You are viewing an old version of this page. View the current version.

Compare with Current View Page History

Version 1 Next »


在机器人开发过程中可能会出现非正常行为，在沟通的过程中需要反馈一些数据Log，以便思岚进行数据分析。本文将通过GetLogInfo介绍如何使用Android SDK来获取底盘的Log信息，以便分析之用。


本页内容


运行环境准备

  • 软件平台

    • Android Studio 3.1.3
    • Slamware Android SDK: slamware_sdk_android.2.6.0_dev.20180917.tar.gz
    • RoboStudio(用于显示地图):Robostudio installer

    • RoboStudio 插件:peer log / action stack / diagnosis，其中插件的激活码需要申请，由思岚工程师提供

    • Sample Code: SampleCode.java

      注意

      Slamware 的固件和SDK在2018年9月14日才添加用户获取Log的功能和接口，如有获取Log的需求，请更新至2018年9月14日的版本。

      使用不同版本的Android Studio可能会带来编译异常，请自行下载相关库和修改build.gradle配置文件，本例程基于Slamware Android SDK 2.6.0 进行开发，若想尝试更高的SDK版本，请直接替换工程中的 slamware_sdk_android.jar 和 librpsdk.so 文件。

  • 硬件平台

          （以下任选其一）

      • Slamware SDP mini 
      • Slamware SDP
      • Slamware 套装 （基于Slamware导航方案的用户机器人系统）
      • Zeus/Apollo等底盘系统

编译运行

  1. 打开GetLogInfo工程,检查libs路径下是否有 slamware_sdk_android.jar 文件，以及jinLibs路径下是否有 librpsdk.so 文件，若想尝试其他版本的SDK，请直接将这两个文件替换。



  2. 到 Project Structure --> app --> Dependencies 检查Slamware SDK是否添加到工程中。

  3. 将以下代码段的"10.0.130.71"修改为底盘的IP地址，默认情况下为192.168.11.1，当WIFI处于Station模式下请将PC与底盘使用Ethenet连接后查看。方法说明：AbstractSlamwarePlatform connect(String host, int port)，其中host为底盘IP，port为网络端口号，返回值为底盘的实例对象。

    // connect to the robot.
String ip = "10.0.130.71";
int port = 1445;
Log.i("MyCorePlatform", "start to connect.");
com.slamtec.slamware.AbstractSlamwarePlatform corePltfm = com.slamtec.slamware.discovery.DeviceManager.connect(ip, port);

  4. Android设备连接底盘发射出的WIFI或连入底盘的同一网络，按下shift + F10 运行，可以在AS Logcat中看到通过SDK获取到的Log信息，如下图所示。

    本例程仅仅用作最简单SDK类和方法的演示，故没有设计Android界面

  5. Robostudio peer log插件显示的Log如下图所示，使用Robostudio 获取查看底盘Log信息的方法请参考 KBSW180156 如何使用robostudio采集分析问题所用数据。
  6. Log数据的相关格式请参考Log Samples Of Customer Log.pdf，Android SDK的Log相关的接口说明请参考Slamware-log-customer文档.pdf。


代码描述

  • 获取Log信息
    try {
    // connect to the robot.
    String ip = "10.0.130.71";
    int port = 1445;
    Log.i("MyCorePlatform", "start to connect.");
    com.slamtec.slamware.AbstractSlamwarePlatform corePltfm = com.slamtec.slamware.discovery.DeviceManager.connect(ip, port);
    if (null == corePltfm)
    {
        Log.e("MyCorePlatform", "Failed to connect.");
        return;
    }
    Log.i("MyCorePlatform", "Connected");

    // Create Customer Log Receiver for receiving logs;
    // If the connection is lost, the old log receiver will not work, a new one should be created.
    com.slamtec.slamware.log.customer.ICustomerLogReceiver logReceiver = corePltfm.createCustomerLogReceiver();
    if (null == logReceiver)
    {
        Log.e("MyLogReceiver", "Failed to create.");
        return;
    }
    Log.i("MyLogReceiver", "Created");

    com.slamtec.slamware.log.customer.CustomerLogReceiverInitArg initArg = null;
    // if you want to resume the last receive status, load the saved status data like the following codes:
    /*
    {
        initArg = new com.slamtec.slamware.log.customer.CustomerLogReceiverInitArg();
        initArg.setLastRecvStatus(lastRecvStatus); // lastRecvStatus is the last receive status data you saved before
    }
    */

    com.slamtec.slamware.log.customer.ResultCode resCode = logReceiver.init(initArg);
    if (com.slamtec.slamware.log.customer.ResultCode.Ok != resCode)
    {
        Log.e("MyLogReceiver", "Failed to init, resCode: " + resCode.name());
        return;
    }

    boolean isWorking = true;
    while (isWorking)
    {
        // some other operations of your application

        int maxCntToRead = 0; // set to zero to use the default value of the robot.
        com.slamtec.slamware.utils.StdPair<com.slamtec.slamware.log.customer.ResultCode, com.slamtec.slamware.log.customer.ReadResult> pairRes
                = logReceiver.recvLogs(maxCntToRead);
        if (com.slamtec.slamware.log.customer.ResultCode.Ok == pairRes.getFirst())
        {
            showMyLogsResult_(pairRes.getSecond());
        }
        else
        {
            Log.e("MyLogs", ("ResultCode: " + pairRes.getFirst().name()));
        }

        // some other operations of your application
        Thread.sleep(100);
    }

    // you may save it for the next time to continue to receive logs if you want.
    /*
    {
        com.slamtec.slamware.log.customer.CustomerLogReceiverLastRecvStatus lastRecvStatus = logReceiver.getLastRecvStatus();
        // now you can save lastRecvStatus somewhere for the next time
    }
    */
}
catch (Exception e) {
    Log.e("MyException", e.toString());
}


  • private void showMyLogsResult_(com.slamtec.slamware.log.customer.ReadResult tRes) {

    java.util.ArrayList<com.slamtec.slamware.log.LogData> logsList = tRes.getLogs();
    int iLogsCnt = (null != logsList ? logsList.size() : 0);
    Log.i("MyLogs", ("LogsCnt: " + iLogsCnt));
    if (iLogsCnt < 1)
        return;

    for (int i = 0; i < iLogsCnt; ++i)
    {
        Log.i("MyLogs", ("logs[" + i + "]"));
        com.slamtec.slamware.log.LogData logDat = logsList.get(i);
        if (null == logDat)
        {
            // it should not be null here, there may be some problems.
            Log.e("MyLogs", "null log data.");
            continue;
        }

        boolean bIsJsonLog = logDat.getIsJsonLog();
        if (bIsJsonLog)
        {
            // if it is json Log, you can parse the string of log to a JSON object.
            // ALL customer logs are json log.
        }

        String strMsg = ("LogSource: " + logDat.getLogSource() + "\n");
        strMsg += ("LogLevel: " + logDat.getLogLevel().name() + "\n");
        strMsg += ("IsJsonLog: " + bIsJsonLog + "\n");
        strMsg += ("StringOfLog: " + logDat.getStringOfLog() + "\n");
        Log.i("MyLogs", strMsg);
    }
}
  • No labels