data_recorder.py

# This script is licensed under BSD License, see file LICENSE.txt, or search for `License` in the SDK online help.
# (c) TASKING Germany GmbH, 2023
#
# This script demonstrates recording of watch expressions and variables
# using slower but more flexible evaluator and fast batch access.
# The recorded data is then written to CSV file. If the 'openpyxl'
# module is installed, the data is also written to XLSX file.
#
# All the above functionality is grouped into functions, so you can
# easily take out only part of the script. This script can also be
# imported as a module to user's scripts, so it is easy to reuse
# functions found here.
# 
# See also data_recorder_with_daq.py
 
import csv
import time
import isystem.connect as ic
 
winidea_id = ''
 
 
try:
    import pylab as pl
    isPyLabInstalled = True
except ImportError as ex:
    isPyLabInstalled = False
 
 
def initTarget(cmgr):
    """
    This function initializes the target. Customize it according to
    your needs.
    """
 
    debugCtrl = ic.CDebugFacade(cmgr)
 
    debugCtrl.reset()
    debugCtrl.runUntilFunction("main")
    debugCtrl.waitUntilStopped()
 
    debugCtrl.run()
    
    return debugCtrl
 
 
def recordWatchExpressions(debugCtrl,
                           watches,
                           recordingTimeInSeconds,
                           samplingInterval,
                           fileName,
                           isRecordToMemory,
                           isPrintToStdOut):
    """
    This function evaluates watch expressions and returns list of results. The
    amount of data that can be recorded is limited by the amount of system
    memory.
 
    Parameters:
 
    debugCtrl - iSYSTEM's debugCtrl controller, which provides access to target
    
    watches - list of strings with watch expressions, for example
                       ['main_loop_counter,h', 'g_arrayInt[0]']
              
    recordingTime - how long to record the expressions, in
                       seconds. Recording can also be terminated by
                       pressing the 'q' key
 
    samplingInterval - defines how much time should pass between samples
                             
    isPrintToStdOut  - if True, each row is printed to stdout during recording
    
    Returns:
    List of rows, where each row is a list containing time stamp and recorded
    values in the same order as watch expressions were specified. Example for
    three expressions:
    [[0, 23, 45, 4.35],
    [0.1, 24, -525, 1.78]
    ]
 
    """
 
    startTime = time.time()
    endTime = startTime + recordingTimeInSeconds
 
    if isPrintToStdOut:
        print(['Time'] + watches)
        
    recordedData = []
    sampleCounter = 0
 
    while (time.time() < endTime):
 
        currentTime =  time.time() - startTime
        row = [currentTime]
 
        for expression in watches:
 
            value = debugCtrl.evaluate(ic.IConnectDebug.fRealTime, expression)
            # CValueType contains also other methods, if you want to get
            # value as integer, float, ... See
            # http://isystem.com/files/isystem.connect/api/classisys_1_1_c_value_type.html
            row.append(value.getResult())
 
        if isPrintToStdOut:
            print(row)
 
        if isRecordToMemory:
            recordedData.append(row)
 
        sampleCounter += 1
        nextSamplingTime = startTime + samplingInterval * sampleCounter
        sleepTime = nextSamplingTime - time.time()
        if sleepTime > 0:
            time.sleep(sleepTime)
 
    return recordedData
 
 
def recordWatchExpressionsToCSV(debugCtrl,
                                watches,
                                recordingTimeInSeconds,
                                samplingInterval,
                                fileName,
                                isRecordToMemory,
                                isPrintToStdOut):
    """
    This function evaluates watch expressions and writes them to CSV file.
    If isRecordToMemory == False, the amount of data that can be recorded is
    limited by the free disk size.
 
    Parameters:
 
    debugCtrl - iSYSTEM's debugCtrl controller, which provides access to target
    
    watches - list of strings with watch expressions, for example
                       ['main_loop_counter,h', 'g_arrayInt[0]']
              
    recordingTime - how long to record the expressions, in
                       seconds. Recording can also be terminated by
                       pressing the 'q' key
 
    samplingInterval - defines how much time should pass between samples
                             
    fileName - name of the output CSV file.
                 
    isRecordToMemory - if True, then data is also stored into memory
                       array and returned as function return value. Be
                       aware of memory usage in this case. If false,
                       an empty list is returned.
 
    isPrintToStdOut  - if True, each row is printed to stdout during recording
    
    Returns:
    List of rows, where each row is a list containing time stamp and recorded
    values in the same order as watch expressions were specified. Example for
    three expressions:
    [[0, 23, 45, 4.35],
    [0.1, 24, -525, 1.78]
    ]
    
    If isRecordToMemory == False, an empty list is returned.
    
    """
 
    startTime = time.time()
    endTime = startTime + recordingTimeInSeconds
 
    recordedData = []
    
    with open(fileName, 'w') as csvFile:
 
        # add parameter dialect = 'excel' for Excel specific output
        # See also http://docs.python.org/library/csv.html
        # for configuring CSV output
        csvWriter = csv.writer(csvFile)
        # write header
        header = ['Time'] + watches
        print(header)
        csvWriter.writerow(header)
        sampleCounter = 0
 
        while (time.time() < endTime):
 
            currentTime = time.time() - startTime
            row = [currentTime]
 
            for expression in watches:
 
                print('expression: ', expression)
                value = debugCtrl.evaluate(ic.IConnectDebug.fRealTime, expression)
                # CValueType contains also other methods, if you want to get
                # value as integer, float, ... See
                # http://isystem.com/files/isystem.connect/api/classisys_1_1_c_value_type.html
                row.append(value.getResult())
 
            csvWriter.writerow(row)
 
            if isPrintToStdOut:
                print(row)
            
            if isRecordToMemory:
                recordedData.append(row)
 
            sampleCounter += 1
            nextSamplingTime = startTime + samplingInterval * sampleCounter
            sleepTime = nextSamplingTime - time.time()
            if sleepTime > 0:
                time.sleep(sleepTime)
 
    return recordedData
 
 
def recordBatch(cmgr,
                dbgCtrl,
                variables,
                recordingTimeInSeconds,
                samplingIntervalInSeconds):
    """
    This function runs batch access and returns recorded data as a list of
    SBatchAccessItemResult structures.
    The amount of data that can be recorded is limited by the amount of system
    memory.
    
    Parameters:
 
    cmgr      - iSYSTEM's connection manager, which provides connection to target
    debugCtrl - iSYSTEM's debugCtrl controller, which provides access to target
    
    variables - list of strings with variables, for example
                       ['main_loop_counter', 'g_baseStruct.i_base']
              
    recordingTime - how long to record the expressions, in
                       seconds. 
 
    samplingInterval - defines how much time should pass between samples
                             
    Returns:
    A list of SBatchAccessItemResult structures, one structure per variable
    per time stamp.
    """
 
    numItems = len(variables)
    numRuns = int(recordingTimeInSeconds / samplingIntervalInSeconds)
 
    # Set parameters for batch access.  If your target does not
    # support real time access, use 'flStopResume' instead of
    # 'flRealTime'.
    header = ic.SBatchAccessHeader()
    header.m_dwFlags = (ic.SBatchAccessHeader.flRealTime |
                        ic.SBatchAccessHeader.flWantTimeStamp)
    header.m_dwNumItems = numItems
    header.m_dwNumRuns = numRuns
    header.m_qwStartAtTime = 0   # immediate start
    header.m_qwRunInterval = int(samplingIntervalInSeconds * 1000000)
 
    ba_items = ic.VectorBatchAccessItem()
    itemSizes = []
 
    for var in variables:
        item = ic.SBatchAccessItem()
 
        varInfo = dbgCtrl.getSymbolInfo(ic.IConnectDebug.fRealTime, var)
        
        # Define item(s) to be accessed
        item.m_byFlags = ic.SBatchAccessItem.flRead    # it's a read
        item.m_bySize = varInfo.getSizeMAUs()          # var size
        item.m_byMemArea = varInfo.getMemArea()        # var memory space 
        item.m_aAddress = varInfo.getAddress()         # var address
        ba_items.push_back(item)
        itemSizes.append(varInfo.getSizeMAUs())
 
 
    ba_results = ic.VectorBatchAccessResult(numItems * numRuns)
    dataCtrl = ic.CDataController(cmgr)
 
    # Finally we record the data
    dataCtrl.batchAccess(0, header, ba_items, ba_results)
 
    return ba_results, itemSizes
 
 
def bigEndian2Int(numBytes, cArray):
    """ Converts big-endian seq. of bytes to integer. """
 
    value = 0
    for i in range(numBytes):
        value <<= 8
        value |= ic.CDataController.getByte(cArray, i)
 
    return value
 
 
def batchAccessResultToCSV(fileName, ba_results, itemSizes, variables):
    """
    Writes results of batchAccess() to CSV file. Uses big endian conversion.
 
    Parameters:
    fileName - then name of the output file
    ba_results - results returned by function recordBatch()
    itemSizes - results returned by function recordBatch()
    """
 
    numItems = len(itemSizes)
    numRuns = int(ba_results.size() / numItems)
    
    firstAccess = ba_results[0].m_qwTimeStamp
 
    with open(fileName, 'w') as csvFile:
 
        csvWriter = csv.writer(csvFile)
 
        # write header
        csvWriter.writerow(['Time'] + variables)
        
        for runIdx in range(numRuns):
 
            row = [(ba_results[runIdx * numItems].m_qwTimeStamp - firstAccess)/1000000.]
 
            for varIdx in  range(numItems):
                result = ba_results[runIdx * numItems + varIdx]
 
                if (result.m_byResult == ic.SBatchAccessItemResult.resOK):
                    value = bigEndian2Int(itemSizes[varIdx], result.m_abyData)
                    row.append(value)
 
                elif (result.m_byResult == ic.SBatchAccessItemResult.resAccess):
                    row.append('Can not access. Check access flags in header!')
                elif (result.m_byResult == ic.SBatchAccessItemResult.resTimeout):
                    row.append('Timeout! Probably the sampling rate is invalid!')
                else:
                    row.append('Invalid error code: ' + str(result.m_byResult))
 
            csvWriter.writerow(row)
 
 
def batchAccessResultToList(ba_results, itemSizes):
    """
    Converts results of batchAccess() to Python list. Uses big endian conversion.
 
    Parameters:
    fileName - then name of the output file
    ba_results - results returned by function recordBatch()
    itemSizes - results returned by function recordBatch()
    """
 
    numItems = len(itemSizes)
    numRuns = int(ba_results.size() / numItems)
    
    firstAccess = ba_results[0].m_qwTimeStamp
    recordedData = []
    
    for runIdx in range(numRuns):
 
        row = [(ba_results[runIdx * numItems].m_qwTimeStamp - firstAccess)/1000000.]
 
        for varIdx in range(numItems):
            result = ba_results[runIdx * numItems + varIdx]
 
            if (result.m_byResult == ic.SBatchAccessItemResult.resOK):
                value = bigEndian2Int(itemSizes[varIdx], result.m_abyData)
                row.append(value)
 
            elif (result.m_byResult == ic.SBatchAccessItemResult.resAccess):
                row.append('Can not access. Check access flags in header!')
            elif (result.m_byResult == ic.SBatchAccessItemResult.resTimeout):
                row.append('Timeout! Probably the sampling rate is invalid!')
            else:
                row.append('Invalid error code: ' + str(result.m_byResult))
 
        recordedData.append(row)
 
    return recordedData
 
 
def writeDatatoCSV(fileName, data, expressions):
    with open(fileName, 'w', neline='') as csvFile:
        csvWriter = csv.writer(csvFile)
        # write header
        csvWriter.writerow(['Time'] + expressions)
 
        for row in data:
            csvWriter.writerow(row)
 
        
def main():
    cmgr = ic.ConnectionMgr()
    cmgr.connect(ic.CConnectionConfig().instanceId(winidea_id))
 
    debugCtrl = initTarget(cmgr)
    ideCtrl = ic.CIDEController(cmgr)
    
    # required so that character codes are UTF-8 compliant
    ideCtrl.setOption('/IDE/Debug.Symbols.Format.ANSI', True)
 
    # watches can contain all expressions acceptable in winIDEA's Watch
    # window. For example, to read input from IO module, one can 
    # evaluate expression: `DigitalIn.DIN0
    # Modifiers 'd' and 'h' define hex or decimal values
    watches = ['main_loop_counter,h', 'g_intArray1[0],d', 'g_complexStruct.m_struct.i_base,d']
    recordingTimeInSeconds = 5
    samplingIntervalInSeconds = 0.2
    filePrefix = 'watches'
    isRecordToMemory = True
    isPrintToStdOut = True
    print('Recording watch expressions:')
    watchResults = recordWatchExpressionsToCSV(debugCtrl,
                                               watches,
                                               recordingTimeInSeconds,
                                               samplingIntervalInSeconds,
                                               filePrefix + '.csv',
                                               isRecordToMemory,
                                               isPrintToStdOut)
 
    filePrefix = 'batch'
    # Variables allocated in memory can be specified here
    variables = ['main_loop_counter', 'g_intArray1[0]', 'g_complexStruct.m_struct.i_base']
    # start from 0
    debugCtrl.modify(ic.IConnectDebug.fRealTime, 'main_loop_counter', '0')
    samplingIntervalInSeconds = 0.5
    
    print('Recording with batch access...')
    batchResults, itemSizes = recordBatch(cmgr,
                                          debugCtrl,
                                          variables,
                                          recordingTimeInSeconds,
                                          samplingIntervalInSeconds)
 
    batchAccessResultToCSV(filePrefix + '.csv', batchResults,
                           itemSizes, variables)
    
    batchData = batchAccessResultToList(batchResults, itemSizes)
 
    if isPyLabInstalled:
        data = pl.array(batchData)
        times = data[:, 0]  # the first column is time
        pl.subplot(3, 1, 1)
        pl.plot(times, data[:, 1])
        pl.ylabel('main_loop_counter')
 
        pl.subplot(3, 1, 2)
        pl.plot(times, data[:, 2], 'g')
        pl.ylabel('g_intArray1[0]')
 
        pl.subplot(3, 1, 3)
        pl.plot(times, data[:, 3], 'r')
        pl.ylabel('g_complexStruct.m_struct.i_base')
        pl.xlabel('t[s]')
 
        pl.show()
    
    print('Done!')
 
 
if __name__ == '__main__':
    main()