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https://github.com/strykeforce/thirdcoast-recorder
CLI to capture Third Coast telemetry to CSV
https://github.com/strykeforce/thirdcoast-recorder
frc
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CLI to capture Third Coast telemetry to CSV
- Host: GitHub
- URL: https://github.com/strykeforce/thirdcoast-recorder
- Owner: strykeforce
- License: mit
- Created: 2022-03-18T11:54:01.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2022-03-22T23:34:49.000Z (almost 3 years ago)
- Last Synced: 2024-04-20T17:15:36.260Z (9 months ago)
- Topics: frc
- Language: Kotlin
- Homepage:
- Size: 96.7 KB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Third Coast Recorder
A CLI tool to capture Third Coast telemetry to CSV files. An example of collected telemetry data is in this
Jupyter [notebook](https://github.com/jhh/motion/blob/main/notebooks/trajectory/figure-8.ipynb).
## Installation
For this example, we'll build and install `tcr` in the application's Gradle `build` directory. You can then run `tcr` by
specifying the full relative path.
```shell
$ # from the repository's top-level directory
$ ./gradlew install
$ ./app/build/install/tcr/bin/tcr`
```
If desired a installable distribution can be build by running the Gradle `distTar` or `distZip` task.
## Usage
```text
$ ./app/build/install/tcr/bin/tcr -h
Usage: tcr [OPTIONS] COMMAND [ARGS]...
Options:
--generate-completion [bash|zsh|fish]
-r, --robot-address ADDRESS Address of robot providing telemetry
-h, --help Show this message and exit
Commands:
inventory Print inventory to stdout.
subscription Print subscription template to stdout.
capture Start capture and run until the enter key is pressed.
trigger Trigger command and capture for DURATION milliseconds.
```
### Capture Mode
```text
Usage: tcr capture [OPTIONS]
Start capture and run until the enter key is pressed.
Subscription will be read from "subscription.json" by default. Use the
"subscription" command to create a subscription JSON file for editing.
Telemetry output is written to "tcr-.csv".
Options:
-f, --subscription-from JSON Specify subscription JSON file.
-h, --help Show this message and exit
```
Set up a telemetry subscription using a generated subscription template:
```shell
$ # 10.27.67.2 is the default address, removing --robot-address(-r) in further examples
$ ./app/build/install/tcr/bin/tcr --robot-address 10.27.67.2 subscription > subscription.json
```
and edit it to select the desired telemetry measurements.
#### Example `subscription.json`
```json
{
"type": "start",
"subscription": [
{
"itemId": 0,
"measurementId": "OUTPUT_VOLTAGE"
},
{
"itemId": 0,
"measurementId": "OUTPUT_PERCENT"
},
{
"itemId": 0,
"measurementId": "SELECTED_SENSOR_VELOCITY"
},
{
"itemId": 0,
"measurementId": "BUS_VOLTAGE"
}
]
}
```
You can determine `itemId` for the desired device by inspecting the output of:
```text
$ ./app/build/install/tcr/bin/tcr inventory
```
#### Example `inventory.json`
```json
{
"items": [
{
"id": 0,
"type": "org.strykeforce.telemetry.measurable.TalonSRXMeasurable",
"description": "TalonSRX 1"
}
],
"measures": ["..."]
}
```
Telemetry output is written to "tcr-TIMESTAMP.csv".
#### Example `tcr-0318-110736.csv`
```text
timestamp,talonsrx_1__output_voltage,talonsrx_1__output_percentage,talonsrx_1__selected_sensor_velocity__pid_0_,talonsrx_1__bus_voltage
1937,3.277859237536657,0.24926686217008798,0.0,13.15
1942,3.277859237536657,0.24926686217008798,0.0,13.15
...
```
Enable the robot and start the telemetry data collection.
```text
./app/build/install/tcr/bin/tcr capture
starting capture, press enter key to stop capture
stopped capture
```
### Trigger and Capture Mode
Set up `subscription.json` the same way as in capture mode above.
```text
$ ./app/build/install/tcr/bin/tcr trigger -h
Usage: tcr trigger [OPTIONS] DURATION
Trigger command and capture for DURATION milliseconds.
Subscription will be read from "subscription.json" by default. Use the
"subscription" command to create a subscription JSON file for editing.
Telemetry output is written to "tcr-.csv".
Options:
-f, --subscription-from JSON Specify subscription JSON file.
-h, --help Show this message and exit
```
To trigger a command on the robot to start running during telemetry collection create a `NetworkButton` that watches the
top-level Network Tables key `/Trigger`. For example:
```java
var entry=NetworkTableInstance.getDefault().getEntry("Trigger");
new NetworkButton(entry).whenPressed(new TalonRunCommand(talonSubsystem));
```
Enable the robot and trigger the telemetry data collection. For example to capture for 5000 msec, run:
```text
./app/build/install/tcr/bin/tcr trigger 5000
starting capture
trigger
stopping capture
```