Third Coast Recorder

A CLI tool to capture Third Coast telemetry to CSV files. An example of collected telemetry data is in this Jupyter notebook.

Installation

For this example, we'll build and install tcr in the application's Gradle build directory. You can then run tcr by specifying the full relative path.

$ # from the repository's top-level directory
$ ./gradlew install
$ ./app/build/install/tcr/bin/tcr`

If desired a installable distribution can be build by running the Gradle distTar or distZip task.

Usage

$ ./app/build/install/tcr/bin/tcr -h
Usage: tcr [OPTIONS] COMMAND [ARGS]...

Options:
  --generate-completion [bash|zsh|fish]
  -r, --robot-address ADDRESS      Address of robot providing telemetry
  -h, --help                       Show this message and exit

Commands:
  inventory     Print inventory to stdout.
  subscription  Print subscription template to stdout.
  capture       Start capture and run until the enter key is pressed.
  trigger       Trigger command and capture for DURATION milliseconds.

Capture Mode

Usage: tcr capture [OPTIONS]

  Start capture and run until the enter key is pressed.

  Subscription will be read from "subscription.json" by default. Use the
  "subscription" command to create a subscription JSON file for editing.

  Telemetry output is written to "tcr-<TIMESTAMP>.csv".

Options:
  -f, --subscription-from JSON  Specify subscription JSON file.
  -h, --help                    Show this message and exit

Set up a telemetry subscription using a generated subscription template:

$ # 10.27.67.2 is the default address, removing --robot-address(-r) in further examples
$ ./app/build/install/tcr/bin/tcr --robot-address 10.27.67.2 subscription > subscription.json

and edit it to select the desired telemetry measurements.

Example subscription.json

{
  "type": "start",
  "subscription": [
    {
      "itemId": 0,
      "measurementId": "OUTPUT_VOLTAGE"
    },
    {
      "itemId": 0,
      "measurementId": "OUTPUT_PERCENT"
    },
    {
      "itemId": 0,
      "measurementId": "SELECTED_SENSOR_VELOCITY"
    },
    {
      "itemId": 0,
      "measurementId": "BUS_VOLTAGE"
    }
  ]
}

You can determine itemId for the desired device by inspecting the output of:

$ ./app/build/install/tcr/bin/tcr inventory 

Example inventory.json

{
  "items": [
    {
      "id": 0,
      "type": "org.strykeforce.telemetry.measurable.TalonSRXMeasurable",
      "description": "TalonSRX 1"
    }
  ],
  "measures": ["..."]
}

Telemetry output is written to "tcr-TIMESTAMP.csv".

Example tcr-0318-110736.csv

timestamp,talonsrx_1__output_voltage,talonsrx_1__output_percentage,talonsrx_1__selected_sensor_velocity__pid_0_,talonsrx_1__bus_voltage
1937,3.277859237536657,0.24926686217008798,0.0,13.15
1942,3.277859237536657,0.24926686217008798,0.0,13.15
...

Enable the robot and start the telemetry data collection.

./app/build/install/tcr/bin/tcr capture
starting capture, press enter key to stop capture

stopped capture

Trigger and Capture Mode

Set up subscription.json the same way as in capture mode above.

$ ./app/build/install/tcr/bin/tcr trigger -h
Usage: tcr trigger [OPTIONS] DURATION

  Trigger command and capture for DURATION milliseconds.

  Subscription will be read from "subscription.json" by default. Use the
  "subscription" command to create a subscription JSON file for editing.

  Telemetry output is written to "tcr-<TIMESTAMP>.csv".

Options:
  -f, --subscription-from JSON  Specify subscription JSON file.
  -h, --help                    Show this message and exit

To trigger a command on the robot to start running during telemetry collection create a NetworkButton that watches the top-level Network Tables key /Trigger. For example:

var entry=NetworkTableInstance.getDefault().getEntry("Trigger");
        new NetworkButton(entry).whenPressed(new TalonRunCommand(talonSubsystem));

Enable the robot and trigger the telemetry data collection. For example to capture for 5000 msec, run:

./app/build/install/tcr/bin/tcr trigger 5000
starting capture
trigger
stopping capture