robotrace-log-analysis

name	robotrace-log-analysis
description	ロボトレース走行ログを解析、比較、可視化するときに使う。CSVログ、XY軌跡、速度追従、角速度、スリップ、ラップタイム比較、autoStart 5走比較、emcStopやcntlog欠落の判定を扱う。

Robotrace Log Analysis

Overview

Use this skill when analyzing logs for the robotrace_v2 robot. Treat AGENTS.md as the source for project-wide units, log schema, paths, and safety policy.

Inputs

• Logs live under F:\Dropbox\Document\robotrace\Log\v2 when accessible.
• Logs are CSV, UTF-8, comma-separated, with a header.
• The schema source is robotrace_v2/Core/Inc/log_schema.h.
• The log header contains data names and parameter=value entries.
• Distinguish run mode by optimalTrace.
• Exclude failed runs when emcStop != 0.
• Invalidate logs with cntlog gaps or processing drops; identify and report the cause.
• If battery voltage differs significantly, recommend charging and retrying instead of comparing as equal conditions.

Workflow

1. Inspect available logs and identify target log numbers.
2. Confirm the run mode from optimalTrace and compare only compatible run types.
3. Check validity:
   • emcStop == 0
   • cntlog is monotonic and plausible for distance-based logging
   • required columns from log_schema.h exist
   • batteryVoltage_V is suitable for comparison
4. Analyze required plots and tables:
   • XY trajectory
   • speed tracking
   • angular velocity
   • slip
   • lap time comparison table
5. Save generated graphs and tables under analysis/.
6. Report comparison target logs, changed condition, adoption decision, and remaining issues.

Column Meanings

• cntlog: time after run start, based on cntRun, [ms].
• encCurrentN: average left/right encoder pulse count per 1 ms.
• gyroVal_Z: IMU Z angular velocity, [deg/s].
• courseMarker: confirmed marker state while running.
• encTotalOptimal: corrected distance count for secondary runs.
• ROC: curvature radius, [mm].
• targetSpeed: target speed in encoder converted units, [pulse/ms].
• optimalIndex: index into PPAD[] or shortCutxycie[].
• slipFlag: longitudinal slip flag.
• slipFlagLat: lateral slip flag.
• lineTraceCtrl: current log column name; value is lineTraceOmegaFBCtrl.pwm.
• targetAngularvelo: log target angular velocity, [deg/s].
• motorpwmL, motorpwmR: left/right motor PWM.
• x, y: estimated position from the start marker origin, [mm].

Run Mode Checks

• BOOST_NONE: verify distance, angular velocity, markers, curvature radius, and XY plot. Pay special attention to angle drift.
• BOOST_MARKER: verify all markers detected in the first run are detected.
• BOOST_DISTANCE: verify current course position matches the estimated position and first-run distance.
• BOOST_SHORTCUT: verify the robot follows the planned optimal path and does not fully leave the line.
• Do not directly compare BOOST_DISTANCE and BOOST_SHORTCUT as equivalent modes.

Output Rules

• Put analysis scripts in analysis/script/.
• Use Python when useful.
• Save results in analysis/.
• Name outputs so the target log number and analysis type are clear.
• Examples: log_00012_summary.csv, log_00012_xy.png.
• If the input contract is not yet implemented, decide it before adding a script: single log, multi-log comparison, and autoStart 5-run comparison are separate modes.