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use iggy::client::{Client, UserClient};
use iggy::messages::send_messages::{Message, Partitioning};
use iggy::utils::duration::IggyDuration;
#[cfg(feature = "debugging")]
use serde::{Deserialize, Serialize};
#[cfg(feature = "debugging")]
use std::fs::OpenOptions;
#[cfg(feature = "debugging")]
use std::io::Write;
use std::str::FromStr;
#[cfg(feature = "debugging")]
use std::sync::mpsc::{channel, Sender};
#[cfg(feature = "debugging")]
use std::thread;
#[cfg(feature = "debugging")]
use std::time::{Duration, Instant};
/// Configuration for PID controller debugging
#[cfg(feature = "debugging")]
#[derive(Clone)]
pub struct DebugConfig {
/// URL of the iggy server
pub iggy_url: String,
/// Stream name for debugging data
pub stream_name: String,
/// Topic name for this controller's data
pub topic_name: String,
/// Unique ID for this controller instance
pub controller_id: String,
/// Optional sampling rate (in Hz) for debug data
pub sample_rate_hz: Option<f64>,
}
#[cfg(feature = "debugging")]
impl Default for DebugConfig {
fn default() -> Self {
Self {
iggy_url: "127.0.0.1:8090".to_string(),
stream_name: "pidgeon_debug".to_string(),
topic_name: "controller_data".to_string(),
controller_id: "pid_controller".to_string(),
sample_rate_hz: None,
}
}
}
/// Debug data for a PID controller
#[cfg(feature = "debugging")]
#[derive(Serialize, Deserialize)]
pub struct ControllerDebugData {
/// Timestamp in milliseconds since UNIX epoch
pub timestamp: u64,
/// Controller ID
pub controller_id: String,
/// Current setpoint (target value)
pub setpoint: f64,
/// Current process value (measurement)
pub process_value: f64,
/// Current error value
pub error: f64,
/// Output signal
pub output: f64,
/// Proportional term
pub p_term: f64,
/// Integral term
pub i_term: f64,
/// Derivative term
pub d_term: f64,
}
/// Component for debugging PID controllers
#[cfg(feature = "debugging")]
pub struct ControllerDebugger {
config: DebugConfig,
tx: Sender<ControllerDebugData>,
last_sample: Instant,
sample_interval: Option<Duration>,
}
#[cfg(feature = "debugging")]
impl ControllerDebugger {
/// Create a new controller debugger with the given configuration
pub fn new(config: DebugConfig) -> Self {
let (tx, rx) = channel();
// Set up sampling interval if specified
let sample_interval = config
.sample_rate_hz
.map(|hz| Duration::from_secs_f64(1.0 / hz));
// Clone config for the thread
let thread_config = config.clone();
// Spawn a separate thread to handle debugging data
thread::spawn(move || {
println!(
"🔍 PID controller debugging started for '{}'",
thread_config.controller_id
);
// Create and open a log file for debug data
let log_filename = format!("{}_debug.log", thread_config.controller_id);
println!("📊 Debug data will be logged to {}", log_filename);
println!(
"⚠️ Attempting to connect to Iggy server at {}",
thread_config.iggy_url
);
println!(
" Stream: {}, Topic: {}",
thread_config.stream_name, thread_config.topic_name
);
// Create a runtime for async operations
let runtime = match tokio::runtime::Runtime::new() {
Ok(rt) => rt,
Err(e) => {
eprintln!("Failed to create tokio runtime: {}", e);
return;
}
};
// Try to connect to Iggy client
let connection_string = format!("iggy://iggy:iggy@{}", thread_config.iggy_url);
let iggy_result = runtime.block_on(async {
// Try to connect and create producer
match iggy::clients::client::IggyClient::from_connection_string(&connection_string)
{
Ok(client) => {
client.connect().await.unwrap();
println!("✅ Connected to Iggy server");
client.login_user("iggy", "iggy").await.unwrap();
let mut producer = client
.producer(&thread_config.stream_name, &thread_config.topic_name)
.unwrap()
.batch_size(1000)
.send_interval(IggyDuration::from_str("1ms").unwrap())
.partitioning(Partitioning::balanced())
.build();
producer.init().await.unwrap();
println!(
"✅ Producer initialized for stream '{}', topic '{}'",
thread_config.stream_name, thread_config.topic_name
);
// Create a producer
Some(producer)
}
Err(e) => {
eprintln!("❌ Failed to connect to Iggy server: {}", e);
None
}
}
});
// Process messages from the channel
match iggy_result {
Some(producer) => {
println!("✅ Ready to send messages to Iggy");
// Process debug data and send to Iggy
while let Ok(debug_data) = rx.recv() {
// Convert to JSON for display
if let Ok(json) = serde_json::to_string(&debug_data) {
// Write to log file as backup
if let Ok(mut file) = OpenOptions::new()
.create(true)
.append(true)
.open(&log_filename)
{
if let Err(e) = writeln!(file, "{}", json) {
eprintln!("Error writing to log file: {}", e);
}
}
let result = runtime.block_on(async {
let payload = serde_json::to_vec(&debug_data).unwrap();
let message = Message::new(None, payload.into(), None);
producer.send(vec![message]).await
});
if let Err(e) = result {
eprintln!("❌ Failed to send message to Iggy: {}", e);
}
}
}
}
None => {
println!("⚠️ Falling back to file logging only");
// If Iggy is not available, just log to file
while let Ok(debug_data) = rx.recv() {
// Convert to JSON
if let Ok(json) = serde_json::to_string(&debug_data) {
println!("📥 Logging: {}", json);
// Write to log file
if let Ok(mut file) = OpenOptions::new()
.create(true)
.append(true)
.open(&log_filename)
{
if let Err(e) = writeln!(file, "{}", json) {
eprintln!("Error writing to log file: {}", e);
}
} else {
eprintln!("Error opening log file");
}
}
}
}
}
});
Self {
config,
tx,
last_sample: Instant::now(),
sample_interval,
}
}
/// Log the current state of the PID controller
pub fn log_pid_state(
&mut self,
setpoint: f64,
process_value: f64,
error: f64,
p_term: f64,
i_term: f64,
d_term: f64,
output: f64,
_dt: f64,
) {
self.send_debug_data(
setpoint,
process_value,
error,
output,
p_term,
i_term,
d_term,
);
}
/// Send debug data
pub fn send_debug_data(
&mut self,
setpoint: f64,
process_value: f64,
error: f64,
output: f64,
p_term: f64,
i_term: f64,
d_term: f64,
) {
// Check if we should send debug data (based on sampling rate)
if let Some(interval) = self.sample_interval {
let now = Instant::now();
if now.duration_since(self.last_sample) < interval {
return;
}
self.last_sample = now;
}
// Create debug data
let debug_data = ControllerDebugData {
timestamp: std::time::SystemTime::now()
.duration_since(std::time::UNIX_EPOCH)
.unwrap()
.as_millis() as u64,
controller_id: self.config.controller_id.clone(),
setpoint,
process_value,
error,
output,
p_term,
i_term,
d_term,
};
// Send debug data to channel
if let Err(e) = self.tx.send(debug_data) {
eprintln!("Failed to send debug data to channel: {}", e);
}
}
}