[AV-989] Create a versioning system for TARS log files

TARS/.gitignore

@@ -3,3 +3,5 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+
+src/mcu_main/gen/

TARS/data-parse/data_parser.cpp

@@ -0,0 +1,147 @@
+#if defined(__CLION_IDE__) || defined(__INTELLISENSE__)  // to make the IDE happy
+#include "common/packet.h"
+#else
+#include PACKET_INCLUDE_PATH
+#endif
+
+#include <fstream>
+#include <iostream>
+
+
+int main(int argc, char** argv) {
+    std::ifstream input{argv[1], std::ios::binary};
+    std::ostream& output = std::cout;
+
+    input.ignore(41);
+
+    output
+        << "has_lowG_data" << ","
+        << "lowG_data.ax" << ","
+        << "lowG_data.ay" << ","
+        << "lowG_data.az" << ","
+        << "lowG_data.gx" << ","
+        << "lowG_data.gy" << ","
+        << "lowG_data.gz" << ","
+        << "lowG_data.mx" << ","
+        << "lowG_data.my" << ","
+        << "lowG_data.mz" << ","
+        << "lowG_data.timeStamp_lowG" << ",";
+
+    output
+        << "has_highG_data" << ","
+        << "highG_data.ax" << ","
+        << "highG_data.ay" << ","
+        << "highG_data.az" << ","
+        << "highG_data.timeStamp_highG" << ",";
+
+
+    output
+        << "has_gps_data" << ","
+        << "gps_data.altitude" << ","
+        << "gps_data.fix_type" << ","
+        << "gps_data.latitude" << ","
+        << "gps_data.longitude" << ","
+        << "gps_data.posLock" << ","
+        << "gps_data.siv_count" << ","
+        << "gps_data.timeStamp_GPS" << ",";
+
+    output
+        << "has_barometer_data" << ","
+        << "barometer_data.temperature" << ","
+        << "barometer_data.altitude" << ","
+        << "barometer_data.pressure" << ","
+        << "barometer_data.timeStamp_barometer" << ",";
+
+    output
+        << "has_rocketState_data" << ",";
+    for (int i = 0; i < 4; i++) {
+        output << "rocketState_data.rocketState" << i << ",";
+    }
+    output << "rocketState_data.timeStamp_RS" << ",";
+
+    output
+        << "has_flap_data" << ","
+        << "flap_data.extension" << ","
+        << "flap_data.timeStamp_flaps" << ",";
+
+    output
+        << "has_state_data" << ","
+        << "state_data.state_x" << ","
+        << "state_data.state_vx" << ","
+        << "state_data.state_ax" << ","
+        << "state_data.state_apo" << ","
+        << "state_data.timeStamp_state" << ",";
+
+    output
+        << "has_voltage_data" << ","
+        << "voltage_data.v_battery" << "\n";
+
+    sensorDataStruct_t data;
+    while (input.read(reinterpret_cast<char*>(&data), sizeof(data))) {
+        output
+            << data.has_lowG_data << ","
+            << data.lowG_data.ax << ","
+            << data.lowG_data.ay << ","
+            << data.lowG_data.az << ","
+            << data.lowG_data.gx << ","
+            << data.lowG_data.gy << ","
+            << data.lowG_data.gz << ","
+            << data.lowG_data.mx << ","
+            << data.lowG_data.my << ","
+            << data.lowG_data.mz << ","
+            << data.lowG_data.timeStamp_lowG << ",";
+
+        output
+            << data.has_highG_data << ","
+            << data.highG_data.hg_ax << ","
+            << data.highG_data.hg_ay << ","
+            << data.highG_data.hg_az << ","
+            << data.highG_data.timeStamp_highG << ",";
+
+
+        output
+            << data.has_gps_data << ","
+            << data.gps_data.altitude << ","
+            << data.gps_data.fix_type << ","
+            << data.gps_data.latitude << ","
+            << data.gps_data.longitude << ","
+            << data.gps_data.posLock << ","
+            << data.gps_data.siv_count << ","
+            << data.gps_data.timeStamp_GPS << ",";
+
+        output
+            << data.has_barometer_data << ","
+            << data.barometer_data.temperature << ","
+            << data.barometer_data.altitude << ","
+            << data.barometer_data.pressure << ","
+            << data.barometer_data.timeStamp_barometer << ",";
+
+        output
+            << data.has_rocketState_data << ",";
+
+        for (int i = 0; i < 4; i++) {
+            output << (uint8_t) data.rocketState_data.rocketStates[i] << ",";
+        }
+
+        output << data.rocketState_data.timestamp << ",";
+
+        output
+            << data.has_flap_data << ","
+            << data.flap_data.extension << ","
+            << data.flap_data.timeStamp_flaps << ",";
+
+        output
+            << data.has_kalman_data << ","
+            << data.kalman_data.kalman_x << ","
+            << data.kalman_data.kalman_vx << ","
+            << data.kalman_data.kalman_ax << ","
+            << data.kalman_data.kalman_apo << ","
+            << data.kalman_data.timeStamp_state << ",";
+
+        output
+            << data.has_voltage_data << ","
+            << data.voltage_data.v_battery;
+
+        output << '\n';
+    }
+}

TARS/data-parse/parse.py

@@ -0,0 +1,57 @@
+import subprocess
+import argparse
+import pathlib
+from typing import IO
+
+def parse_arguments():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("file", type=pathlib.Path)
+    parser.add_argument("-p", "--packet", type=pathlib.Path, default=None)
+    parser.add_argument("-v", "--verbose", action="store_true")
+    parser.add_argument("-e", "--emit", choices=["csv"], default="csv")
+    parser.add_argument("-o", "--out", type=pathlib.Path, default=None)
+    return parser.parse_args()
+
+
+def main():
+    arguments = parse_arguments()
+    if arguments.packet is None:
+        arguments.packet = pathlib.Path(__file__).parent.parent / "src" / "common" / "packet.h"
+        if arguments.verbose:
+            print(f"Note: No packet.h file was specified, defaulting to {arguments.packet}")
+
+    if arguments.out is None:
+        arguments.out = arguments.file.with_suffix(".csv")   # fix this if we support json at some point
+        if arguments.verbose:
+            print(f"Note: No output file was specified, defaulting to {arguments.out}")
+
+    commit = subprocess.run(["git", "log", "-n", "1", "--pretty=format:%H", "--", arguments.packet], stdout=subprocess.PIPE).stdout.decode('utf-8')
+    if arguments.verbose:
+        print(f"Note: packet.h has version {commit}")
+
+    with arguments.file.open("rb") as data_file:
+        data_file: IO
+
+        raw_commit = data_file.read(41)[:40]
+        data_file_commit = raw_commit.decode("utf8")
+        if data_file_commit != commit:
+            print(f"Commits do not match (packet.h: {commit[:6]}, {arguments.file.name}: {data_file_commit[:6]})")
+            if arguments.verbose:
+                print(f"Note: {arguments.file.name} has raw version 0x{raw_commit.hex()}")
+                print(f"Note: This decodes to {data_file_commit}")
+            # return
+
+    cpp_parser = pathlib.Path(__file__).parent / "data_parser.cpp"
+    cpp_compiled_parser = pathlib.Path(__file__).parent / "data_parser"
+
+    if not cpp_compiled_parser.exists():
+        subprocess.run(["g++", cpp_parser, "-o", cpp_compiled_parser, "-O0", f"-DPACKET_INCLUDE_PATH=\"{arguments.packet}\""])
+
+    csv_data = subprocess.run([cpp_compiled_parser, arguments.file], stdout=subprocess.PIPE).stdout.decode('utf8', errors="ignore")
+    csv_data = csv_data.replace("\r\n", "\n")
+    with arguments.out.open("w") as output_file:
+        output_file.write(csv_data)
+
+
+if __name__ == '__main__':
+    main()

TARS/generate_git_hash.py

@@ -0,0 +1,31 @@
+# Script to generate `hash.h` file containing the latest commit hash that modified packet.h
+#
+# Autogenerates src/mcu_main/gen/git_hash.c
+
+import os, subprocess
+
+PACKET_H_PATH = "src/common/packet.h"
+FILE_PATH = "src/mcu_main/gen/git_hash.c"
+
+
+# Get the git hash  of the latest commit that modified packet.h
+git_command = ["git", "log", "-n", "1", "--pretty=format:%H", "--", PACKET_H_PATH]
+git_hash = subprocess.run(git_command, stdout=subprocess.PIPE).stdout.decode('utf-8')
+git_hash = git_hash[:-1]  # get rid of trailing new line
+
+
+# note: git hashes are always 40 characters
+file_contents = f"""
+/*
+ * Auto generated file containing the git hash of the latest commit that modified packet.h.
+ *
+ * See generate_git_hash.py
+ */
+char PACKET_H_GIT_HASH[41] = "{git_hash}";
+"""
+
+os.makedirs(os.path.dirname(FILE_PATH), exist_ok=True)
+with open(FILE_PATH, "w") as f:
+        f.write(file_contents)
+
+print(f"Wrote hash {git_hash} to file {FILE_PATH}")

TARS/platformio.ini

@@ -18,14 +18,14 @@ platform = teensy
 board = teensy41
 framework = arduino
 upload_protocol = teensy-cli
-extra_scripts = extra_script.py
+extra_scripts = extra_script.py, generate_git_hash.py
 build_flags = -Wno-deprecated-declarations -Wno-unused-local-typedefs -Wno-reorder ; turn off all the warnings from eigen
 lib_deps = 
   PaulStoffregen/PWMServo
   greiman/ChRt@^1.3.0
   sparkfun/SparkFun LSM9DS1 IMU@^2.0.0
 
-build_src_filter =  +<mcu_main/> +<common>
+build_src_filter =  +<mcu_main/> +<common> -<mcu_main/ISS_SILSIM>
 test_ignore = test_local 
 ; lib_ldf_mode = chain+
 

TARS/src/common/packet.h

@@ -1,12 +1,16 @@
 #pragma once
 
-#include "ChRt.h"
+//#include "ChRt.h"
+
+#include <cstdint>
+
+typedef uint32_t systime_t;
 
 /**
  * @brief Labels for each FSM state
  */
-enum class FSM_State {
-    STATE_INIT,
+enum FSM_State {
+    STATE_INIT = 0,
     STATE_IDLE,
     STATE_LAUNCH_DETECT,
     STATE_BOOST,

TARS/src/mcu_main/SDLogger.cpp

@@ -78,6 +78,10 @@ void SDLogger::init() {
         sd_file = SD.open(data_name, FILE_WRITE_BEGIN);
         // print header to file on sd card that lists each variable that is logged
         // sd_file.println("binary logging of sensor_data_t");
+
+        // Write the git hash of packet.h to the start of the file
+        sd_file.write((const uint8_t*)PACKET_H_GIT_HASH, sizeof(PACKET_H_GIT_HASH));
+
         sd_file.flush();
 
         Serial.println(sd_file.name());

TARS/src/mcu_main/SDLogger.h

@@ -5,6 +5,9 @@
 
 #include "mcu_main/dataLog.h"
 
+// Latest git hash of packet.h (see gen/git_hash.c)
+extern char PACKET_H_GIT_HASH[41];
+
 class SDLogger;
 extern SDLogger sd_logger;