logger task
This commit is contained in:
franchioping
parent
79f2ac5450
commit
2618f7c431
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@ -0,0 +1,81 @@
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import io
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import re
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import matplotlib.pyplot as plt
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import pandas as pd
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from pandas.io.parsers.readers import csv
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# 1. Define your log file path
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file_path = "log.log"
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# 2. Extract and parse data
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cleaned_data = []
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import re
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def clean_and_extract_logs(log_lines):
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"""
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Cleans log lines of ANSI colors, filters by DCONT_DBG,
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and ensures lines contain only numbers, commas, and dots.
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"""
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ansi_escape = re.compile(r"\x1b\[[0-9;]*m")
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# This pattern matches strings containing only digits, commas, and dots
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# ^ = start of string, $ = end of string, + = at least one character
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allowed_pattern = re.compile(r"^[0-9,.\-]+$")
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csv_data = []
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for line in log_lines:
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clean_line = ansi_escape.sub("", line)
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if "DCONT_DBG:" in clean_line:
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parts = clean_line.split("DCONT_DBG:")
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if len(parts) > 1:
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row_values = parts[1].strip()
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# Only add to csv_data if it matches the strict pattern
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if allowed_pattern.match(row_values):
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csv_data.append(row_values + "\n")
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return csv_data
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with open(file_path, "r") as f:
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lines = f.readlines()
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clean = clean_and_extract_logs(lines)
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with open("out.csv", "w") as f:
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f.write(
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"rot_x,rot_y,rot_z,angvel_x,angvel_y,angvel_z,target_mot_x,target_mot_y,target_mot_z,target_angular_vel_x,target_angular_vel_y,target_angular_vel_z,target_rot_x,target_rot_y,target_rot_z\n"
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)
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f.writelines(clean)
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df = pd.read_csv("out.csv")
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# Define groups based on your header
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groups = {
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"Rotation": ["rot_x", "rot_y", "rot_z"],
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"Angular Velocity": ["angvel_x", "angvel_y", "angvel_z"],
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"Target Motors": ["target_mot_x", "target_mot_y", "target_mot_z"],
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"Target Angular Velocity": [
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"target_angular_vel_x",
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"target_angular_vel_y",
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"target_angular_vel_z",
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],
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"Target Rotation": ["target_rot_x", "target_rot_y", "target_rot_z"],
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}
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# Create subplots
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fig, axes = plt.subplots(len(groups), 1, figsize=(12, 18), sharex=True)
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# Plotting each group
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for ax, (title, columns) in zip(axes, groups.items()):
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for col in columns:
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ax.plot(df.index, df[col], label=col)
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ax.set_title(title)
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ax.legend(loc="upper right")
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ax.grid(True, linestyle="--", alpha=0.7)
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plt.xlabel("Time Index / Sample")
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plt.tight_layout()
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plt.show()
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@ -31,7 +31,7 @@
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openssl
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stdenv.cc.cc.lib
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libclang
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(pkgs.python3.withPackages
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(pkgs.python312.withPackages
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(python-pkgs: with python-pkgs; [ pandas matplotlib ]))
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] ++ (if system == "aarch64-darwin" then [ ] else [ gdb ]);
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shellHook = ''
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@ -0,0 +1,82 @@
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import io
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import re
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import matplotlib.pyplot as plt
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import pandas as pd
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from pandas.io.parsers.readers import csv
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# 1. Define your log file path
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file_path = "log.log"
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# 2. Extract and parse data
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cleaned_data = []
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import re
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def clean_and_extract_logs(log_lines):
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"""
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Cleans log lines of ANSI colors, filters by DCONT_DBG,
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and ensures lines contain only numbers, commas, and dots.
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"""
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ansi_escape = re.compile(r"\x1b\[[0-9;]*m")
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# This pattern matches strings containing only digits, commas, and dots
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# ^ = start of string, $ = end of string, + = at least one character
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allowed_pattern = re.compile(r"^[0-9,.\-]+$")
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csv_data = []
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for line in log_lines:
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clean_line = ansi_escape.sub("", line)
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if "DCONT_DBG:" in clean_line:
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parts = clean_line.split("DCONT_DBG:")
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if len(parts) > 1:
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row_values = parts[1].strip()
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# Only add to csv_data if it matches the strict pattern
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if allowed_pattern.match(row_values):
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csv_data.append(row_values + "\n")
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return csv_data
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with open(file_path, "r") as f:
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lines = f.readlines()
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clean = clean_and_extract_logs(lines)
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with open("out.csv", "w") as f:
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f.write(
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"millis,rot_x,rot_y,rot_z,angvel_x,angvel_y,angvel_z,target_mot_x,target_mot_y,target_mot_z,target_angular_vel_x,target_angular_vel_y,target_angular_vel_z,target_rot_x,target_rot_y,target_rot_z\n"
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)
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f.writelines(clean)
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df = pd.read_csv("out.csv")
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# Define groups based on your header
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groups = {
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"Rotation": ["rot_x", "rot_y", "rot_z"],
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"Angular Velocity": ["angvel_x", "angvel_y", "angvel_z"],
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"Target Motors": ["target_mot_x", "target_mot_y", "target_mot_z"],
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"Target Angular Velocity": [
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"target_angular_vel_x",
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"target_angular_vel_y",
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"target_angular_vel_z",
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],
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"Target Rotation": ["target_rot_x", "target_rot_y", "target_rot_z"],
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}
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# Create subplots
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fig, axes = plt.subplots(len(groups), 1, figsize=(12, 18), sharex=True)
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# Plotting each group
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for ax, (title, columns) in zip(axes, groups.items()):
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for col in columns:
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ax.plot(df.index, df[col], label=col)
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# ax.plot(df["millis"], df[col], label=col)
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ax.set_title(title)
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ax.legend(loc="upper right")
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ax.grid(True, linestyle="--", alpha=0.7)
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plt.xlabel("Time Index / Sample")
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plt.tight_layout()
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plt.show()
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
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@ -3,9 +3,16 @@
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#include "DShotRMT.h"
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "driver/rmt_tx.h"
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#include "drone_comms.h"
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#include "drone_controller.h"
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#include "esp_timer.h"
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#include "imu.h"
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#include "logger.h"
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#include "nav.h"
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#include "packet_handler.h"
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#include "sens_fus.h"
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#include "dshot_definitions.h"
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#include "esp32-hal.h"
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@ -15,10 +22,6 @@
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#include "freertos/idf_additions.h"
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#include "freertos/projdefs.h"
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#include "freertos/task.h"
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#include "imu.h"
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#include "nav.h"
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#include "packet_handler.h"
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#include "sens_fus.h"
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#include "soc/gpio_num.h"
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#include <algorithm>
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#include <cstdint>
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@ -44,24 +47,24 @@ dcont::ControllerConfig default_config() {
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// Velocity Loop (Velocity -> Acceleration/Rotation)
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config.stack.linvel_pid = {.kp = {1.0f, 1.0f, 1.0f},
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.ki = {0.01f, 0.01f, 0.01f},
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.ki = {0.00f, 0.00f, 0.00f},
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.kd = {0.0f, 0.0f, 0.0f},
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.frequency = 50.0f};
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// Rotation Loop (Rotation/Accel -> Angular Rate)
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config.stack.rotation_pid = {
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.kp = {1.0f, 10.0f, 2.0f},
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.ki = {0.01f, 1.0f, 0.02f},
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.kd = {0.1f, 0.0f, 0.0f},
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.integral_cap = {4.0f, 4.0f, 4.0f},
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.kp = {30.0f, 40.0f, 2.0f},
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.ki = {2.0f, 2.0f, 0.02f},
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.kd = {0.0f, 0.0f, 0.0f},
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.integral_cap = {10.0f, 10.0f, 4.0f},
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.frequency = 200.0f,
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};
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// Rate Loop (Angular Rate -> Torque) - The "Inner" Loop
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config.stack.rate_pid = {
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.kp = {0.0f, 0.5f, 0.0f},
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.kp = {0.066f, 0.066f, 0.66f},
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.ki = {0.00f, 0.00f, 0.0f},
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.kd = {0.000f, 0.000f, 0.0f},
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.kd = {0.01f, 0.01f, 0.0f},
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.integral_cap = {1.0f, 1.0f, 1.0f},
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.frequency = 500.0f,
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};
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@ -92,22 +95,26 @@ dcont::ControllerConfig default_config() {
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return config;
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}
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constexpr uint8_t wait_ms = 1000.0 / CONTROLLER_TASK_FREQUENCY;
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constexpr uint64_t wait_micro_sec = 1000000.0 / CONTROLLER_TASK_FREQUENCY;
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void drone_controller_task(void *params) {
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drone_cont = new drone_cont_state;
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drone_cont->init();
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while (true) {
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drone_cont->update();
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// char *csv_str = (char
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// *)dcont::debug_stacked(drone_cont->drone_controller,
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// drone_cont->last_input);
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//
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// ESP_LOGI("DCONT_DBG", "START%sEND", csv_str);
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// free(csv_str);
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const TickType_t xFrequency = pdMS_TO_TICKS(1);
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TickType_t xLastWakeTime = xTaskGetTickCount();
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int i = 0;
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vTaskDelay(pdMS_TO_TICKS(1));
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while (true) {
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i++;
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if (i > 20) {
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char *csv_str = (char *)dcont::debug_stacked(
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drone_cont->drone_controller, drone_cont->last_input, xTaskGetTickCount());
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xQueueSend(logQueue, csv_str, 0);
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i = 0;
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}
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xTaskDelayUntil(&xLastWakeTime, xFrequency);
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}
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}
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@ -138,7 +145,7 @@ void motor_throttles_task(void *params) {
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while (true) {
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for (int i = 0; i < 4; i++) {
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float throttle =
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std::clamp(motor_throttles[i], 0.0f, 1.0f) * 100.0f * 0.4f;
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std::clamp(motor_throttles[i], 0.0f, 1.0f) * 100.0f * 0.6f;
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if (atomic_load(&killswitch_active)) {
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throttle = 0.0;
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}
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@ -148,7 +155,7 @@ void motor_throttles_task(void *params) {
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i++;
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if (i >= 50) {
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ESP_LOGI("MOTORSSS", "throttles (%f,%f,%f,%f)", motor_throttles[0],
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ESP_LOGI("MOTORS", "throttles (%f,%f,%f,%f)", motor_throttles[0],
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motor_throttles[1], motor_throttles[2], motor_throttles[3]);
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i = 0;
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}
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10
main/drone.h
10
main/drone.h
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@ -166,15 +166,19 @@ struct drone_cont_state {
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xSemaphoreGive(controller_input_semaphore);
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auto inp = dcont::Input{.joystick = {.throttle_input = 0.5,
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auto inp =
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dcont::Input{.joystick = {.throttle_input = 0.5,
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.roll_input = cont_input.rx,
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.yaw_input = cont_input.lx,
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.pitch_input = cont_input.ry},
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.acceleration = {0.0, 0.0, 0.0},
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.rotation = {0.0, 0.0, 0.0},
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.velocity = {0.0, 0.0, 0.0},
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.velocity = {8 * cont_input.rx, 8 * cont_input.ry,
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8 * cont_input.ly},
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.position = {0.0, 0.0, 0.0},
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.mode = dcont::ModeInput::Rotation};
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.mode = dcont::ModeInput::Velocity};
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// ESP_LOGI("TEST", "(%f,%f), (%f,%f)", cont_input.lx, cont_input.ly,
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// cont_input.rx, cont_input.ry);
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dcont::set_input(drone_controller, inp);
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@ -0,0 +1,19 @@
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#include "logger.h"
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#include "esp_log.h"
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#include "esp_log_timestamp.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/idf_additions.h"
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void init_logging_queue() { logQueue = xQueueCreate(10, sizeof(char *)); }
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void logger_task(void *pvParameters) {
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char *string_to_log = nullptr;
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while (true) {
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if (xQueueReceive(logQueue, string_to_log, portMAX_DELAY) == pdTRUE) {
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ESP_LOGI("LOGGER", "DCONT_DBG: %s", string_to_log);
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free(string_to_log);
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}
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}
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}
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@ -0,0 +1,12 @@
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#pragma once
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#include "esp_log.h"
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#include "esp_log_timestamp.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/idf_additions.h"
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inline QueueHandle_t logQueue = nullptr;
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void init_logging_queue();
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void logger_task(void *pvParameters);
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@ -17,8 +17,10 @@
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#include "env_sens.h"
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#include "gps.h"
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#include "imu.h"
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#include "logger.h"
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#include "nav.h"
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#include "packet_handler.h"
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#include "portmacro.h"
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#include "radio.h"
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#include "sens_fus.h"
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#include "servo.h"
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@ -37,6 +39,17 @@ extern "C" void app_main(void) {
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gpio_install_isr_service(0);
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Serial.begin(115200);
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init_logging_queue();
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xTaskCreatePinnedToCore(logger_task, // Function name
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"logger_task", // Name for debugging
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2048, // Stack size in bytes
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NULL, // Parameters
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2, // Priority (higher = more urgent)
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NULL, // Task handle
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0 // Core ID
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);
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xTaskCreatePinnedToCore(radio_task, // Function name
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"radio_rxtx", // Name for debugging
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4096, // Stack size in bytes
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@ -51,24 +64,18 @@ extern "C" void app_main(void) {
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xTaskCreatePinnedToCore(gps_poll_task, "gps_poll", 8192, NULL, 5, NULL, 0);
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// vTaskDelay(5000);
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// for (int i = 0; i < 4; i++) {
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// motor_throttles[i] = 10.0;
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// vTaskDelay(2000);
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// motor_throttles[i] = 0.0;
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// }
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xTaskCreate(
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[](void *pvParameters) {
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while (true) {
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while (packet_rx_queue &&
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xQueueReceive(packet_rx_queue, &packet_data[0], 20)) {
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while (
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packet_rx_queue &&
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xQueueReceive(packet_rx_queue, &packet_data[0], portMAX_DELAY)) {
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handle_packet(&packet_data[0]);
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}
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vTaskDelay(10);
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vTaskDelay(1);
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}
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},
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"lambda_recv_task", 8192, NULL, 5, NULL);
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"task_recv_task", 8192, NULL, 5, NULL);
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setup_imu();
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