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Feature/joystick rough terrain (#433)
* Added a feature to use the joystick to walk in multiple directions with Continuous Hiking, and a bunch of cleanup * Bunch of changes, started looking at adding a ContinuousHikingLogger to log to a file to try and determine when things are going wrong * Added ContinuousHikingLogger to log to the files and only keep a certain amount of logs so we don't blow up storage * Fixed null pointer exception * Removed the backward parameter, we aren't ready for it * Cleanup and document the ContinuousPlannerTools * Put things back where they belong * Added comment for the logging class * More logging information * Cleanup on the turning joystick walking, fixed a z height issue, and increased the lattice radius options * Remove unused import * Changes that need to go through in another PR
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134 changes: 134 additions & 0 deletions
134
...level-behaviors/src/main/java/us/ihmc/behaviors/activeMapping/ContinuousHikingLogger.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| package us.ihmc.behaviors.activeMapping; | ||
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| import us.ihmc.commons.exception.DefaultExceptionHandler; | ||
| import us.ihmc.commons.nio.FileTools; | ||
| import us.ihmc.commons.nio.WriteOption; | ||
| import us.ihmc.log.LogTools; | ||
| import us.ihmc.tools.IHMCCommonPaths; | ||
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| import java.io.File; | ||
| import java.io.IOException; | ||
| import java.nio.file.Files; | ||
| import java.nio.file.Path; | ||
| import java.nio.file.Paths; | ||
| import java.text.SimpleDateFormat; | ||
| import java.util.Comparator; | ||
| import java.util.Date; | ||
| import java.util.SortedSet; | ||
| import java.util.TreeSet; | ||
| import java.util.stream.Stream; | ||
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| /** | ||
| * This class is meant to provide a way to log print statements to a file. | ||
| * It's used throughout the Continuous Hiking process to help with debugging. | ||
| * By logging to a file often the details of the process, we can attempt to determine how things are going wrong. | ||
| * Writing unit tests for a UI is tricky and when this class was written, a testing structure didn't exist, so this was the next best option | ||
| */ | ||
| public class ContinuousHikingLogger | ||
| { | ||
| private static final int NUMBER_OF_LOGS_TO_KEEP = 100; | ||
| private File file; | ||
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| private static final String CONTINUOUS_HIKING_FILE_SUFFIX = "ContinuousHikingLog.txt"; | ||
| private static final SimpleDateFormat dateFormat = new SimpleDateFormat("yyyyMMdd_HHmmss"); | ||
| private static final String logFileName = dateFormat.format(new Date()) + "_" + CONTINUOUS_HIKING_FILE_SUFFIX; | ||
| private static final String filePath = IHMCCommonPaths.CONTINUOUS_HIKING_DIRECTORY.resolve(logFileName).toString(); | ||
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| StringBuilder additionalString = new StringBuilder(); | ||
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| public ContinuousHikingLogger() | ||
| { | ||
| FileTools.ensureDirectoryExists(IHMCCommonPaths.CONTINUOUS_HIKING_DIRECTORY, DefaultExceptionHandler.MESSAGE_AND_STACKTRACE); | ||
| deleteOldLogs(); | ||
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| try | ||
| { | ||
| if(!Files.exists(IHMCCommonPaths.CONTINUOUS_HIKING_DIRECTORY)) | ||
| { | ||
| Files.createDirectory(IHMCCommonPaths.CONTINUOUS_HIKING_DIRECTORY); | ||
| } | ||
| if (!Files.exists(IHMCCommonPaths.TERRAIN_MAP_DIRECTORY.resolve(logFileName))) | ||
| { | ||
| Files.createFile(Paths.get(filePath)); | ||
| file = new File(filePath); | ||
| } | ||
| } | ||
| catch (IOException e) | ||
| { | ||
| throw new RuntimeException(e); | ||
| } | ||
| } | ||
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| public void logToFile(boolean logToFile, boolean printToConsole) | ||
| { | ||
| if (logToFile || printToConsole) | ||
| { | ||
| if (printToConsole) | ||
| System.out.println(this); | ||
|
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| if (logToFile) | ||
| { | ||
| FileTools.write(file.getAbsoluteFile().toPath(), toString().getBytes(), WriteOption.APPEND, DefaultExceptionHandler.MESSAGE_AND_STACKTRACE); | ||
| } | ||
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| additionalString.setLength(0); | ||
| } | ||
| } | ||
|
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| public String toString() | ||
| { | ||
| StringBuilder builder = new StringBuilder(); | ||
| builder.append("\n"); | ||
|
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| builder.append("]\n"); | ||
| builder.append(additionalString.toString()).append("\n"); | ||
|
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| return builder.toString(); | ||
| } | ||
|
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| public void appendString(String string) | ||
| { | ||
| additionalString.append(String.format("[%s]: (", new SimpleDateFormat("HH:mm:ss.SSS").format(new Date()))); | ||
| additionalString.append(string); | ||
| additionalString.append(")\n"); | ||
| } | ||
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| /** Keeps around the recommended number of logs. */ | ||
| public static void deleteOldLogs() | ||
| { | ||
| deleteOldLogs(NUMBER_OF_LOGS_TO_KEEP, IHMCCommonPaths.CONTINUOUS_HIKING_DIRECTORY.toString()); | ||
| } | ||
|
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| /** | ||
| * It's recommended to leave quite a few logs around, otherwise, we diminish the usefulness of the logging. | ||
| * This method expects the folder to exist or it will throw an exception | ||
| */ | ||
| public static void deleteOldLogs(int numberOfLogsToKeep, String directory) | ||
| { | ||
| SortedSet<Path> sortedLogFolderPaths = new TreeSet<>(Comparator.comparing(path1 -> path1.getFileName().toString())); | ||
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| try (Stream<Path> paths = Files.walk(Path.of(directory))) | ||
| { | ||
| paths.filter(Files::isRegularFile).forEach(dir -> | ||
| { | ||
| if (dir.getFileName().toString().endsWith(ContinuousHikingLogger.CONTINUOUS_HIKING_FILE_SUFFIX)) | ||
| { | ||
| sortedLogFolderPaths.add(dir); | ||
| } | ||
| }); | ||
| } | ||
| catch (IOException e) | ||
| { | ||
| throw new RuntimeException(e); | ||
| } | ||
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| while (sortedLogFolderPaths.size() > numberOfLogsToKeep) | ||
| { | ||
| Path earliestLogDirectory = sortedLogFolderPaths.first(); | ||
| LogTools.warn("Deleting old log {}", earliestLogDirectory); | ||
| FileTools.deleteQuietly(earliestLogDirectory); | ||
| sortedLogFolderPaths.remove(earliestLogDirectory); | ||
| } | ||
| } | ||
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| } |
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