Jh logging

.gitignore

@@ -58,7 +58,7 @@
 
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
-
+log/*
 ### Linux ###
 *~
 

simgui-ds.json

@@ -91,10 +91,11 @@
   ],
   "robotJoysticks": [
     {},
-    {},
     {
-      "guid": "78696e70757401000000000000000000",
-      "useGamepad": true
+      "guid": "Keyboard1"
+    },
+    {
+      "guid": "Keyboard0"
     }
   ]
 }

simgui-window.json

@@ -5,50 +5,45 @@
   "MainWindow": {
     "GLOBAL": {
       "fps": "120",
-      "height": "1055",
+      "height": "720",
       "maximized": "0",
       "style": "0",
       "userScale": "2",
-      "width": "1924",
-      "xpos": "-1",
-      "ypos": "-1"
+      "width": "1280",
+      "xpos": "537",
+      "ypos": "110"
     }
   },
   "Window": {
-    "###Addressable LEDs": {
-      "Collapsed": "0",
-      "Pos": "318,53",
-      "Size": "170,300"
-    },
     "###FMS": {
       "Collapsed": "0",
-      "Pos": "10,1036",
-      "Size": "336,164"
+      "Pos": "5,540",
+      "Size": "283,146"
     },
     "###Joysticks": {
       "Collapsed": "0",
-      "Pos": "483,801",
-      "Size": "976,278"
+      "Pos": "250,465",
+      "Size": "796,155"
     },
     "###NetworkTables": {
       "Collapsed": "0",
-      "Pos": "271,365",
-      "Size": "1500,370"
+      "Pos": "250,277",
+      "Size": "750,185"
     },
     "###Other Devices": {
       "Collapsed": "0",
-      "Pos": "1905,40",
-      "Size": "500,1390"
+      "Pos": "1025,20",
+      "Size": "250,695"
     },
     "###System Joysticks": {
       "Collapsed": "0",
-      "Pos": "10,700",
-      "Size": "232,254"
+      "Pos": "5,350",
+      "Size": "192,218"
     },
     "###Timing": {
       "Collapsed": "0",
-      "Pos": "10,300",
-      "Size": "169,168"
+      "Pos": "5,150",
+      "Size": "141,150"
     },
     "Debug##Default": {
       "Collapsed": "0",
@@ -58,7 +53,7 @@
     "Robot State": {
       "Collapsed": "0",
       "Pos": "5,20",
-      "Size": "109,114"
+      "Size": "92,99"
     }
   }
 }

simgui.json

@@ -1,15 +1,37 @@
 {
   "HALProvider": {
-    "Addressable LEDs": {
-      "window": {
-        "visible": true
+    "Other Devices": {
+      "navX-Sensor[0]": {
+        "header": {
+          "open": true
+        }
       }
     }
   },
   "NTProvider": {
     "types": {
+      "/AdvantageKit/RealOutputs/Arm/mech2d": "Mechanism2d",
       "/FMSInfo": "FMSInfo",
-      "/SmartDashboard/Auton Choice": "String Chooser"
+      "/LiveWindow/Ungrouped/DigitalInput[0]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[1]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[2]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[3]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[4]": "Digital Input",
+      "/LiveWindow/Ungrouped/PIDController[10]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[11]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[2]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[3]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[4]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[5]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[6]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[7]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[8]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[9]": "PIDController",
+      "/LiveWindow/Ungrouped/navX-Sensor[4]": "Gyro",
+      "/SmartDashboard/Auton Choice": "String Chooser",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/Scheduler": "Scheduler"
     }
   }
 }

src/main/deploy/pathplanner/barrier_cone_exit_HP.path

@@ -0,0 +1,79 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.9070702548184761,
+        "y": 4.950151324031462
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.601481140462281,
+        "y": 4.907885128270257
+      },
+      "holonomicAngle": -177.0122233890705,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "scoreHigh"
+        ],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 10.0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 4.737149161798324,
+        "y": 5.1194000825501655
+      },
+      "prevControl": {
+        "x": 3.8913259734623296,
+        "y": 4.883129462498332
+      },
+      "nextControl": {
+        "x": 5.091721488360994,
+        "y": 5.218445633210695
+      },
+      "holonomicAngle": 180.0,
+      "isReversal": false,
+      "velOverride": 1.0,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 7.389217083121666,
+        "y": 7.233294505651512
+      },
+      "prevControl": {
+        "x": 6.493607323152147,
+        "y": 7.18789191484633
+      },
+      "nextControl": null,
+      "holonomicAngle": 0.0,
+      "isReversal": false,
+      "velOverride": 1.0,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "maxVelocity": 2.0,
+  "maxAcceleration": 2.0,
+  "isReversed": null,
+  "markers": []
+}

src/main/java/team3176/robot/Constants.java

@@ -0,0 +1,78 @@
+// Copyright (c) 2023 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package team3176.robot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+import java.util.Map;
+
+public final class Constants {
+  private static final RobotType robot = RobotType.ROBOT_SIMBOT;
+  public static final double loopPeriodSecs = 0.02;
+  public static final boolean tuningMode = false;
+
+  public static boolean invalidRobotAlertSent = false;
+
+  public static RobotType getRobot() {
+    if (!disableHAL && RobotBase.isReal()) {
+      if (robot == RobotType.ROBOT_SIMBOT) { // Invalid robot selected
+        if (!invalidRobotAlertSent) {
+          invalidRobotAlertSent = true;
+        }
+        return RobotType.ROBOT_2023C;
+      } else {
+        return robot;
+      }
+    } else {
+      return robot;
+    }
+  }
+
+  public static Mode getMode() {
+    switch (getRobot()) {
+      case ROBOT_2023C:
+      case ROBOT_2023P:
+        return RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
+
+      case ROBOT_SIMBOT:
+        return Mode.SIM;
+
+      default:
+        return Mode.REAL;
+    }
+  }
+
+  public static final Map<RobotType, String> logFolders =
+      Map.of(RobotType.ROBOT_2023C, "/media/sda2/");
+
+  public static enum RobotType {
+    ROBOT_2023C,
+    ROBOT_2023P,
+    ROBOT_SIMBOT
+  }
+
+  public static enum Mode {
+    REAL,
+    REPLAY,
+    SIM
+  }
+
+  // Function to disable HAL interaction when running without native libs
+  public static boolean disableHAL = false;
+
+  public static void disableHAL() {
+    disableHAL = true;
+  }
+
+  /** Checks whether the robot the correct robot is selected when deploying. */
+  public static void main(String... args) {
+    if (robot == RobotType.ROBOT_SIMBOT) {
+      System.err.println("Cannot deploy, invalid robot selected: " + robot.toString());
+      System.exit(1);
+    }
+  }
+}

src/main/java/team3176/robot/Robot.java

@@ -4,11 +4,19 @@
 
 package team3176.robot;
 
+import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.inputs.LoggedPowerDistribution;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import team3176.robot.Constants.RobotType;
 import team3176.robot.subsystems.superstructure.Arm;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.UsbCamera;
@@ -34,15 +42,63 @@ public class Robot extends LoggedRobot{
   public void robotInit() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
+    Logger logger = Logger.getInstance();
+    logger.recordMetadata("Robot", Constants.getRobot().toString());
+    System.out.println("[Init] Starting AdvantageKit");
+    logger.recordMetadata("RuntimeType", getRuntimeType().toString());
+    logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+    logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+    logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+    logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+    logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+    switch (BuildConstants.DIRTY) {
+      case 0:
+        logger.recordMetadata("GitDirty", "All changes committed");
+        break;
+      case 1:
+        logger.recordMetadata("GitDirty", "Uncomitted changes");
+        break;
+      default:
+        logger.recordMetadata("GitDirty", "Unknown");
+        break;
+    }
+    switch (Constants.getMode()) {
+      case REAL:
+        String folder = Constants.logFolders.get(Constants.getRobot());
+        if (folder != null) {
+          logger.addDataReceiver(new WPILOGWriter(folder));
+        }
+        logger.addDataReceiver(new NT4Publisher());
+        if (Constants.getRobot() == RobotType.ROBOT_2023C) {
+          LoggedPowerDistribution.getInstance(50, ModuleType.kRev);
+        }
+        break;
+
+      case SIM:
+        System.out.println("[init] starting simulation");
+        logger.addDataReceiver(new WPILOGWriter("./log/"));
+        logger.addDataReceiver(new NT4Publisher());
+        break;
+
+      case REPLAY:
+        String path = LogFileUtil.findReplayLog();
+        logger.setReplaySource(new WPILOGReader(path));
+        logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(path, "_sim")));
+        break;
+    }
+    setUseTiming(Constants.getMode() != Constants.Mode.REPLAY);
+    logger.start();
+
+
     m_robotContainer = new RobotContainer();
     SmartDashboard.putData(CommandScheduler.getInstance());
-    m_fisheyeThread = new Thread( () -> {
-      UsbCamera fisheye = CameraServer.startAutomaticCapture();
-      fisheye.setResolution(640,480);
-      CvSource outputStream = CameraServer.putVideo("fisheye", 640, 480);
-    });
-    m_fisheyeThread.setDaemon(true);
-    m_fisheyeThread.start();
+    // m_fisheyeThread = new Thread( () -> {
+    //   UsbCamera fisheye = CameraServer.startAutomaticCapture();
+    //   fisheye.setResolution(640,480);
+    //   CvSource outputStream = CameraServer.putVideo("fisheye", 640, 480);
+    // });
+    // m_fisheyeThread.setDaemon(true);
+    // m_fisheyeThread.start();
 
   }