# udp-telemetry

A lightweight UDP telemetry system for FTC robots and other embedded targets.
The Java library sends structured JSON packets from the robot (or any JVM process);
a Python logger receives them and stores every reading in a SQLite triplestore for
later query and analysis.

Built and maintained by [Nexus Workshops LLC](https://nexusworkshops.com).

---

## How it works

```
Robot / JVM process                     Laptop / driver station
+---------------------------+           +---------------------------+
|  UdpTelemetry.java        |  UDP/JSON |  telelog.py               |
|  put("left_motor","power",|---------->|  SQLite triplestore       |
|       0.8)                |  port 3000|  packets + triples tables |
|  send()                   |           +---------------------------+
+---------------------------+
```

Each call to `send()` serializes the current buffer into a JSON packet:

```json
{
  "left_motor":  {"power": 0.8,  "temp": 42.1},
  "right_motor": {"power": 0.75, "temp": 38.5},
  "imu":         {"yaw": 45.0,   "steering": 0.05},
  "loop_time_ms": 50
}
```

`telelog.py` unpacks every packet into `(subject, predicate, object)` triples
and writes them to SQLite. Nested values are flattened with dot notation
(`pid.p`, `pid.i`). Flat scalars use the sender's IP as the subject.

---

## Prerequisites

### Java (sender)

- Java 11 or newer
- Apache Maven 3.6 or newer

### Python (logger)

- Python 3.8 or newer
- No third-party packages required -- only the standard library

---

## Installation

### Windows

**1. Install Java 11+**

Download and run the OpenJDK installer from https://adoptium.net.
Accept the default options. Verify in a new terminal:

```
java -version
```

**2. Install Maven**

Download the binary zip from https://maven.apache.org/download.cgi.
Extract it (e.g. `C:\tools\maven`), then add `C:\tools\maven\bin` to your
system `PATH` via System Properties -> Environment Variables. Verify:

```
mvn -version
```

**3. Install Python 3**

Download from https://www.python.org/downloads/windows/.
Check "Add python.exe to PATH" during setup. Verify:

```
python --version
```

**4. Clone and build**

```
git clone https://github.com/nexusworkshops/udp-telemetry.git
cd udp-telemetry
mvn package
```

The shaded (self-contained) JAR lands at:

```
target\udp-telemetry-1.0.0-shaded.jar
```

---

### Linux

**1. Install Java 11+**

```bash
sudo apt update
sudo apt install openjdk-11-jdk
java -version
```

**2. Install Maven**

```bash
sudo apt install maven
mvn -version
```

**3. Python 3 is usually pre-installed -- verify**

```bash
python3 --version
```

If not present:

```bash
sudo apt install python3
```

**4. Clone and build**

```bash
git clone https://github.com/nexusworkshops/udp-telemetry.git
cd udp-telemetry
mvn package
```

The shaded JAR lands at:

```
target/udp-telemetry-1.0.0-shaded.jar
```

---

## Running

Open two terminals in the project directory.

**Terminal 1 -- start the logger**

Windows:
```
python telelog.py
```

Linux:
```
python3 telelog.py
```

Output:
```
[telelog] Schema initialized: telemetry.db
[telelog] Listening on 0.0.0.0:3000  db=telemetry.db  tag=(untagged)
[telelog] Ctrl-C to stop
```

**Terminal 2 -- run the demo sender**

Windows:
```
java -jar target\udp-telemetry-1.0.0-shaded.jar
```

Linux:
```
java -jar target/udp-telemetry-1.0.0-shaded.jar
```

The demo sender transmits 20 packets at 20 Hz simulating two drive motors,
a chute hood servo, and an IMU. You will see each packet acknowledged in
Terminal 1 and written to `telemetry.db`.

---

## Logger options

```
python3 telelog.py [options]

  --port PORT     UDP listen port (default: 3000)
  --host HOST     Bind address (default: 0.0.0.0)
  --db FILE       SQLite database file (default: telemetry.db)
  --tag LABEL     Session label stored with every packet (e.g. auto_match_3)
  --init-db       Create/reset the schema and exit
  --quiet         Suppress per-packet console output
```

Example -- tag a match session:

```
python3 telelog.py --tag "semifinal_1" --port 3000
```

---

## Sending from a real robot

Point `UdpTelemetry` at the driver station IP and add it to your op mode:

```java
UdpTelemetry t = new UdpTelemetry("192.168.43.100", 3000);

// In your loop:
t.put("left_motor",  "power", leftDrive.getPower())
 .put("right_motor", "power", rightDrive.getPower())
 .put("imu",         "yaw",   imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES))
 .send();
```

Call `t.close()` in your op mode's `stop()` method.

---

## Querying the database

```sql
-- All readings from the left motor
SELECT p.ts, t.predicate, t.object
FROM triples t
JOIN packets p ON p.id = t.packet_id
WHERE t.subject = 'left_motor'
ORDER BY p.ts;

-- Peak yaw value in a session
SELECT MAX(CAST(t.object AS REAL))
FROM triples t
JOIN packets p ON p.id = t.packet_id
WHERE t.subject = 'imu'
  AND t.predicate = 'yaw'
  AND p.tag = 'semifinal_1';
```

---

## Project structure

```
udp-telemetry/
  src/main/java/com/nexusworkshops/telemetry/
    UdpTelemetry.java   -- UDP sender library
    Main.java           -- demo sender
  telelog.py            -- UDP logger / SQLite triplestore
  pom.xml               -- Maven build
  site/                 -- Nexus Workshops learning site assets
```

---

## License

The source code in this repository is released under the MIT License.
See [LICENSE](LICENSE) for the full text.

The field guide (`Robot_Telemetry_Complete_Field_Guide.pdf/.docx`) is
separately licensed under the Nexus Workshops Content License Agreement
and is **not** covered by the MIT License. Personal and educational use
is permitted; commercial use requires a separate written license from
Nexus Workshops LLC.

See [LICENSES.md](LICENSES.md) for a full breakdown of what each license covers.