From ddee2ff54dc5c4ce723cef5e3e91b2b3dee28ebf Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 24 Sep 2024 11:29:02 -0700 Subject: [PATCH 01/21] added tracer, still nt rn --- src/main/java/frc/robot/Robot.java | 47 ++++- src/main/java/frc/robot/utils/Tracer.java | 226 ++++++++++++++++++++++ 2 files changed, 272 insertions(+), 1 deletion(-) create mode 100644 src/main/java/frc/robot/utils/Tracer.java diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 6abd2d92..eb102d3b 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -17,6 +17,7 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.trajectory.TrapezoidProfile.State; import edu.wpi.first.math.util.Units; +import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.PowerDistribution; @@ -50,7 +51,11 @@ import frc.robot.subsystems.swerve.SwerveSubsystem; import frc.robot.subsystems.swerve.SwerveSubsystem.AutoAimStates; import frc.robot.utils.CommandXboxControllerSubsystem; +import frc.robot.utils.Tracer; import frc.robot.utils.autoaim.AutoAim; + +import java.util.HashMap; +import java.util.function.BiConsumer; import java.util.function.DoubleSupplier; import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LoggedRobot; @@ -157,6 +162,7 @@ public void robotInit() { Logger.recordMetadata("GitDirty", "Unknown"); break; } + setUpLogging(); switch (mode) { case REAL: @@ -467,7 +473,8 @@ public void robotInit() { @Override public void robotPeriodic() { - CommandScheduler.getInstance().run(); + Tracer.startTrace("RobotPeriodic"); + Tracer.traceFunc("CommandScheduler", CommandScheduler.getInstance()::run); // Update ascope mechanism visualization Logger.recordOutput( "Mechanism Poses", @@ -485,6 +492,44 @@ public void robotPeriodic() { Logger.recordOutput( "AutoAim/Actual Distance", swerve.getPose().minus(FieldConstants.getSpeaker()).getTranslation().getNorm()); + + Tracer.endTrace(); + } + + @Override + public void loopFunc() { + Tracer.startTrace("Robot"); + Tracer.traceFunc("LoopFunc", super::loopFunc); + Tracer.endTrace(); + } + + private void setUpLogging() { + HashMap commandCounts = new HashMap<>(); + BiConsumer logCommandFunction = + (Command command, Boolean active) -> { + String name = command.getName(); + int count = commandCounts.getOrDefault(name, 0) + (active ? 1 : -1); + commandCounts.put(name, count); + Logger.recordOutput( + "Commands/CommandsUnique/" + name + "_" + Integer.toHexString(command.hashCode()), + active.booleanValue()); + Logger.recordOutput("Commands/CommandsAll/" + name, count > 0); + }; + CommandScheduler.getInstance() + .onCommandInitialize( + (Command command) -> { + logCommandFunction.accept(command, true); + }); + CommandScheduler.getInstance() + .onCommandFinish( + (Command command) -> { + logCommandFunction.accept(command, false); + }); + CommandScheduler.getInstance() + .onCommandInterrupt( + (Command command) -> { + logCommandFunction.accept(command, false); + }); } private Command shootWithDashboard() { diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java new file mode 100644 index 00000000..1936363a --- /dev/null +++ b/src/main/java/frc/robot/utils/Tracer.java @@ -0,0 +1,226 @@ +package frc.robot.utils; + +import edu.wpi.first.networktables.DoublePublisher; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.DriverStation; +import java.lang.management.GarbageCollectorMXBean; +import java.lang.management.ManagementFactory; +import java.util.ArrayList; +import java.util.HashMap; +import java.util.function.Supplier; +import org.littletonrobotics.junction.Logger; + +/** + * A Utility class for tracing code execution time. Will put info to NetworkTables under the + * "Tracer" table. + * + * 

+ *
+ * @Override
+ * public void loopFunc() {
+ *    Tracer.traceFunc("LoopFunc", super::loopFunc);
+ * }
+ *
+ * 

+ *
+ * @Override
+ * public void robotPeriodic() {
+ *     Tracer.startTrace("RobotPeriodic");
+ *     Tracer.traceFunc("CommandScheduler", scheduler::run);
+ *     Tracer.traceFunc("Monologue", Monologue::updateAll);
+ *     Tracer.endTrace();
+ * }
+ *
+ *
+ */ +public class Tracer { + private static final class TraceStartData { + private double startTime = 0.0; + private double startGCTotalTime = 0.0; + + private void set(double startTime, double startGCTotalTime) { + this.startTime = startTime; + this.startGCTotalTime = startGCTotalTime; + } + } + + /** + * All of the tracers persistent state in a single object to be stored in a {@link ThreadLocal}. + */ + private static final class TracerState { + private final NetworkTable rootTable; + + // the stack of traces, every startTrace will add to this stack + // and every endTrace will remove from this stack + private final ArrayList traceStack = new ArrayList<>(); + // ideally we only need `traceStack` but in the interest of memory optimization + // and string concatenation speed we store the history of the stack to reuse the stack names + private final ArrayList traceStackHistory = new ArrayList<>(); + // the time of each trace, the key is the trace name, modified every endTrace + private final HashMap traceTimes = new HashMap<>(); + // the start time of each trace and the gc time at the start of the trace, + // the key is the trace name, modified every startTrace and endTrace. + private final HashMap traceStartTimes = new HashMap<>(); + // the publishers for each trace, the key is the trace name, modified every endCycle + private final HashMap publisherHeap = new HashMap<>(); + + // the garbage collector beans + private final ArrayList gcs = + new ArrayList<>(ManagementFactory.getGarbageCollectorMXBeans()); + private final DoublePublisher gcTimeEntry; + private double gcTimeThisCycle = 0.0; + + private TracerState(String threadName) { + this.rootTable = NetworkTableInstance.getDefault().getTable("Tracer").getSubTable(threadName); + this.gcTimeEntry = + rootTable.getDoubleTopic("GCTime").publishEx("double", "{ \"cached\": false}"); + } + + private String appendTraceStack(String trace) { + traceStack.add(trace); + StringBuilder sb = new StringBuilder(); + for (int i = 0; i < traceStack.size(); i++) { + sb.append(traceStack.get(i)); + if (i < traceStack.size() - 1) { + sb.append("/"); + } + } + String str = sb.toString(); + traceStackHistory.add(str); + return str; + } + + private String popTraceStack() { + traceStack.remove(traceStack.size() - 1); + return traceStackHistory.remove(traceStackHistory.size() - 1); + } + + private double totalGCTime() { + double gcTime = 0; + for (GarbageCollectorMXBean gc : gcs) { + gcTime += gc.getCollectionTime(); + } + return gcTime; + } + + private void endCycle() { + // update times for all already existing publishers + for (var publisher : publisherHeap.entrySet()) { + // if the entry isn't found, time will null-cast to 0.0 + Double time = traceTimes.remove(publisher.getKey()); + if (time == null) time = 0.0; + publisher.getValue().set(time); + } + // create publishers for all new entries + for (var traceTime : traceTimes.entrySet()) { + DoublePublisher publisher = + rootTable + .getDoubleTopic(traceTime.getKey()) + .publishEx("double", "{ \"cached\": false}"); + publisher.set(traceTime.getValue()); + publisherHeap.put(traceTime.getKey(), publisher); + } + + // log gc time + if (gcs.size() > 0) gcTimeEntry.set(gcTimeThisCycle); + gcTimeThisCycle = 0.0; + + // clean up state + traceTimes.clear(); + traceStackHistory.clear(); + } + } + + private static final ThreadLocal threadLocalState = + ThreadLocal.withInitial( + () -> { + return new TracerState(Thread.currentThread().getName()); + }); + + public static void disableGcLoggingForCurrentThread() { + TracerState state = threadLocalState.get(); + state.gcTimeEntry.close(); + state.gcs.clear(); + } + + private static void startTrace(final String name, final TracerState state) { + String stack = state.appendTraceStack(name); + TraceStartData data = state.traceStartTimes.get(stack); + if (data == null) { + data = new TraceStartData(); + state.traceStartTimes.put(stack, data); + } + data.set(Logger.getRealTimestamp() / 1000.0, state.totalGCTime()); + } + + private static void endTrace(final TracerState state) { + try { + String stack = state.popTraceStack(); + var startData = state.traceStartTimes.get(stack); + double gcTimeSinceStart = state.totalGCTime() - startData.startGCTotalTime; + state.gcTimeThisCycle += gcTimeSinceStart; + state.traceTimes.put( + stack, Logger.getRealTimestamp() / 1000.0 - startData.startTime - gcTimeSinceStart); + if (state.traceStack.size() == 0) { + state.endCycle(); + } + } catch (Exception e) { + DriverStation.reportError( + "[Tracer] An end trace was called with no opening trace " + e, true); + } + } + + /** + * Starts a trace, should be called at the beginning of a function thats not being called by user + * code. Should be paired with {@link Tracer#endTrace()} at the end of the function. + * + *

Best used in periodic functions in Subsystems and Robot.java. + * + * @param name the name of the trace, should be unique to the function. + */ + public static void startTrace(String name) { + startTrace(name, threadLocalState.get()); + } + + /** + * Ends a trace, should only be called at the end of a function thats not being called by user + * code. If a {@link Tracer#startTrace(String)} is not paired with a {@link Tracer#endTrace()} + * there could be a crash. + */ + public static void endTrace() { + endTrace(threadLocalState.get()); + } + + /** + * Traces a function, should be used in place of {@link Tracer#startTrace(String)} and {@link + * Tracer#endTrace()} for functions called by user code like {@code CommandScheduler.run()} and + * other expensive functions. + * + * @param name the name of the trace, should be unique to the function. + * @param runnable the function to trace. + * @apiNote If you want to return a value then use {@link Tracer#traceFunc(String, Supplier)}. + */ + public static void traceFunc(String name, Runnable runnable) { + final TracerState state = threadLocalState.get(); + startTrace(name, state); + runnable.run(); + endTrace(state); + } + + /** + * Traces a function, should be used in place of {@link Tracer#startTrace(String)} and {@link + * Tracer#endTrace()} for functions called by user code like {@code CommandScheduler.run()} and + * other expensive functions. + * + * @param name the name of the trace, should be unique to the function. + * @param supplier the function to trace. + */ + public static T traceFunc(String name, Supplier supplier) { + final TracerState state = threadLocalState.get(); + startTrace(name, state); + T ret = supplier.get(); + endTrace(state); + return ret; + } +} From 7c499e87730dd7a221ee3418e4618f306fbc77df Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 24 Sep 2024 19:29:33 -0700 Subject: [PATCH 02/21] replaced networktables publishing with logging --- src/main/java/frc/robot/Robot.java | 78 +++++++++++------------ src/main/java/frc/robot/utils/Tracer.java | 33 ++-------- 2 files changed, 43 insertions(+), 68 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index eb102d3b..4fc8c861 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -17,7 +17,6 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.trajectory.TrapezoidProfile.State; import edu.wpi.first.math.util.Units; -import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.PowerDistribution; @@ -53,7 +52,6 @@ import frc.robot.utils.CommandXboxControllerSubsystem; import frc.robot.utils.Tracer; import frc.robot.utils.autoaim.AutoAim; - import java.util.HashMap; import java.util.function.BiConsumer; import java.util.function.DoubleSupplier; @@ -492,44 +490,44 @@ public void robotPeriodic() { Logger.recordOutput( "AutoAim/Actual Distance", swerve.getPose().minus(FieldConstants.getSpeaker()).getTranslation().getNorm()); - - Tracer.endTrace(); - } - - @Override - public void loopFunc() { - Tracer.startTrace("Robot"); - Tracer.traceFunc("LoopFunc", super::loopFunc); - Tracer.endTrace(); - } - - private void setUpLogging() { - HashMap commandCounts = new HashMap<>(); - BiConsumer logCommandFunction = - (Command command, Boolean active) -> { - String name = command.getName(); - int count = commandCounts.getOrDefault(name, 0) + (active ? 1 : -1); - commandCounts.put(name, count); - Logger.recordOutput( - "Commands/CommandsUnique/" + name + "_" + Integer.toHexString(command.hashCode()), - active.booleanValue()); - Logger.recordOutput("Commands/CommandsAll/" + name, count > 0); - }; - CommandScheduler.getInstance() - .onCommandInitialize( - (Command command) -> { - logCommandFunction.accept(command, true); - }); - CommandScheduler.getInstance() - .onCommandFinish( - (Command command) -> { - logCommandFunction.accept(command, false); - }); - CommandScheduler.getInstance() - .onCommandInterrupt( - (Command command) -> { - logCommandFunction.accept(command, false); - }); + + Tracer.endTrace(); + } + + @Override + public void loopFunc() { + Tracer.startTrace("Robot"); + Tracer.traceFunc("LoopFunc", super::loopFunc); + Tracer.endTrace(); + } + + private void setUpLogging() { + HashMap commandCounts = new HashMap<>(); + BiConsumer logCommandFunction = + (Command command, Boolean active) -> { + String name = command.getName(); + int count = commandCounts.getOrDefault(name, 0) + (active ? 1 : -1); + commandCounts.put(name, count); + Logger.recordOutput( + "Commands/CommandsUnique/" + name + "_" + Integer.toHexString(command.hashCode()), + active.booleanValue()); + Logger.recordOutput("Commands/CommandsAll/" + name, count > 0); + }; + CommandScheduler.getInstance() + .onCommandInitialize( + (Command command) -> { + logCommandFunction.accept(command, true); + }); + CommandScheduler.getInstance() + .onCommandFinish( + (Command command) -> { + logCommandFunction.accept(command, false); + }); + CommandScheduler.getInstance() + .onCommandInterrupt( + (Command command) -> { + logCommandFunction.accept(command, false); + }); } private Command shootWithDashboard() { diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java index 1936363a..db0d982c 100644 --- a/src/main/java/frc/robot/utils/Tracer.java +++ b/src/main/java/frc/robot/utils/Tracer.java @@ -1,8 +1,5 @@ package frc.robot.utils; -import edu.wpi.first.networktables.DoublePublisher; -import edu.wpi.first.networktables.NetworkTable; -import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import java.lang.management.GarbageCollectorMXBean; import java.lang.management.ManagementFactory; @@ -49,7 +46,6 @@ private void set(double startTime, double startGCTotalTime) { * All of the tracers persistent state in a single object to be stored in a {@link ThreadLocal}. */ private static final class TracerState { - private final NetworkTable rootTable; // the stack of traces, every startTrace will add to this stack // and every endTrace will remove from this stack @@ -62,20 +58,13 @@ private static final class TracerState { // the start time of each trace and the gc time at the start of the trace, // the key is the trace name, modified every startTrace and endTrace. private final HashMap traceStartTimes = new HashMap<>(); - // the publishers for each trace, the key is the trace name, modified every endCycle - private final HashMap publisherHeap = new HashMap<>(); // the garbage collector beans private final ArrayList gcs = new ArrayList<>(ManagementFactory.getGarbageCollectorMXBeans()); - private final DoublePublisher gcTimeEntry; private double gcTimeThisCycle = 0.0; - private TracerState(String threadName) { - this.rootTable = NetworkTableInstance.getDefault().getTable("Tracer").getSubTable(threadName); - this.gcTimeEntry = - rootTable.getDoubleTopic("GCTime").publishEx("double", "{ \"cached\": false}"); - } + private TracerState(String threadName) {} private String appendTraceStack(String trace) { traceStack.add(trace); @@ -105,25 +94,14 @@ private double totalGCTime() { } private void endCycle() { - // update times for all already existing publishers - for (var publisher : publisherHeap.entrySet()) { - // if the entry isn't found, time will null-cast to 0.0 - Double time = traceTimes.remove(publisher.getKey()); - if (time == null) time = 0.0; - publisher.getValue().set(time); - } - // create publishers for all new entries for (var traceTime : traceTimes.entrySet()) { - DoublePublisher publisher = - rootTable - .getDoubleTopic(traceTime.getKey()) - .publishEx("double", "{ \"cached\": false}"); - publisher.set(traceTime.getValue()); - publisherHeap.put(traceTime.getKey(), publisher); + Double time = traceTimes.remove(traceTime.getKey()); + if (time == null) time = 0.0; + Logger.recordOutput("Tracer/" + traceTime.getKey(), traceTime.getValue()); } // log gc time - if (gcs.size() > 0) gcTimeEntry.set(gcTimeThisCycle); + if (gcs.size() > 0) Logger.recordOutput("Tracer/GCTime", gcTimeThisCycle); gcTimeThisCycle = 0.0; // clean up state @@ -140,7 +118,6 @@ private void endCycle() { public static void disableGcLoggingForCurrentThread() { TracerState state = threadLocalState.get(); - state.gcTimeEntry.close(); state.gcs.clear(); } From b659f7d4987329cf8b847419ebc6365ec558e2ca Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 24 Sep 2024 21:01:10 -0700 Subject: [PATCH 03/21] should actually log + traces some methods in swerve --- .../swerve/PhoenixOdometryThread.java | 19 ++++++++--- .../subsystems/swerve/SwerveSubsystem.java | 26 +++++++++------ src/main/java/frc/robot/utils/Tracer.java | 32 ++++++++++++++++--- 3 files changed, 58 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java index faa3aca0..f37dd2fe 100644 --- a/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java @@ -21,6 +21,7 @@ import com.google.common.collect.EvictingQueue; import com.google.common.collect.Sets; import frc.robot.subsystems.swerve.Module.ModuleConstants; +import frc.robot.utils.Tracer; import java.util.Arrays; import java.util.Collection; import java.util.List; @@ -133,25 +134,32 @@ public void registerSignals(Registration... registrations) { } public List samplesSince(double timestamp) { + Tracer.startTrace("samples since"); var readLock = journalLock.readLock(); try { readLock.lock(); - return journal.stream() - .filter(s -> s.timestamp > timestamp) - .collect(Collectors.toUnmodifiableList()); + return Tracer.traceFunc( + "stream timestamps", + () -> + journal.stream() + .filter(s -> s.timestamp > timestamp) + .collect(Collectors.toUnmodifiableList())); } finally { readLock.unlock(); + Tracer.endTrace(); } } @Override public void run() { - System.out.println("Starting Odo Thread"); while (true) { // Wait for updates from all signals var writeLock = journalLock.writeLock(); - BaseStatusSignal.waitForAll(2.0 / Module.ODOMETRY_FREQUENCY_HZ, signalArr); + Tracer.startTrace("Odometry Thread"); + Tracer.traceFunc( + "wait for all", + () -> BaseStatusSignal.waitForAll(2.0 / Module.ODOMETRY_FREQUENCY_HZ, signalArr)); try { writeLock.lock(); var filteredSignals = @@ -168,6 +176,7 @@ public void run() { s -> s.signal().getValueAsDouble())))); } finally { writeLock.unlock(); + Tracer.endTrace(); } } } diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 525018e6..cb9e23f5 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -83,6 +83,7 @@ import frc.robot.subsystems.vision.VisionIO; import frc.robot.subsystems.vision.VisionIOReal; import frc.robot.subsystems.vision.VisionIOSim; +import frc.robot.utils.Tracer; import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.ShotData; import java.io.File; @@ -372,23 +373,26 @@ public static VisionIO[] createSimCameras() { } public void periodic() { + Tracer.startTrace("SwervePeriodic"); for (var camera : cameras) { - camera.updateInputs(); - camera.processInputs(); + Tracer.traceFunc("Update cam inputs", camera::updateInputs); + Tracer.traceFunc("Process cam inputs", camera::processInputs); } - odoThread.updateInputs(odoThreadInputs, lastOdometryUpdateTimestamp); + Tracer.traceFunc( + "Update odo inputs", + () -> odoThread.updateInputs(odoThreadInputs, lastOdometryUpdateTimestamp)); Logger.processInputs("Async Odo", odoThreadInputs); if (!odoThreadInputs.sampledStates.isEmpty()) { lastOdometryUpdateTimestamp = odoThreadInputs.sampledStates.get(odoThreadInputs.sampledStates.size() - 1).timestamp(); } - gyroIO.updateInputs(gyroInputs); - for (var module : modules) { - module.updateInputs(); + Tracer.traceFunc("update gyro inputs", () -> gyroIO.updateInputs(gyroInputs)); + for (int i = 0; i < modules.length; i++) { + Tracer.traceFunc("SwerveModule update inputs[" + i + "]", modules[i]::updateInputs); } Logger.processInputs("Swerve/Gyro", gyroInputs); - for (var module : modules) { - module.periodic(); + for (int i = 0; i < modules.length; i++) { + Tracer.traceFunc("SwerveModule periodic[" + i + "]", modules[i]::periodic); } // Stop moving when disabled @@ -409,8 +413,10 @@ public void periodic() { Logger.recordOutput("ShotData/Flight Time", AutoAimStates.curShotData.getFlightTimeSeconds()); Logger.recordOutput("ShotData/Lookahead", AutoAimStates.lookaheadTime); - updateOdometry(); - updateVision(); + Tracer.traceFunc("Update odometry", () -> updateOdometry()); + Tracer.traceFunc("update vision", () -> updateVision()); + + Tracer.endTrace(); } private void updateOdometry() { diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java index db0d982c..c61b60a4 100644 --- a/src/main/java/frc/robot/utils/Tracer.java +++ b/src/main/java/frc/robot/utils/Tracer.java @@ -1,5 +1,8 @@ package frc.robot.utils; +import edu.wpi.first.networktables.DoublePublisher; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import java.lang.management.GarbageCollectorMXBean; import java.lang.management.ManagementFactory; @@ -46,6 +49,7 @@ private void set(double startTime, double startGCTotalTime) { * All of the tracers persistent state in a single object to be stored in a {@link ThreadLocal}. */ private static final class TracerState { + private final NetworkTable rootTable; // the stack of traces, every startTrace will add to this stack // and every endTrace will remove from this stack @@ -58,13 +62,20 @@ private static final class TracerState { // the start time of each trace and the gc time at the start of the trace, // the key is the trace name, modified every startTrace and endTrace. private final HashMap traceStartTimes = new HashMap<>(); + // the publishers for each trace, the key is the trace name, modified every endCycle + private final HashMap publisherHeap = new HashMap<>(); // the garbage collector beans private final ArrayList gcs = new ArrayList<>(ManagementFactory.getGarbageCollectorMXBeans()); + private final DoublePublisher gcTimeEntry; private double gcTimeThisCycle = 0.0; - private TracerState(String threadName) {} + private TracerState(String threadName) { + this.rootTable = NetworkTableInstance.getDefault().getTable("Tracer").getSubTable(threadName); + this.gcTimeEntry = + rootTable.getDoubleTopic("GCTime").publishEx("double", "{ \"cached\": false}"); + } private String appendTraceStack(String trace) { traceStack.add(trace); @@ -94,14 +105,26 @@ private double totalGCTime() { } private void endCycle() { - for (var traceTime : traceTimes.entrySet()) { - Double time = traceTimes.remove(traceTime.getKey()); + // update times for all already existing publishers + for (var publisher : publisherHeap.entrySet()) { + // if the entry isn't found, time will null-cast to 0.0 + Double time = traceTimes.remove(publisher.getKey()); if (time == null) time = 0.0; + Logger.recordOutput("Tracer/" + publisher.getKey(), time); + } + // create publishers for all new entries + for (var traceTime : traceTimes.entrySet()) { + DoublePublisher publisher = + rootTable + .getDoubleTopic(traceTime.getKey()) + .publishEx("double", "{ \"cached\": false}"); + publisher.set(traceTime.getValue()); Logger.recordOutput("Tracer/" + traceTime.getKey(), traceTime.getValue()); + publisherHeap.put(traceTime.getKey(), publisher); } // log gc time - if (gcs.size() > 0) Logger.recordOutput("Tracer/GCTime", gcTimeThisCycle); + if (gcs.size() > 0) gcTimeEntry.set(gcTimeThisCycle); gcTimeThisCycle = 0.0; // clean up state @@ -118,6 +141,7 @@ private void endCycle() { public static void disableGcLoggingForCurrentThread() { TracerState state = threadLocalState.get(); + state.gcTimeEntry.close(); state.gcs.clear(); } From cb252c8b8956248c7d602bdd99a3e8e266f4ed5a Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 24 Sep 2024 21:13:49 -0700 Subject: [PATCH 04/21] removed publishers fr wooo --- src/main/java/frc/robot/utils/Tracer.java | 34 ++++++----------------- 1 file changed, 9 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java index c61b60a4..784f4689 100644 --- a/src/main/java/frc/robot/utils/Tracer.java +++ b/src/main/java/frc/robot/utils/Tracer.java @@ -1,8 +1,5 @@ package frc.robot.utils; -import edu.wpi.first.networktables.DoublePublisher; -import edu.wpi.first.networktables.NetworkTable; -import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import java.lang.management.GarbageCollectorMXBean; import java.lang.management.ManagementFactory; @@ -49,7 +46,6 @@ private void set(double startTime, double startGCTotalTime) { * All of the tracers persistent state in a single object to be stored in a {@link ThreadLocal}. */ private static final class TracerState { - private final NetworkTable rootTable; // the stack of traces, every startTrace will add to this stack // and every endTrace will remove from this stack @@ -62,20 +58,14 @@ private static final class TracerState { // the start time of each trace and the gc time at the start of the trace, // the key is the trace name, modified every startTrace and endTrace. private final HashMap traceStartTimes = new HashMap<>(); - // the publishers for each trace, the key is the trace name, modified every endCycle - private final HashMap publisherHeap = new HashMap<>(); + private final ArrayList entryArray = new ArrayList<>(); // the garbage collector beans private final ArrayList gcs = new ArrayList<>(ManagementFactory.getGarbageCollectorMXBeans()); - private final DoublePublisher gcTimeEntry; private double gcTimeThisCycle = 0.0; - private TracerState(String threadName) { - this.rootTable = NetworkTableInstance.getDefault().getTable("Tracer").getSubTable(threadName); - this.gcTimeEntry = - rootTable.getDoubleTopic("GCTime").publishEx("double", "{ \"cached\": false}"); - } + private TracerState(String threadName) {} private String appendTraceStack(String trace) { traceStack.add(trace); @@ -105,26 +95,21 @@ private double totalGCTime() { } private void endCycle() { - // update times for all already existing publishers - for (var publisher : publisherHeap.entrySet()) { + // update times for all already existing entries + for (var entry : entryArray) { // if the entry isn't found, time will null-cast to 0.0 - Double time = traceTimes.remove(publisher.getKey()); + Double time = traceTimes.remove(entry); if (time == null) time = 0.0; - Logger.recordOutput("Tracer/" + publisher.getKey(), time); + Logger.recordOutput("Tracer/" + entry, time); } - // create publishers for all new entries + // log all new entries for (var traceTime : traceTimes.entrySet()) { - DoublePublisher publisher = - rootTable - .getDoubleTopic(traceTime.getKey()) - .publishEx("double", "{ \"cached\": false}"); - publisher.set(traceTime.getValue()); Logger.recordOutput("Tracer/" + traceTime.getKey(), traceTime.getValue()); - publisherHeap.put(traceTime.getKey(), publisher); + entryArray.add(traceTime.getKey()); } // log gc time - if (gcs.size() > 0) gcTimeEntry.set(gcTimeThisCycle); + if (gcs.size() > 0) Logger.recordOutput("Tracer/GCTime", gcTimeThisCycle); gcTimeThisCycle = 0.0; // clean up state @@ -141,7 +126,6 @@ private void endCycle() { public static void disableGcLoggingForCurrentThread() { TracerState state = threadLocalState.get(); - state.gcTimeEntry.close(); state.gcs.clear(); } From b21c643a0e3afdfc50a9f64e13cc9886f3cabd33 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 25 Sep 2024 15:51:30 -0700 Subject: [PATCH 05/21] add velocity check to choreo traj following command --- .../java/frc/robot/subsystems/swerve/SwerveSubsystem.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 525018e6..a0cb6edc 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -685,7 +685,7 @@ public Command runChoreoTraj(ChoreoTrajectory traj, boolean resetPose) { * @param requirements The subsystem(s) to require, typically your drive subsystem only. * @return A command that follows a Choreo path. */ - public static Command choreoFullFollowSwerveCommand( + public Command choreoFullFollowSwerveCommand( ChoreoTrajectory trajectory, Supplier poseSupplier, ChoreoControlFunction controller, @@ -727,6 +727,7 @@ public static Command choreoFullFollowSwerveCommand( mirrorTrajectory.getAsBoolean() ? trajectory.getFinalState().flipped().getPose() : trajectory.getFinalState().getPose(); + var vel = getVelocity(); Logger.recordOutput("Swerve/Current Traj End Pose", finalPose); return timer.hasElapsed(trajectory.getTotalTime()) && (MathUtil.isNear(finalPose.getX(), poseSupplier.get().getX(), 0.4) @@ -735,7 +736,8 @@ public static Command choreoFullFollowSwerveCommand( (poseSupplier.get().getRotation().getDegrees() - finalPose.getRotation().getDegrees()) % 360) - < 20.0); + < 20.0) + && MathUtil.isNear( 0.0, vel.vxMetersPerSecond * vel.vxMetersPerSecond + vel.vyMetersPerSecond * vel.vyMetersPerSecond, 0.25); }, requirements); } From 547a9da83e887c0a31d1ea15626a634b1414a17c Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 25 Sep 2024 16:58:10 -0700 Subject: [PATCH 06/21] rename module logs --- src/main/java/frc/robot/subsystems/swerve/Module.java | 5 +++++ .../subsystems/swerve/PhoenixOdometryThread.java | 2 +- .../frc/robot/subsystems/swerve/SwerveSubsystem.java | 11 +++++++++-- 3 files changed, 15 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/Module.java b/src/main/java/frc/robot/subsystems/swerve/Module.java index c67e3dd8..44bd5f3c 100644 --- a/src/main/java/frc/robot/subsystems/swerve/Module.java +++ b/src/main/java/frc/robot/subsystems/swerve/Module.java @@ -143,6 +143,11 @@ public double getPositionMeters() { return inputs.drivePositionMeters; } + /** Returns this modules prefix ie "Back Left" */ + public String getPrefix() { + return inputs.prefix; + } + /** * Returns the current drive velocity of the module in meters per second withat normal sampling * frequency. diff --git a/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java index f37dd2fe..880becce 100644 --- a/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java @@ -176,8 +176,8 @@ public void run() { s -> s.signal().getValueAsDouble())))); } finally { writeLock.unlock(); - Tracer.endTrace(); } + Tracer.endTrace(); } } diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index cb9e23f5..665d028c 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -388,11 +388,14 @@ public void periodic() { } Tracer.traceFunc("update gyro inputs", () -> gyroIO.updateInputs(gyroInputs)); for (int i = 0; i < modules.length; i++) { - Tracer.traceFunc("SwerveModule update inputs[" + i + "]", modules[i]::updateInputs); + Tracer.traceFunc( + "SwerveModule update inputs from " + modules[i].getPrefix() + " Module", + modules[i]::updateInputs); } Logger.processInputs("Swerve/Gyro", gyroInputs); for (int i = 0; i < modules.length; i++) { - Tracer.traceFunc("SwerveModule periodic[" + i + "]", modules[i]::periodic); + Tracer.traceFunc( + "SwerveModule periodic from " + modules[i].getPrefix() + " Module", modules[i]::periodic); } // Stop moving when disabled @@ -422,7 +425,10 @@ public void periodic() { private void updateOdometry() { Logger.recordOutput("Swerve/Updates Since Last", odoThreadInputs.sampledStates.size()); var sampleStates = odoThreadInputs.sampledStates; + var i = 0; for (var sample : sampleStates) { + Tracer.startTrace("Sample " + i); + i++; // Read wheel deltas from each module SwerveModulePosition[] modulePositions = new SwerveModulePosition[4]; SwerveModulePosition[] moduleDeltas = @@ -500,6 +506,7 @@ private void updateOdometry() { Logger.recordOutput("Odometry/Gyro Rotation", lastGyroRotation); // Apply update estimator.updateWithTime(sample.timestamp(), rawGyroRotation, modulePositions); + Tracer.endTrace(); } } From 5d4a37c168b43deaa9c0d63dd7986fd71a1d53b6 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Thu, 26 Sep 2024 16:41:32 -0700 Subject: [PATCH 07/21] [amp 4 local] update choreo voltage limit, reduce max angle for spin on auto --- choreo.chor | 2658 +++++++++-------- src/main/deploy/choreo/amp 4 local.1.traj | 938 ++++-- src/main/deploy/choreo/amp 4 local.2.traj | 920 ++++-- src/main/deploy/choreo/amp 4 local.3.traj | 737 +++-- src/main/deploy/choreo/amp 4 local.traj | 2525 +++++++++++----- src/main/java/frc/robot/Robot.java | 2 +- .../subsystems/swerve/SwerveSubsystem.java | 6 +- 7 files changed, 5187 insertions(+), 2599 deletions(-) diff --git a/choreo.chor b/choreo.chor index 65ed1ed4..445cd96f 100644 --- a/choreo.chor +++ b/choreo.chor @@ -3,7 +3,7 @@ "robotConfiguration": { "mass": 74.08797700309194, "rotationalInertia": 5.724, - "motorMaxTorque": 0.5811475409836065, + "motorMaxTorque": 0.484, "motorMaxVelocity": 4500, "gearing": 6.12, "wheelbase": 0.552, @@ -22,7 +22,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 16 + "controlIntervalCount": 17 }, { "x": 1.7956033945083618, @@ -31,7 +31,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 12 + "controlIntervalCount": 14 }, { "x": 2.8381898403167725, @@ -40,7 +40,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 15 + "controlIntervalCount": 18 }, { "x": 1.6989272832870483, @@ -49,7 +49,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 11 + "controlIntervalCount": 13 }, { "x": 2.8705179691314697, @@ -58,7 +58,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 13 }, { "x": 2.0850512981414795, @@ -67,7 +67,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 10 + "controlIntervalCount": 11 }, { "x": 2.531447649002075, @@ -84,10 +84,9 @@ "x": 0.7470832467079163, "y": 6.625458717346191, "heading": 1.056495497952334, - "angularVelocity": -1.4679265201702596e-22, - "velocityX": 9.483029461049396e-23, - "velocityY": 5.2317038665130075e-22, - "timestamp": 0, + "angularVelocity": -2.814922481994462e-23, + "velocityX": 3.0229602263614203e-24, + "velocityY": -3.0164882691321217e-22, "moduleForcesX": [ 0, 0, @@ -99,1606 +98,1895 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 0.7547543197229795, - "y": 6.625912789866557, - "heading": 1.0484306824677847, - "angularVelocity": -0.1891115926088127, - "velocityX": 0.17987873841334215, - "velocityY": 0.010647531571001236, - "timestamp": 0.04264580173692322, + "x": 0.7539026198838662, + "y": 6.625839605524516, + "heading": 1.0492729313853104, + "angularVelocity": -0.15166849427224313, + "velocityX": 0.14320173471285522, + "velocityY": 0.00799836677952159, "moduleForcesX": [ - 0, - 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-52.87705810406985 + ], + "moduleForcesY": [ + 24.474478527687335, + 24.474478527687335, + 24.474478527687335, + 24.474478527687335 + ], + "timestamp": 6.422633653809685 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 6abd2d92..e75fe8b5 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -729,7 +729,7 @@ private Command autoIntake() { .getRotation() .getDegrees(), 0, - 35)), + 20)), () -> 0.0, () -> 0.0) .until(() -> feeder.getFirstBeambreak()) diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index a0cb6edc..d977da35 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -737,7 +737,11 @@ public Command choreoFullFollowSwerveCommand( - finalPose.getRotation().getDegrees()) % 360) < 20.0) - && MathUtil.isNear( 0.0, vel.vxMetersPerSecond * vel.vxMetersPerSecond + vel.vyMetersPerSecond * vel.vyMetersPerSecond, 0.25); + && MathUtil.isNear( + 0.0, + vel.vxMetersPerSecond * vel.vxMetersPerSecond + + vel.vyMetersPerSecond * vel.vyMetersPerSecond, + 0.25); }, requirements); } From 69de25daf431c17f061f34e8ffeb31de5cd83b4d Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Thu, 26 Sep 2024 17:29:14 -0700 Subject: [PATCH 08/21] increase traj follow vel tolerance --- src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 2cb62681..936abef7 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -754,7 +754,7 @@ public Command choreoFullFollowSwerveCommand( 0.0, vel.vxMetersPerSecond * vel.vxMetersPerSecond + vel.vyMetersPerSecond * vel.vyMetersPerSecond, - 0.25); + 0.75); }, requirements); } From c7052d85fcdf01c0f8fd931eed0bce3356d239e2 Mon Sep 17 00:00:00 2001 From: team computer Date: Sat, 28 Sep 2024 10:23:14 -0700 Subject: [PATCH 09/21] after q3, turned down intake supply --- src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java index 34a18807..4ac0f530 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java @@ -36,7 +36,7 @@ public class IntakeIOReal implements IntakeIO { public IntakeIOReal() { var intakeConfig = new TalonFXConfiguration(); - intakeConfig.CurrentLimits.SupplyCurrentLimit = 20.0; + intakeConfig.CurrentLimits.SupplyCurrentLimit = 15.0; intakeConfig.CurrentLimits.SupplyCurrentLimitEnable = true; intakeConfig.CurrentLimits.StatorCurrentLimit = 120.0; intakeConfig.CurrentLimits.StatorCurrentLimitEnable = true; From 0713411d7df6abbf6016944a3ef4d9ce68ad5d1d Mon Sep 17 00:00:00 2001 From: team computer Date: Sat, 28 Sep 2024 12:27:21 -0700 Subject: [PATCH 10/21] removed tele current threshold and turned up supply limit --- src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java index 381f3d35..7d8343a1 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java @@ -91,10 +91,10 @@ public ModuleIOReal(ModuleConstants constants) { var driveConfig = new TalonFXConfiguration(); // Current limits // TODO: Do we want to limit supply current? - driveConfig.CurrentLimits.SupplyCurrentLimit = 30.0; + driveConfig.CurrentLimits.SupplyCurrentLimit = 60.0; driveConfig.CurrentLimits.SupplyCurrentLimitEnable = true; - driveConfig.CurrentLimits.SupplyCurrentThreshold = 60.0; - driveConfig.CurrentLimits.SupplyTimeThreshold = 0.5; + // driveConfig.CurrentLimits.SupplyCurrentThreshold = 30.0; + // driveConfig.CurrentLimits.SupplyTimeThreshold = 0.5; driveConfig.CurrentLimits.StatorCurrentLimit = 120.0; driveConfig.CurrentLimits.StatorCurrentLimitEnable = true; // Inverts From 9b902359418e3cff3615d8c760d3f2497f3f3cbf Mon Sep 17 00:00:00 2001 From: team computer Date: Sat, 28 Sep 2024 13:17:58 -0700 Subject: [PATCH 11/21] try new pid values --- .../java/frc/robot/subsystems/swerve/SwerveSubsystem.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 936abef7..2ecc5de7 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -656,8 +656,8 @@ public Command runChoreoTraj(ChoreoTrajectory traj, boolean resetPose) { traj, this::getPose, Choreo.choreoSwerveController( - new PIDController(1.5, 0.0, 0.0), - new PIDController(1.5, 0.0, 0.0), + new PIDController(10, 0.0, 0.0), + new PIDController(10, 0.0, 0.0), new PIDController(3.0, 0.0, 0.0)), (ChassisSpeeds speeds) -> this.runVelocity(speeds), () -> { From 294d49e1668b113a22f5124aa09be92aef5a768d Mon Sep 17 00:00:00 2001 From: Awesomeplayer165 Date: Sat, 28 Sep 2024 13:21:24 -0700 Subject: [PATCH 12/21] update choreo amp and pickup --- choreo.chor | 5862 +++++++++++------------ src/main/deploy/choreo/line test.1.traj | 373 -- src/main/deploy/choreo/source 3.1.traj | 2766 +++++------ src/main/deploy/choreo/source 3.2.traj | 3086 ++++++------ src/main/deploy/choreo/source 3.traj | 5824 +++++++++++----------- src/main/deploy/choreo/test.1.traj | 3635 +++++++++----- src/main/deploy/choreo/test.traj | 3635 +++++++++----- 7 files changed, 13857 insertions(+), 11324 deletions(-) delete mode 100644 src/main/deploy/choreo/line test.1.traj diff --git a/choreo.chor b/choreo.chor index 445cd96f..0f807e40 100644 --- a/choreo.chor +++ b/choreo.chor @@ -3,8 +3,8 @@ "robotConfiguration": { "mass": 74.08797700309194, "rotationalInertia": 5.724, - "motorMaxTorque": 0.484, - "motorMaxVelocity": 4500, + "motorMaxTorque": 0.5811475409836065, + "motorMaxVelocity": 4800, "gearing": 6.12, "wheelbase": 0.552, "trackWidth": 0.54, @@ -15929,8 +15929,8 @@ "controlIntervalCount": 34 }, { - "x": 7.134490489959717, - "y": 0.7612675428390503, + "x": 7.107321739196777, + "y": 1.0795719623565674, "heading": -0.061776917324722916, "isInitialGuess": false, "translationConstrained": true, @@ -15938,8 +15938,8 @@ "controlIntervalCount": 14 }, { - "x": 8.828963279724121, - "y": 0.7209256887435913, + 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PIDController(10, 0.0, 0.0), - new PIDController(10, 0.0, 0.0), + new PIDController(1.5, 0.0, 0.0), + new PIDController(1.5, 0.0, 0.0), new PIDController(3.0, 0.0, 0.0)), (ChassisSpeeds speeds) -> this.runVelocity(speeds), () -> { From 0d23d395e54a122fbe1fdbb146c85a4bd11e8692 Mon Sep 17 00:00:00 2001 From: team computer Date: Sun, 29 Sep 2024 10:17:13 -0700 Subject: [PATCH 14/21] add 3 center auto, works in match --- choreo.chor | 7404 ++++++++++++++---------- src/main/deploy/choreo/3 center.1.traj | 362 ++ src/main/deploy/choreo/3 center.2.traj | 551 ++ src/main/deploy/choreo/3 center.3.traj | 551 ++ src/main/deploy/choreo/3 center.traj | 1412 +++++ src/main/deploy/choreo/source 3.1.traj | 2742 ++++----- src/main/deploy/choreo/source 3.2.traj | 3077 +++++----- src/main/deploy/choreo/source 3.traj | 5797 +++++++++---------- src/main/java/frc/robot/Robot.java | 42 + 9 files changed, 13183 insertions(+), 8755 deletions(-) create mode 100644 src/main/deploy/choreo/3 center.1.traj create mode 100644 src/main/deploy/choreo/3 center.2.traj create mode 100644 src/main/deploy/choreo/3 center.3.traj create mode 100644 src/main/deploy/choreo/3 center.traj diff --git a/choreo.chor b/choreo.chor index 0f807e40..46e0d114 100644 --- a/choreo.chor +++ b/choreo.chor @@ -15980,12 +15980,12 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 15 + "controlIntervalCount": 14 }, { - "x": 8.779803276062012, - "y": 2.7246744632720947, - "heading": 0.31794821481648144, + "x": 8.628730773925781, + "y": 2.817955732345581, + "heading": 0.38460441295906894, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, @@ -16015,9 +16015,9 @@ "x": 0.7778744697570801, "y": 4.333664894104004, "heading": -1.051650156247713, - "angularVelocity": -1.3297634990832717e-18, - "velocityX": 8.096904896283762e-18, - "velocityY": -2.035450603469087e-18, + "angularVelocity": -1.595681461469011e-18, + "velocityX": 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autoChooser.addOption("Shoot Preload", teleopAutoAim()); autoChooser.addDefaultOption("Amp 4 Wing", autoAmp4Wing()); autoChooser.addOption("Source 3", autoSource3()); + autoChooser.addOption("Center 3", autoCenter3()); autoChooser.addOption("Amp 5", autoAmp5()); autoChooser.addOption("Source 4", autoSource4()); autoChooser.addOption("Line Test Repeatedly", lineTest()); @@ -839,6 +840,47 @@ private Command autoAmp5() { autoStaticAutoAim()); } + private Command autoCenter3() { + return Commands.sequence( + autoFenderShot(), + swerve + .runChoreoTraj(Choreo.getTrajectory("3 center.1"), true) + .asProxy() + .deadlineWith(autoIntake()), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), + swerve + .runChoreoTraj(Choreo.getTrajectory("3 center.2")) + .asProxy() + .deadlineWith(autoIntake()), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), + swerve + .runChoreoTraj(Choreo.getTrajectory("3 center.3")) + .asProxy() + .deadlineWith(autoIntake()), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim()); + } + private Command autoSource3() { return Commands.sequence( autoFenderShot(), From 9c26d2cd1986b743d40da4f5ffa83bcac796ff26 Mon Sep 17 00:00:00 2001 From: team computer Date: Sun, 29 Sep 2024 10:18:08 -0700 Subject: [PATCH 15/21] rename 3 center to center 3 --- choreo.chor | 2 +- src/main/deploy/choreo/{3 center.1.traj => center 3.1.traj} | 0 src/main/deploy/choreo/{3 center.2.traj => center 3.2.traj} | 0 src/main/deploy/choreo/{3 center.3.traj => center 3.3.traj} | 0 src/main/deploy/choreo/{3 center.traj => center 3.traj} | 0 src/main/java/frc/robot/Robot.java | 6 +++--- 6 files changed, 4 insertions(+), 4 deletions(-) rename src/main/deploy/choreo/{3 center.1.traj => center 3.1.traj} (100%) rename src/main/deploy/choreo/{3 center.2.traj => center 3.2.traj} (100%) rename src/main/deploy/choreo/{3 center.3.traj => center 3.3.traj} (100%) rename src/main/deploy/choreo/{3 center.traj => center 3.traj} (100%) diff --git a/choreo.chor b/choreo.chor index 46e0d114..8e0e6cc2 100644 --- a/choreo.chor +++ b/choreo.chor @@ -28060,7 +28060,7 @@ "eventMarkers": [], "isTrajectoryStale": true }, - "3 center": { + "center 3": { "waypoints": [ { "x": 1.4015021324157715, diff --git a/src/main/deploy/choreo/3 center.1.traj b/src/main/deploy/choreo/center 3.1.traj similarity index 100% rename from src/main/deploy/choreo/3 center.1.traj rename to src/main/deploy/choreo/center 3.1.traj diff --git a/src/main/deploy/choreo/3 center.2.traj b/src/main/deploy/choreo/center 3.2.traj similarity index 100% rename from src/main/deploy/choreo/3 center.2.traj rename to src/main/deploy/choreo/center 3.2.traj diff --git a/src/main/deploy/choreo/3 center.3.traj b/src/main/deploy/choreo/center 3.3.traj similarity index 100% rename from src/main/deploy/choreo/3 center.3.traj rename to src/main/deploy/choreo/center 3.3.traj diff --git a/src/main/deploy/choreo/3 center.traj b/src/main/deploy/choreo/center 3.traj similarity index 100% rename from src/main/deploy/choreo/3 center.traj rename to src/main/deploy/choreo/center 3.traj diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 47aadf7a..f916c36c 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -844,7 +844,7 @@ private Command autoCenter3() { return Commands.sequence( autoFenderShot(), swerve - .runChoreoTraj(Choreo.getTrajectory("3 center.1"), true) + .runChoreoTraj(Choreo.getTrajectory("center 3.1"), true) .asProxy() .deadlineWith(autoIntake()), autoIntake() @@ -856,7 +856,7 @@ private Command autoCenter3() { .withTimeout(1.0), autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), swerve - .runChoreoTraj(Choreo.getTrajectory("3 center.2")) + .runChoreoTraj(Choreo.getTrajectory("center 3.2")) .asProxy() .deadlineWith(autoIntake()), autoIntake() @@ -868,7 +868,7 @@ private Command autoCenter3() { .withTimeout(1.0), autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), swerve - .runChoreoTraj(Choreo.getTrajectory("3 center.3")) + .runChoreoTraj(Choreo.getTrajectory("center 3.3")) .asProxy() .deadlineWith(autoIntake()), autoIntake() From c61a316a8529d2283d90bfaf19f15545ab56dbb0 Mon Sep 17 00:00:00 2001 From: team computer Date: Sun, 29 Sep 2024 10:20:41 -0700 Subject: [PATCH 16/21] rename and generate source 3 -> source 4 --- choreo.chor | 2 +- .../deploy/choreo/{center 3.1.traj => center 4.1.traj} | 0 .../deploy/choreo/{center 3.2.traj => center 4.2.traj} | 0 .../deploy/choreo/{center 3.3.traj => center 4.3.traj} | 0 .../deploy/choreo/{center 3.traj => center 4.traj} | 0 src/main/java/frc/robot/Robot.java | 10 +++++----- 6 files changed, 6 insertions(+), 6 deletions(-) rename src/main/deploy/choreo/{center 3.1.traj => center 4.1.traj} (100%) rename src/main/deploy/choreo/{center 3.2.traj => center 4.2.traj} (100%) rename src/main/deploy/choreo/{center 3.3.traj => center 4.3.traj} (100%) rename src/main/deploy/choreo/{center 3.traj => center 4.traj} (100%) diff --git a/choreo.chor b/choreo.chor index 8e0e6cc2..02a137f0 100644 --- a/choreo.chor +++ b/choreo.chor @@ -28060,7 +28060,7 @@ "eventMarkers": [], "isTrajectoryStale": true }, - "center 3": { + "center 4": { "waypoints": [ { "x": 1.4015021324157715, diff --git a/src/main/deploy/choreo/center 3.1.traj b/src/main/deploy/choreo/center 4.1.traj similarity index 100% rename from src/main/deploy/choreo/center 3.1.traj rename to src/main/deploy/choreo/center 4.1.traj diff --git a/src/main/deploy/choreo/center 3.2.traj b/src/main/deploy/choreo/center 4.2.traj similarity index 100% rename from src/main/deploy/choreo/center 3.2.traj rename to src/main/deploy/choreo/center 4.2.traj diff --git a/src/main/deploy/choreo/center 3.3.traj b/src/main/deploy/choreo/center 4.3.traj similarity index 100% rename from src/main/deploy/choreo/center 3.3.traj rename to src/main/deploy/choreo/center 4.3.traj diff --git a/src/main/deploy/choreo/center 3.traj b/src/main/deploy/choreo/center 4.traj similarity index 100% rename from src/main/deploy/choreo/center 3.traj rename to src/main/deploy/choreo/center 4.traj diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f916c36c..99f3b3e0 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -453,7 +453,7 @@ public void robotInit() { autoChooser.addOption("Shoot Preload", teleopAutoAim()); autoChooser.addDefaultOption("Amp 4 Wing", autoAmp4Wing()); autoChooser.addOption("Source 3", autoSource3()); - autoChooser.addOption("Center 3", autoCenter3()); + autoChooser.addOption("Center 4", autoCenter4()); autoChooser.addOption("Amp 5", autoAmp5()); autoChooser.addOption("Source 4", autoSource4()); autoChooser.addOption("Line Test Repeatedly", lineTest()); @@ -840,11 +840,11 @@ private Command autoAmp5() { autoStaticAutoAim()); } - private Command autoCenter3() { + private Command autoCenter4() { return Commands.sequence( autoFenderShot(), swerve - .runChoreoTraj(Choreo.getTrajectory("center 3.1"), true) + .runChoreoTraj(Choreo.getTrajectory("center 4.1"), true) .asProxy() .deadlineWith(autoIntake()), autoIntake() @@ -856,7 +856,7 @@ private Command autoCenter3() { .withTimeout(1.0), autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), swerve - .runChoreoTraj(Choreo.getTrajectory("center 3.2")) + .runChoreoTraj(Choreo.getTrajectory("center 4.2")) .asProxy() .deadlineWith(autoIntake()), autoIntake() @@ -868,7 +868,7 @@ private Command autoCenter3() { .withTimeout(1.0), autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), swerve - .runChoreoTraj(Choreo.getTrajectory("center 3.3")) + .runChoreoTraj(Choreo.getTrajectory("center 4.3")) .asProxy() .deadlineWith(autoIntake()), autoIntake() From 1f642c441d57ceb51b749fbe4549caacb76596fe Mon Sep 17 00:00:00 2001 From: team computer Date: Sun, 29 Sep 2024 11:45:06 -0700 Subject: [PATCH 17/21] [center 4] move first stop point shot away from wall, q72 --- choreo.chor | 2215 +++++++++++++----------- src/main/deploy/choreo/center 4.1.traj | 671 ++++--- src/main/deploy/choreo/center 4.2.traj | 765 ++++---- src/main/deploy/choreo/center 4.3.traj | 769 ++++---- src/main/deploy/choreo/center 4.traj | 2129 ++++++++++++----------- 5 files changed, 3502 insertions(+), 3047 deletions(-) diff --git a/choreo.chor b/choreo.chor index 02a137f0..4c01eec3 100644 --- a/choreo.chor +++ b/choreo.chor @@ -28078,6 +28078,15 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, + "controlIntervalCount": 9 + }, + { + "x": 2.075350046157837, + "y": 4.360164165496826, + "heading": -0.533708602141933, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, "controlIntervalCount": 14 }, { @@ -28087,30 +28096,30 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 11 + "controlIntervalCount": 10 }, { - "x": 2.9206175804138184, - "y": 5.5130615234375, - "heading": 0.14756797074007866, + "x": 2.810619354248047, + "y": 5.6322150230407715, + "heading": 0.18164838967891364, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 15 + "controlIntervalCount": 12 }, { - "x": 2.021008014678955, - "y": 7.007328033447266, + "x": 2.157177448272705, + "y": 6.508133888244629, "heading": 0, "isInitialGuess": false, 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"moduleForcesY": [ - 22.81538982238073, - 23.221752664345384, - 21.508695963392192, - 21.894565620883082 + -16.33804890659345, + -16.838898924869497, + -13.577428279677779, + -14.183521442505858 ], - "timestamp": 5.274133334416134 + "timestamp": 5.311851881951698 }, { - "x": 2.8596270084381104, - "y": 6.999704360961915, - "heading": -0.027461342770395154, - "angularVelocity": -0.008388406765443529, - "velocityX": 0.31706745919666984, - "velocityY": -0.1395934675707037, + "x": 2.8731672763824463, + "y": 6.999098300933838, + "heading": 0.4266275995625518, + "angularVelocity": 0.015519425701905927, + "velocityX": 0.27068408979336367, + "velocityY": 0.035317880667813904, "moduleForcesX": [ - -64.76590607807921, - -64.6158756095251, - -65.15697508947473, - -65.01741451245994 + -68.85222618332939, + -68.74728425154547, + -69.24154633684182, + -69.1454169059897 ], "moduleForcesY": [ - 26.47522061163077, - 26.837605390916714, - 25.49694542258738, - 25.848954107534034 + -12.403847845099842, + -12.982110998649153, + -10.008033607336229, + -10.662885240301636 ], - "timestamp": 5.365831276797093 + "timestamp": 5.384121674546457 }, { - "x": 2.8596270084381104, - "y": 6.999704360961914, - "heading": -0.02746134277039515, - "angularVelocity": 1.6056171256353062e-18, - "velocityX": -1.8304903305133357e-17, - "velocityY": -4.784339232160718e-18, + "x": 2.8731672763824463, + "y": 6.999098300933838, + "heading": 0.4266275995625518, + "angularVelocity": 5.733280321426045e-22, + "velocityX": 4.854312894103748e-21, + "velocityY": -1.3121681595321098e-20, "moduleForcesX": [ - -63.93945199318899, - -63.793171888386496, - -64.29137064962106, - -64.1528183330455 + -69.27866045130386, + -69.19177764514303, + -69.54932705970307, + -69.47427349656373 ], "moduleForcesY": [ - 28.437823121296837, - 28.763444348886257, - 27.63256619914302, - 27.951659076114336 + -9.808624171483924, + -10.412359295598337, + -7.660954895057263, + -8.324479793607422 ], - "timestamp": 5.457529219178052 + "timestamp": 5.456391467141216 } ], "eventMarkers": [] From ce429eb4432b0cb8801ae4307d65a41046e5b04c Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 2 Nov 2024 16:18:48 -0700 Subject: [PATCH 18/21] TURNED OFF AUTO SIGNAL LOGGING + trace autoperiodic (#91) --- src/main/java/frc/robot/Robot.java | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 99f3b3e0..7f9eaada 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -141,6 +141,7 @@ public void setYaw(Rotation2d yaw) {} @Override public void robotInit() { + SignalLogger.enableAutoLogging(false); RoboRioDataJNI.setBrownoutVoltage(6.0); // Metadata about the current code running on the robot Logger.recordMetadata("Codebase", "Comp2024"); @@ -1042,4 +1043,9 @@ public void testInit() { private static double teleopAxisAdjustment(double x) { return MathUtil.applyDeadband(Math.abs(Math.pow(x, 2)) * Math.signum(x), 0.02); } + + @Override + public void autonomousPeriodic() { + Tracer.traceFunc("Auto Periodic", super::autonomousPeriodic); + } } From 3f42b2bc06d9fd839e85a4f0839254a39971573a Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 2 Nov 2024 16:21:44 -0700 Subject: [PATCH 19/21] Add tracer (#85) * responded to feedback * added credit --- src/main/java/frc/robot/Robot.java | 68 +++++------- .../swerve/PhoenixOdometryThread.java | 78 +++++++------- .../subsystems/swerve/SwerveSubsystem.java | 102 ++++++++++-------- src/main/java/frc/robot/utils/Tracer.java | 55 ++++------ 4 files changed, 146 insertions(+), 157 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7f9eaada..a18cba94 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -473,39 +473,38 @@ public void robotInit() { @Override public void robotPeriodic() { - Tracer.startTrace("RobotPeriodic"); - Tracer.traceFunc("CommandScheduler", CommandScheduler.getInstance()::run); - // Update ascope mechanism visualization - Logger.recordOutput( - "Mechanism Poses", - new Pose3d[] { - shooter.getMechanismPose(), elevator.getCarriagePose(), elevator.getFirstStagePose() + Tracer.trace( + "RobotPeriodic", + () -> { + Tracer.trace("CommandScheduler", CommandScheduler.getInstance()::run); + // Update ascope mechanism visualization + Logger.recordOutput( + "Mechanism Poses", + new Pose3d[] { + shooter.getMechanismPose(), elevator.getCarriagePose(), elevator.getFirstStagePose() + }); + Logger.recordOutput("Target", currentTarget); + Logger.recordOutput("AutoAim/Speaker", FieldConstants.getSpeaker()); + // Logger.recordOutput("Canivore Util", CANBus.getStatus("canivore").BusUtilization); + Logger.recordOutput( + "Angle to target", + Math.atan2( + FieldConstants.getSpeaker().getY() - swerve.getPose().getY(), + FieldConstants.getSpeaker().getX() - swerve.getPose().getX())); + Logger.recordOutput( + "AutoAim/Actual Distance", + swerve.getPose().minus(FieldConstants.getSpeaker()).getTranslation().getNorm()); }); - Logger.recordOutput("Target", currentTarget); - Logger.recordOutput("AutoAim/Speaker", FieldConstants.getSpeaker()); - // Logger.recordOutput("Canivore Util", CANBus.getStatus("canivore").BusUtilization); - Logger.recordOutput( - "Angle to target", - Math.atan2( - FieldConstants.getSpeaker().getY() - swerve.getPose().getY(), - FieldConstants.getSpeaker().getX() - swerve.getPose().getX())); - Logger.recordOutput( - "AutoAim/Actual Distance", - swerve.getPose().minus(FieldConstants.getSpeaker()).getTranslation().getNorm()); - - Tracer.endTrace(); } @Override public void loopFunc() { - Tracer.startTrace("Robot"); - Tracer.traceFunc("LoopFunc", super::loopFunc); - Tracer.endTrace(); + Tracer.trace("Robot/LoopFunc", super::loopFunc); } private void setUpLogging() { HashMap commandCounts = new HashMap<>(); - BiConsumer logCommandFunction = + final BiConsumer logCommandFunction = (Command command, Boolean active) -> { String name = command.getName(); int count = commandCounts.getOrDefault(name, 0) + (active ? 1 : -1); @@ -515,21 +514,12 @@ private void setUpLogging() { active.booleanValue()); Logger.recordOutput("Commands/CommandsAll/" + name, count > 0); }; - CommandScheduler.getInstance() - .onCommandInitialize( - (Command command) -> { - logCommandFunction.accept(command, true); - }); - CommandScheduler.getInstance() - .onCommandFinish( - (Command command) -> { - logCommandFunction.accept(command, false); - }); - CommandScheduler.getInstance() - .onCommandInterrupt( - (Command command) -> { - logCommandFunction.accept(command, false); - }); + + var scheduler = CommandScheduler.getInstance(); + + scheduler.onCommandInitialize(c -> logCommandFunction.accept(c, true)); + scheduler.onCommandFinish(c -> logCommandFunction.accept(c, false)); + scheduler.onCommandInterrupt(c -> logCommandFunction.accept(c, false)); } private Command shootWithDashboard() { diff --git a/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java index 880becce..7f369c19 100644 --- a/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java @@ -134,21 +134,23 @@ public void registerSignals(Registration... registrations) { } public List samplesSince(double timestamp) { - Tracer.startTrace("samples since"); - var readLock = journalLock.readLock(); - try { - readLock.lock(); - - return Tracer.traceFunc( - "stream timestamps", - () -> - journal.stream() - .filter(s -> s.timestamp > timestamp) - .collect(Collectors.toUnmodifiableList())); - } finally { - readLock.unlock(); - Tracer.endTrace(); - } + return Tracer.trace( + "samples since", + () -> { + var readLock = journalLock.readLock(); + try { + readLock.lock(); + + return Tracer.trace( + "stream timestamps", + () -> + journal.stream() + .filter(s -> s.timestamp > timestamp) + .collect(Collectors.toUnmodifiableList())); + } finally { + readLock.unlock(); + } + }); } @Override @@ -156,28 +158,30 @@ public void run() { while (true) { // Wait for updates from all signals var writeLock = journalLock.writeLock(); - Tracer.startTrace("Odometry Thread"); - Tracer.traceFunc( - "wait for all", - () -> BaseStatusSignal.waitForAll(2.0 / Module.ODOMETRY_FREQUENCY_HZ, signalArr)); - try { - writeLock.lock(); - var filteredSignals = - registeredSignals.stream() - .filter(s -> s.signal().getStatus().equals(StatusCode.OK)) - .collect(Collectors.toSet()); - journal.add( - new Samples( - timestampFor(filteredSignals), - filteredSignals.stream() - .collect( - Collectors.toUnmodifiableMap( - s -> new SignalID(s.type(), s.modID()), - s -> s.signal().getValueAsDouble())))); - } finally { - writeLock.unlock(); - } - Tracer.endTrace(); + Tracer.trace( + "Odometry Thread", + () -> { + Tracer.trace( + "wait for all", + () -> BaseStatusSignal.waitForAll(2.0 / Module.ODOMETRY_FREQUENCY_HZ, signalArr)); + try { + writeLock.lock(); + var filteredSignals = + registeredSignals.stream() + .filter(s -> s.signal().getStatus().equals(StatusCode.OK)) + .collect(Collectors.toSet()); + journal.add( + new Samples( + timestampFor(filteredSignals), + filteredSignals.stream() + .collect( + Collectors.toUnmodifiableMap( + s -> new SignalID(s.type(), s.modID()), + s -> s.signal().getValueAsDouble())))); + } finally { + writeLock.unlock(); + } + }); } } diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 936abef7..61bdbe18 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -373,53 +373,59 @@ public static VisionIO[] createSimCameras() { } public void periodic() { - Tracer.startTrace("SwervePeriodic"); - for (var camera : cameras) { - Tracer.traceFunc("Update cam inputs", camera::updateInputs); - Tracer.traceFunc("Process cam inputs", camera::processInputs); - } - Tracer.traceFunc( - "Update odo inputs", - () -> odoThread.updateInputs(odoThreadInputs, lastOdometryUpdateTimestamp)); - Logger.processInputs("Async Odo", odoThreadInputs); - if (!odoThreadInputs.sampledStates.isEmpty()) { - lastOdometryUpdateTimestamp = - odoThreadInputs.sampledStates.get(odoThreadInputs.sampledStates.size() - 1).timestamp(); - } - Tracer.traceFunc("update gyro inputs", () -> gyroIO.updateInputs(gyroInputs)); - for (int i = 0; i < modules.length; i++) { - Tracer.traceFunc( - "SwerveModule update inputs from " + modules[i].getPrefix() + " Module", - modules[i]::updateInputs); - } - Logger.processInputs("Swerve/Gyro", gyroInputs); - for (int i = 0; i < modules.length; i++) { - Tracer.traceFunc( - "SwerveModule periodic from " + modules[i].getPrefix() + " Module", modules[i]::periodic); - } - - // Stop moving when disabled - if (DriverStation.isDisabled()) { - for (var module : modules) { - module.stop(); - } - } - // Log empty setpoint states when disabled - if (DriverStation.isDisabled()) { - Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {}); - Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {}); - } + Tracer.trace( + "SwervePeriodic", + () -> { + for (var camera : cameras) { + Tracer.trace("Update cam inputs", camera::updateInputs); + Tracer.trace("Process cam inputs", camera::processInputs); + } + Tracer.trace( + "Update odo inputs", + () -> odoThread.updateInputs(odoThreadInputs, lastOdometryUpdateTimestamp)); + Logger.processInputs("Async Odo", odoThreadInputs); + if (!odoThreadInputs.sampledStates.isEmpty()) { + lastOdometryUpdateTimestamp = + odoThreadInputs + .sampledStates + .get(odoThreadInputs.sampledStates.size() - 1) + .timestamp(); + } + Tracer.trace("update gyro inputs", () -> gyroIO.updateInputs(gyroInputs)); + for (int i = 0; i < modules.length; i++) { + Tracer.trace( + "SwerveModule update inputs from " + modules[i].getPrefix() + " Module", + modules[i]::updateInputs); + } + Logger.processInputs("Swerve/Gyro", gyroInputs); + for (int i = 0; i < modules.length; i++) { + Tracer.trace( + "SwerveModule periodic from " + modules[i].getPrefix() + " Module", + modules[i]::periodic); + } - Logger.recordOutput("ShotData/Angle", AutoAimStates.curShotData.getRotation()); - Logger.recordOutput("ShotData/Left RPM", AutoAimStates.curShotData.getLeftRPS()); - Logger.recordOutput("ShotData/Right RPM", AutoAimStates.curShotData.getRightRPS()); - Logger.recordOutput("ShotData/Flight Time", AutoAimStates.curShotData.getFlightTimeSeconds()); - Logger.recordOutput("ShotData/Lookahead", AutoAimStates.lookaheadTime); + // Stop moving when disabled + if (DriverStation.isDisabled()) { + for (var module : modules) { + module.stop(); + } + } + // Log empty setpoint states when disabled + if (DriverStation.isDisabled()) { + Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {}); + Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {}); + } - Tracer.traceFunc("Update odometry", () -> updateOdometry()); - Tracer.traceFunc("update vision", () -> updateVision()); + Logger.recordOutput("ShotData/Angle", AutoAimStates.curShotData.getRotation()); + Logger.recordOutput("ShotData/Left RPM", AutoAimStates.curShotData.getLeftRPS()); + Logger.recordOutput("ShotData/Right RPM", AutoAimStates.curShotData.getRightRPS()); + Logger.recordOutput( + "ShotData/Flight Time", AutoAimStates.curShotData.getFlightTimeSeconds()); + Logger.recordOutput("ShotData/Lookahead", AutoAimStates.lookaheadTime); - Tracer.endTrace(); + Tracer.trace("Update odometry", this::updateOdometry); + Tracer.trace("update vision", this::updateVision); + }); } private void updateOdometry() { @@ -427,7 +433,6 @@ private void updateOdometry() { var sampleStates = odoThreadInputs.sampledStates; var i = 0; for (var sample : sampleStates) { - Tracer.startTrace("Sample " + i); i++; // Read wheel deltas from each module SwerveModulePosition[] modulePositions = new SwerveModulePosition[4]; @@ -476,7 +481,11 @@ private void updateOdometry() { Rotation2d.fromDegrees(sample.values().get(new SignalID(SignalType.GYRO, -1))); lastGyroRotation = rawGyroRotation; Logger.recordOutput("Odometry/Gyro Rotation", lastGyroRotation); - estimator.updateWithTime(sample.timestamp(), rawGyroRotation, lastModulePositions); + Tracer.trace( + "update estimator", + () -> + estimator.updateWithTime( + sample.timestamp(), rawGyroRotation, lastModulePositions)); } continue; } @@ -506,7 +515,6 @@ private void updateOdometry() { Logger.recordOutput("Odometry/Gyro Rotation", lastGyroRotation); // Apply update estimator.updateWithTime(sample.timestamp(), rawGyroRotation, modulePositions); - Tracer.endTrace(); } } diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java index 784f4689..5dfe9fae 100644 --- a/src/main/java/frc/robot/utils/Tracer.java +++ b/src/main/java/frc/robot/utils/Tracer.java @@ -9,8 +9,11 @@ import org.littletonrobotics.junction.Logger; /** - * A Utility class for tracing code execution time. Will put info to NetworkTables under the - * "Tracer" table. + * + * Thanks to oh-yes-0-fps and FRC 3173! + *

+ * + * A Utility class for tracing code execution time. Will put info to Advantagekit under "Tracer". * * 


  *
@@ -25,7 +28,6 @@
  * public void robotPeriodic() {
  *     Tracer.startTrace("RobotPeriodic");
  *     Tracer.traceFunc("CommandScheduler", scheduler::run);
- *     Tracer.traceFunc("Monologue", Monologue::updateAll);
  *     Tracer.endTrace();
  * }
  *
@@ -156,27 +158,6 @@ private static void endTrace(final TracerState state) {
     }
   }
 
-  /**
-   * Starts a trace, should be called at the beginning of a function thats not being called by user
-   * code. Should be paired with {@link Tracer#endTrace()} at the end of the function.
-   *
-   * 
Best used in periodic functions in Subsystems and Robot.java.
-   *
-   * @param name the name of the trace, should be unique to the function.
-   */
-  public static void startTrace(String name) {
-    startTrace(name, threadLocalState.get());
-  }
-
-  /**
-   * Ends a trace, should only be called at the end of a function thats not being called by user
-   * code. If a {@link Tracer#startTrace(String)} is not paired with a {@link Tracer#endTrace()}
-   * there could be a crash.
-   */
-  public static void endTrace() {
-    endTrace(threadLocalState.get());
-  }
-
   /**
    * Traces a function, should be used in place of {@link Tracer#startTrace(String)} and {@link
    * Tracer#endTrace()} for functions called by user code like {@code CommandScheduler.run()} and
@@ -184,13 +165,16 @@ public static void endTrace() {
    *
    * @param name the name of the trace, should be unique to the function.
    * @param runnable the function to trace.
-   * @apiNote If you want to return a value then use {@link Tracer#traceFunc(String, Supplier)}.
+   * @apiNote If you want to return a value then use {@link Tracer#trace(String, Supplier)}.
    */
-  public static void traceFunc(String name, Runnable runnable) {
+  public static void trace(String name, Runnable runnable) {
     final TracerState state = threadLocalState.get();
-    startTrace(name, state);
-    runnable.run();
-    endTrace(state);
+    try {
+      startTrace(name, state);
+      runnable.run();
+    } finally {
+      endTrace(state);
+    }
   }
 
   /**
@@ -201,11 +185,14 @@ public static void traceFunc(String name, Runnable runnable) {
    * @param name the name of the trace, should be unique to the function.
    * @param supplier the function to trace.
    */
-  public static  T traceFunc(String name, Supplier supplier) {
+  public static  T trace(String name, Supplier supplier) {
     final TracerState state = threadLocalState.get();
-    startTrace(name, state);
-    T ret = supplier.get();
-    endTrace(state);
-    return ret;
+    try {
+      startTrace(name, state);
+      T ret = supplier.get();
+      return ret;
+    } finally {
+      endTrace(state);
+    }
   }
 }

From cb18dc66eedeabf209fe51db5cca50c599e88e60 Mon Sep 17 00:00:00 2001
From: Lewis-Seiden 
Date: Sat, 2 Nov 2024 23:22:54 +0000
Subject: [PATCH 20/21] run spotless

---
 src/main/java/frc/robot/utils/Tracer.java | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java
index 5dfe9fae..15d2832a 100644
--- a/src/main/java/frc/robot/utils/Tracer.java
+++ b/src/main/java/frc/robot/utils/Tracer.java
@@ -9,11 +9,11 @@
 import org.littletonrobotics.junction.Logger;
 
 /**
- * 
- * Thanks to oh-yes-0-fps and FRC 3173!
- * 

- * 
- * A Utility class for tracing code execution time. Will put info to Advantagekit under "Tracer".
+ * Thanks to oh-yes-0-fps and FRC
+ * 3173!
+ *
+ * 
A Utility class for tracing code execution time. Will put info to Advantagekit under "Tracer".
  *
  * 

  *

From 267d65ed33f3f6f4698fc372e9e3f86b54b28eb5 Mon Sep 17 00:00:00 2001
From: Lewis-Seiden 
Date: Sat, 2 Nov 2024 16:53:48 -0700
Subject: [PATCH 21/21] update Tracer.java doc comment, fix autonomousPeriodic
 tracer logging

---
 src/main/java/frc/robot/Robot.java        |  2 +-
 src/main/java/frc/robot/utils/Tracer.java | 18 ++++++++----------
 2 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index a18cba94..614e401e 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -1036,6 +1036,6 @@ private static double teleopAxisAdjustment(double x) {
 
   @Override
   public void autonomousPeriodic() {
-    Tracer.traceFunc("Auto Periodic", super::autonomousPeriodic);
+    Tracer.trace("Auto Periodic", super::autonomousPeriodic);
   }
 }
diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java
index 15d2832a..f6def850 100644
--- a/src/main/java/frc/robot/utils/Tracer.java
+++ b/src/main/java/frc/robot/utils/Tracer.java
@@ -13,22 +13,24 @@
  * href="https://github.com/McQuaidRobotics/2024_Crescendo/blob/main/src/main/java/com/igknighters/util/Tracer.java">FRC
  * 3173!
  *
+ * 
A newer version of this class is being merged into WPILib for 2025, and should supersede this
+ * file once merged. The WPILib version may not support logging to akit the way we want, revisit
+ * then (might need to manually connect nt publishing to log)
+ *
  * 
A Utility class for tracing code execution time. Will put info to Advantagekit under "Tracer".
  *
  * 

  *
  * @Override
  * public void loopFunc() {
- *    Tracer.traceFunc("LoopFunc", super::loopFunc);
+ *    Tracer.trace("LoopFunc", super::loopFunc);
  * }
  *
  * 

  *
  * @Override
  * public void robotPeriodic() {
- *     Tracer.startTrace("RobotPeriodic");
- *     Tracer.traceFunc("CommandScheduler", scheduler::run);
- *     Tracer.endTrace();
+ *     Tracer.trace("CommandScheduler", scheduler::run);
  * }
  *
  * 

@@ -159,9 +161,7 @@ private static void endTrace(final TracerState state) {
   }
 
   /**
-   * Traces a function, should be used in place of {@link Tracer#startTrace(String)} and {@link
-   * Tracer#endTrace()} for functions called by user code like {@code CommandScheduler.run()} and
-   * other expensive functions.
+   * Traces a function.
    *
    * @param name the name of the trace, should be unique to the function.
    * @param runnable the function to trace.
@@ -178,9 +178,7 @@ public static void trace(String name, Runnable runnable) {
   }
 
   /**
-   * Traces a function, should be used in place of {@link Tracer#startTrace(String)} and {@link
-   * Tracer#endTrace()} for functions called by user code like {@code CommandScheduler.run()} and
-   * other expensive functions.
+   * Traces a function.
    *
    * @param name the name of the trace, should be unique to the function.
    * @param supplier the function to trace.