Merge branch 'main' into rlog-r2

Mechanical-Advantage · Mar 13, 2024 · 5768b56 · 5768b56
2 parents ad212a9 + ce678df
commit 5768b56
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Showing 2 changed files with 55 additions and 13 deletions.
diff --git a/junction/core/src/org/littletonrobotics/junction/LoggedRobot.java b/junction/core/src/org/littletonrobotics/junction/LoggedRobot.java
@@ -13,6 +13,10 @@
 
 package org.littletonrobotics.junction;
 
+import java.lang.management.GarbageCollectorMXBean;
+import java.lang.management.ManagementFactory;
+import java.util.List;
+
 import edu.wpi.first.hal.DriverStationJNI;
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -32,11 +36,11 @@
  * Notifier instance.
  */
 public class LoggedRobot extends IterativeRobotBase {
-
   public static final double defaultPeriodSecs = 0.02;
   private final int notifier = NotifierJNI.initializeNotifier();
   private final long periodUs;
   private long nextCycleUs = 0;
+  private final GcStatsCollector gcStatsCollector = new GcStatsCollector();
 
   private boolean useTiming = true;
 
@@ -113,6 +117,7 @@ public void startCompetition() {
       loopFunc();
       long userCodeEnd = Logger.getRealTimestamp();
 
+      gcStatsCollector.update();
       Logger.periodicAfterUser(userCodeEnd - userCodeStart, userCodeStart - periodicBeforeStart);
     }
   }
@@ -127,4 +132,27 @@ public void endCompetition() {
   public void setUseTiming(boolean useTiming) {
     this.useTiming = useTiming;
   }
+
+  private static final class GcStatsCollector {
+    private List<GarbageCollectorMXBean> gcBeans = ManagementFactory.getGarbageCollectorMXBeans();
+    private final long[] lastTimes = new long[gcBeans.size()];
+    private final long[] lastCounts = new long[gcBeans.size()];
+
+    public void update() {
+      long accumTime = 0;
+      long accumCounts = 0;
+      for (int i = 0; i < gcBeans.size(); i++) {
+        long gcTime = gcBeans.get(i).getCollectionTime();
+        long gcCount = gcBeans.get(i).getCollectionCount();
+        accumTime += gcTime - lastTimes[i];
+        accumCounts += gcCount - lastCounts[i];
+
+        lastTimes[i] = gcTime;
+        lastCounts[i] = gcCount;
+      }
+
+      Logger.recordOutput("LoggedRobot/GCTimeMS", (double) accumTime);
+      Logger.recordOutput("LoggedRobot/GCCounts", (double) accumCounts);
+    }
+  }
 }
diff --git a/junction/core/src/org/littletonrobotics/junction/Logger.java b/junction/core/src/org/littletonrobotics/junction/Logger.java
@@ -64,10 +64,11 @@ public class Logger {
   private static LogTable entry = new LogTable(0);
   private static LogTable outputTable;
   private static Map<String, String> metadata = new HashMap<>();
-  private static ConsoleSource console;
+  private static ConsoleSource console = null;
   private static List<LoggedDashboardInput> dashboardInputs = new ArrayList<>();
   private static Supplier<ByteBuffer[]> urclSupplier = null;
   private static boolean deterministicTimestamps = true;
+  private static boolean enableConsole = false;
 
   private static LogReplaySource replaySource;
   private static final BlockingQueue<LogTable> receiverQueue = new ArrayBlockingQueue<LogTable>(receiverQueueCapcity);
@@ -160,6 +161,13 @@ public static void disableDeterministicTimestamps() {
     deterministicTimestamps = false;
   }
 
+  /**
+   * Disables automatic console capture.
+   */
+  public static void disableConsoleCapture() {
+    enableConsole = false;
+  }
+
   /**
    * Returns whether a replay source is currently being used.
    */
@@ -176,10 +184,12 @@ public static void start() {
       running = true;
 
       // Start console capture
-      if (RobotBase.isReal()) {
-        console = new RIOConsoleSource();
-      } else {
-        console = new SimConsoleSource();
+      if (enableConsole) {
+        if (RobotBase.isReal()) {
+          console = new RIOConsoleSource();
+        } else {
+          console = new SimConsoleSource();
+        }
       }
 
       // Start replay source
@@ -217,10 +227,12 @@ public static void start() {
   public static void end() {
     if (running) {
       running = false;
-      try {
-        console.close();
-      } catch (Exception e) {
-        DriverStation.reportError("Failed to stop console capture.", true);
+      if (console != null) {
+        try {
+          console.close();
+        } catch (Exception e) {
+          DriverStation.reportError("Failed to stop console capture.", true);
+        }
       }
       if (replaySource != null) {
         replaySource.end();
@@ -316,9 +328,11 @@ static void periodicAfterUser(long userCodeLength, long periodicBeforeLength) {
       long autoLogStart = getRealTimestamp();
       AutoLogOutputManager.periodic();
       long consoleCaptureStart = getRealTimestamp();
-      String consoleData = console.getNewData();
-      if (!consoleData.isEmpty()) {
-        recordOutput("Console", consoleData.trim());
+      if (enableConsole) {
+        String consoleData = console.getNewData();
+        if (!consoleData.isEmpty()) {
+          recordOutput("Console", consoleData.trim());
+        }
       }
       long consoleCaptureEnd = getRealTimestamp();