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SCRIPT Move java files
This commit is contained in:
PJ Reiniger
committed by
Peter Johnson
Peter Johnson
parent
7ca1be9bae
commit
c350c5f112
453
wpilibj/src/main/java/org/wpilib/system/DataLogManager.java
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453
wpilibj/src/main/java/org/wpilib/system/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.datalog.DataLog;
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import edu.wpi.first.datalog.DataLogBackgroundWriter;
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import edu.wpi.first.datalog.FileLogger;
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import edu.wpi.first.datalog.IntegerLogEntry;
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import edu.wpi.first.datalog.StringLogEntry;
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import edu.wpi.first.hal.HAL;
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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.concurrent.Event;
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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 data file will be saved to a USB flash drive in a folder
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* named "logs" if one is attached, or to /home/systemcore/logs 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 DataLogBackgroundWriter m_log;
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private static boolean m_stopped;
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private static String m_logDir;
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private static boolean m_filenameOverride;
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private static 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 boolean m_consoleLoggerEnabled = true;
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private static FileLogger m_consoleLogger;
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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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/** 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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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 DataLogBackgroundWriter(m_logDir, makeLogFilename(filename), period);
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m_messageLog = new StringLogEntry(m_log, "messages");
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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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// Log console output
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if (m_consoleLoggerEnabled) {
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startConsoleLog();
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}
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} else if (m_stopped) {
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m_log.setFilename(makeLogFilename(filename));
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m_log.resume();
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m_stopped = false;
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}
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if (m_thread == null) {
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m_thread = new Thread(DataLogManager::logMain, "DataLogDS");
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m_thread.setDaemon(true);
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m_thread.start();
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}
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}
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/** Stop data log manager. */
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public static synchronized void stop() {
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if (m_thread != null) {
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m_thread.interrupt();
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m_thread = null;
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}
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if (m_log != null) {
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m_log.stop();
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m_stopped = true;
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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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/**
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* Enable or disable logging of the console output. 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 logConsoleOutput(boolean enabled) {
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boolean wasEnabled = m_consoleLoggerEnabled;
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m_consoleLoggerEnabled = 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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startConsoleLog();
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} else if (!enabled && wasEnabled) {
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stopConsoleLog();
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}
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}
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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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if (!new File("/u/logs").mkdir()) {
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// ignored
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}
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HAL.reportUsage("DataLogManager", "USB");
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return "/u/logs";
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}
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} catch (IOException ex) {
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// ignored
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}
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if (!new File("/home/systemcore/logs").mkdir()) {
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// ignored
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}
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HAL.reportUsage("DataLogManager", "Onboard");
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return "/home/systemcore/logs";
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}
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String logDir = Filesystem.getOperatingDirectory().getAbsolutePath() + "/logs";
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if (!new File(logDir).mkdir()) {
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// ignored
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}
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return logDir;
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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 startConsoleLog() {
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if (RobotBase.isReal()) {
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m_consoleLogger = new FileLogger("/home/systemcore/FRC_UserProgram.log", m_log, "console");
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}
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}
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private static void stopConsoleLog() {
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if (RobotBase.isReal()) {
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m_consoleLogger.close();
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}
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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.getUsableSpace();
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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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DriverStation.reportWarning("DataLogManager: Deleted " + file.getName(), false);
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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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} else if (freeSpace < 2 * kFreeSpaceThreshold) {
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DriverStation.reportWarning(
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"DataLogManager: Log storage device has "
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+ freeSpace / 1000000
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+ " MB of free space remaining! Logs will get deleted below "
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+ kFreeSpaceThreshold / 1000000
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+ " MB of free space. "
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+ "Consider deleting logs off the storage device.",
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false);
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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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Event newDataEvent = new Event();
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DriverStation.provideRefreshedDataEventHandle(newDataEvent.getHandle());
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while (!Thread.interrupted()) {
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boolean timedOut;
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try {
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timedOut = WPIUtilJNI.waitForObjectTimeout(newDataEvent.getHandle(), 0.25);
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} catch (InterruptedException e) {
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break;
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}
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if (Thread.interrupted()) {
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break;
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}
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if (timedOut) {
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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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if (RobotController.isSystemTimeValid()) {
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LocalDateTime now = LocalDateTime.now(m_utc);
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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 > 250) { // 5 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 -> 'P';
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case Qualification -> 'Q';
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case Elimination -> 'E';
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default -> '_';
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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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if (RobotController.isSystemTimeValid()) {
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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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newDataEvent.close();
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}
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}
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