Improve logging: add timestamps for each log. Add a new function to add other messages to the log file. Update swingup test to use new logging behavior.

2 files changed, 23 insertions, 7 deletions

diff --git a/System/system.py b/System/system.py
index 63d0ecc..8dd9f38 100644
--- a/System/system.py
+++ b/System/system.py
@@ -77,7 +77,7 @@ class System:
         self.result_filename = "Results/" + os.path.basename(sys.argv[0]).split('.')[0] + "_results.csv"

         

         result_file = open(self.result_filename, "w+")

-        result_file.write("angle(" + angular_units + "),position(inches),speed(percentage)\n")

+        result_file.write("timestamp,angle(" + angular_units + "),position(inches),speed(percentage)\n")

         result_file.close()

         

         # Setup a thread to constantly be measuring encoder positions

@@ -173,7 +173,7 @@ class System:
                     self.motor.brake()

                     # Print negative soft limit violation to the results file.

                     result_file = open(self.result_filename, "a")

-                    result_file.write("Negative software limit %f has been reached!" % self.negative_soft_limit)

+                    result_file.write("Negative software limit %f has been reached!\n" % self.negative_soft_limit)

                     result_file.close()

                     # Fire the limit trigger method

                     self.sw_limit_routine()

@@ -185,7 +185,7 @@ class System:
                     self.motor.brake()

                     # Print positive soft limit violation to the results file.

                     result_file = open(self.result_filename, "a")

-                    result_file.write("Positive software limit %f has been reached!" % self.positive_soft_limit)

+                    result_file.write("Positive software limit %f has been reached!\n" % self.positive_soft_limit)

                     result_file.close()

                     # Fire the limit trigger method

                     self.sw_limit_routine()

@@ -220,13 +220,24 @@ class System:
         # open the results file

         result_file = open(self.result_filename, "a")

         # Write the results

-        result_file.write("%f," % angle)    # Write angle

-        result_file.write("%f," % position) # Write position

-        result_file.write("%f\n" % speed)   # Write speed (end of line)

+        result_file.write("%s," % datetime.now().strftime("%H:%M:%S.%f"))   # Write current time

+        result_file.write("%f," % angle)                                    # Write angle

+        result_file.write("%f," % position)                                 # Write position

+        result_file.write("%f\n" % speed)                                   # Write speed (end of line)

         # Close the results file

         result_file.close()

     # END add_results

     

+    def add_log(self, message):

+        # open the results file

+        result_file = open(self.result_filename, "a")

+        # Write the log

+        result_file.write("%s\n" % message)

+        # re-write the csv headers for next logging

+        result_file.write("timestamp,angle(" + self.angular_units + "),position(inches),speed(percentage)\n")

+        # Close the results file

+        result_file.close()

+    

     # Go back to the zero position (linear) so that the next execution starts in the correct place.

     def return_home(self):

         position = self.linear_position

diff --git a/System/system_swingup_test_2.py b/System/system_swingup_test_2.py
index 5c0ac5a..cb646ef 100644
--- a/System/system_swingup_test_2.py
+++ b/System/system_swingup_test_2.py
@@ -156,6 +156,10 @@ class SwingUpEnv():
         

     def end(self):

         self.sys.deinitialize()

+        

+    def log(self, message):

+        self.sys.add_log(message)

+        print(message)

 

 

 class nnQ(pt.nn.Module):

@@ -368,7 +372,8 @@ try:
             R.append(C)

         UpTime.append(max_up_time)

         #print('t:',ep+1,', R:',C,', L:',t-1,', G:',G,', Q:', Q_est, 'U:', max_up_time)

-        print('Episode:',ep, 'Total Steps:',step, ', Ave. Reward:',C, ', Episode Length:',t-1, 'Max Up-Time:',max_up_time)

+        log = "Episode:" + str(ep) + "   Total Steps:" + str(step) + "   Ave. Reward:" + str(C) + "   Episode Length:" + str(t-1) + "   Max Up-Time:" + str(max_up_time)

+        env.log(log)

 except:

     env.end()

     exit(-1)