org.usfirst.frc.team1736.lib.Logging

Class CsvLogger

java.lang.Object

org.usfirst.frc.team1736.lib.Logging.CsvLogger

public class CsvLogger
extends java.lang.Object

DESCRIPTION:
Provides an API for FRC 1736 Robot Casserole datalogging on the robot during testing or matches. Will write lines into a CSV file with a unique name between calls to init() and close(). output_dir is hardcoded to point to a specific 2016 folder on a flash drive connected to the roboRIO. This implementation utilizes java's "methodHandles" libraries to refer to the data which is to be put into the log. It is also a static class, which needs no instantiation.

USAGE:

1. During init, call addLoggingFieldDouble method for each field to be logged.
2. During teleop init or autonomous init, call the init() function to start logging data to a new file.
3. Each loop, call the logData
4. During DisabledInit, call the close() method to close out any file which was being written to while the robot was doing something.
5. Post-match or -practice, extract the data logs from the USB drive(maybe using FTP?) and view with excel or your favourite software.

Constructor Summary

Constructors

Constructor and Description
CsvLogger()

Method Summary

Modifier and Type	Method and Description
static void	addLoggingFieldBoolean(java.lang.String dataFieldName, java.lang.String unitName, java.lang.String methodName, java.lang.Class<?> classRef, java.lang.Object... args) Add a field to be logged at each loop of the robot code.
static void	addLoggingFieldBoolean(java.lang.String dataFieldName, java.lang.String unitName, java.lang.String methodName, java.lang.Object reference, java.lang.Object... args) Add a field to be logged at each loop of the robot code.
static void	addLoggingFieldDouble(java.lang.String dataFieldName, java.lang.String unitName, java.lang.String methodName, java.lang.Class<?> classRef, java.lang.Object... args) Add a field to be logged at each loop of the robot code.
static void	addLoggingFieldDouble(java.lang.String dataFieldName, java.lang.String unitName, java.lang.String methodName, java.lang.Object reference, java.lang.Object... args) Add a field to be logged at each loop of the robot code.
static int	close() Closes the log file and ensures everything is written to disk.
static int	forceSync() Clears the IO buffer in memory and forces things to file.
static int	init() Determines a unique file name based on current timestamp, and opens a file in the data captures directory and writes the initial lines to it.
static boolean	isLogOpen() Check whether there is presently a log file open and being written to.
static int	logData(boolean forceSync) Logs data for all stored method handles.
static void	preCacheAllMethods() our wonderful attempt at optimization to do a "dry run" with all methods in an attempt to cache the results and not bog down the first loop.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CsvLogger

public CsvLogger()

Method Detail

forceSync

public static int forceSync()

Clears the IO buffer in memory and forces things to file. Generally a good idea to use this as infrequently as possible (because it increases logging overhead), but definitely use it before the roboRIO might crash without a proper call to the close() method (ie, during brownout)

Returns:

0 on flush success or -1 on failure.

close

public static int close()

Closes the log file and ensures everything is written to disk. init() must be called again in order to write to the file.

Returns:

-1 on failure to close, 0 on success

isLogOpen

public static boolean isLogOpen()

Check whether there is presently a log file open and being written to.

Returns:

True if there is an open log file, false otherwise.

init

public static int init()

Determines a unique file name based on current timestamp, and opens a file in the data captures directory and writes the initial lines to it. Timestamp determination is done based on info received from the Driver station or FMS, so improper time there will cause oddly-named log files. Takes no action if log is already open.

Returns:

0 on successful log open, -1 on failure

logData

public static int logData(boolean forceSync)

Logs data for all stored method handles. Methods that are not considered "simple" should be handled accordingly within this method. This method should be called once per loop.

Parameters:

forceSync - set true if a forced write is desired (i.e. brownout conditions)

Returns:

0 if log successful, -1 if log is not open, and -2 on other errors

preCacheAllMethods

public static void preCacheAllMethods()

our wonderful attempt at optimization to do a "dry run" with all methods in an attempt to cache the results and not bog down the first loop.

addLoggingFieldDouble

public static void addLoggingFieldDouble(java.lang.String dataFieldName,
                                         java.lang.String unitName,
                                         java.lang.String methodName,
                                         java.lang.Object reference,
                                         java.lang.Object... args)

Add a field to be logged at each loop of the robot code. A method handle will be created and stored. This method is for non-static methods which return a data type of double.

Parameters:

dataFieldName - Name of the field/column in the output data. Also used for determining what to do for "complex" methods

unitName - Name of the units for field/column in the output data.

classRef - Class where the method is held, such as Joystick.class for getRawButton()

methodName - Actual method name to be called for this field, such as "getRawButton"

reference - A reference to the object whose method will be called. If static method, this should be null.

args - Optional list of arguments that are passed to the method, such as 0 in getRawButton(0)

addLoggingFieldDouble

public static void addLoggingFieldDouble(java.lang.String dataFieldName,
                                         java.lang.String unitName,
                                         java.lang.String methodName,
                                         java.lang.Class<?> classRef,
                                         java.lang.Object... args)

Add a field to be logged at each loop of the robot code. A method handle will be created and stored. This method is for STATIC methods which return a data type of double.

Parameters:

dataFieldName - Name of the field/column in the output data. Also used for determining what to do for "complex" methods

unitName - Name of the units for field/column in the output data.

methodName - Actual method name to be called for this field, such as "getRawButton"

classRef - Static Class where the method is held, such as Joystick.class for getRawButton()

args - Optional list of arguments that are passed to the method, such as 0 in getRawButton(0)

addLoggingFieldBoolean

public static void addLoggingFieldBoolean(java.lang.String dataFieldName,
                                          java.lang.String unitName,
                                          java.lang.String methodName,
                                          java.lang.Object reference,
                                          java.lang.Object... args)

Add a field to be logged at each loop of the robot code. A method handle will be created and stored. This method is for non-static methods which return a data type of boolean.

Parameters:

dataFieldName - Name of the field/column in the output data. Also used for determining what to do for "complex" methods

unitName - Name of the units for field/column in the output data.

methodName - Actual method name to be called for this field, such as "getRawButton"

reference - A reference to the object whose method will be called. If static method, this should be null.

args - Optional list of arguments that are passed to the method, such as 0 in getRawButton(0)

addLoggingFieldBoolean

public static void addLoggingFieldBoolean(java.lang.String dataFieldName,
                                          java.lang.String unitName,
                                          java.lang.String methodName,
                                          java.lang.Class<?> classRef,
                                          java.lang.Object... args)

Add a field to be logged at each loop of the robot code. A method handle will be created and stored. This method is for STATIC methods which return a data type of boolean.

Parameters:

dataFieldName - Name of the field/column in the output data. Also used for determining what to do for "complex" methods

unitName - Name of the units for field/column in the output data.

methodName - Actual method name to be called for this field, such as "getRawButton"

classRef - Class where the method is held, such as Joystick.class for getRawButton()

args - Optional list of arguments that are passed to the method, such as 0 in getRawButton(0)