data being completely removed.
  */

sysid/src/main/native/include/sysid/view/Analyzer.h

@@ -8,6 +8,7 @@
 #include <string>
 #include <string_view>
 #include <thread>
+#include <vector>
 
 #include <glass/View.h>
 #include <implot.h>
@@ -46,6 +47,7 @@ class Analyzer : public glass::View {
     kVelocityThresholdError,
     kTestDurationError,
     kGeneralDataError,
+    kMissingTestsError,
     kFileError
   };
   /**
@@ -91,6 +93,11 @@ class Analyzer : public glass::View {
    */
   void AnalyzeData();
 
+  /**
+   * Used by DataSelector to import any missing tests.
+   */
+  void SetMissingTests(const std::vector<std::string>& missingTests);
+
  private:
   /**
    * Kills the data preparation thread
@@ -199,6 +206,7 @@ class Analyzer : public glass::View {
 
   // Stores the exception message.
   std::string m_exception;
+  std::vector<std::string> m_missingTests;
 
   bool m_calcDefaults = false;
 

sysid/src/main/native/include/sysid/view/DataSelector.h

@@ -7,6 +7,7 @@
 #include <functional>
 #include <future>
 #include <map>
+#include <set>
 #include <string>
 #include <utility>
 #include <vector>
@@ -55,6 +56,7 @@ class DataSelector : public glass::View {
    * Called when new test data is loaded.
    */
   std::function<void(TestData)> testdata;
+  std::vector<std::string> m_missingTests;
 
  private:
   wpi::Logger& m_logger;
@@ -74,6 +76,11 @@ class DataSelector : public glass::View {
   int m_selectedAnalysis = 0;
   std::future<TestData> m_testdataFuture;
   std::vector<std::string> m_testdataStats;
+  std::set<std::string> kValidTests = {"quasistatic-forward",
+                                       "quasistatic-reverse", "dynamic-forward",
+                                       "dynamic-reverse"};
+  std::set<std::string> m_executedTests;
+  bool m_testCountValidated = false;
 
   static Tests LoadTests(const glass::DataLogReaderEntry& testStateEntry);
   TestData BuildTestData();