From 50c1d34f709997fbac75e94940d247e6c48ef45a Mon Sep 17 00:00:00 2001
From: Raspberry Pi <raspberrypi@umn.edu>
Date: Tue, 26 Nov 2019 19:55:38 -0600
Subject: 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.

---
 System/system.py                | 23 +++++++++++++++++------
 System/system_swingup_test_2.py |  7 ++++++-
 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)
-- 
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