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jhhjhh
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Combine inspect and list commands
1 parent 34d1fca commit f17565a

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4 files changed

+158
-188
lines changed

4 files changed

+158
-188
lines changed

‎src/main/java/org/strykeforce/thirdcoast/telemetry/tct/talon/InspectCommand.java‎

Lines changed: 0 additions & 171 deletions
This file was deleted.

‎src/main/java/org/strykeforce/thirdcoast/telemetry/tct/talon/ListCommand.java‎

Lines changed: 157 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
11
package org.strykeforce.thirdcoast.telemetry.tct.talon;
22

3-
import static org.strykeforce.thirdcoast.telemetry.tct.talon.config.AbstractTalonConfigCommand.VERIFY;
4-
53
import com.ctre.phoenix.ParamEnum;
4+
import com.ctre.phoenix.motorcontrol.NeutralMode;
65
import com.ctre.phoenix.motorcontrol.VelocityMeasPeriod;
6+
import java.io.PrintWriter;
77
import java.util.Formatter;
88
import java.util.List;
99
import java.util.Set;
@@ -12,6 +12,12 @@
1212
import javax.annotation.ParametersAreNonnullByDefault;
1313
import javax.inject.Inject;
1414
import org.jline.reader.LineReader;
15+
import org.strykeforce.thirdcoast.talon.Encoder;
16+
import org.strykeforce.thirdcoast.talon.LimitSwitch;
17+
import org.strykeforce.thirdcoast.talon.MotionMagicTalonConfiguration;
18+
import org.strykeforce.thirdcoast.talon.PIDTalonConfiguration;
19+
import org.strykeforce.thirdcoast.talon.SoftLimit;
20+
import org.strykeforce.thirdcoast.talon.TalonConfiguration;
1521
import org.strykeforce.thirdcoast.talon.ThirdCoastTalon;
1622
import org.strykeforce.thirdcoast.telemetry.tct.AbstractCommand;
1723
import org.strykeforce.thirdcoast.telemetry.tct.Messages;
@@ -20,11 +26,12 @@
2026
@ParametersAreNonnullByDefault
2127
public class ListCommand extends AbstractCommand {
2228

23-
public static final String NAME = VERIFY + "List Selected Talons with Current Register Values";
24-
private static final String FORMAT_DESCRIPTION = "%12s";
25-
private static final String FORMAT_DOUBLE = "%12.3f";
26-
private static final String FORMAT_INTEGER = "%12d";
27-
private static final String FORMAT_STRING = "%12s";
29+
public static final String NAME = "List Selected Talons with Configuration";
30+
private static final String FORMAT_DESCRIPTION = "%14s";
31+
private static final String FORMAT_CONFIG_DESCRIPTION = "%-24s";
32+
private static final String FORMAT_DOUBLE = "%14.3f";
33+
private static final String FORMAT_INTEGER = "%14d";
34+
private static final String FORMAT_STRING = "%14s";
2835

2936
private final TalonSet talonSet;
3037

@@ -62,13 +69,18 @@ private static int intValue(@Nullable VelocityMeasPeriod period) {
6269

6370
@Override
6471
public void perform() {
72+
PrintWriter writer = terminal.writer();
73+
74+
//
75+
// read talons directly
76+
//
6577
Set<ThirdCoastTalon> talons = talonSet.selected();
66-
terminal.writer().println();
78+
writer.println();
6779
if (talons.size() == 0) {
68-
terminal.writer().println(Messages.NO_TALONS);
80+
writer.println(Messages.NO_TALONS);
6981
return;
7082
}
71-
terminal.writer().print(header());
83+
writer.print(header());
7284
outputString(
7385
"Mode:",
7486
talons
@@ -81,7 +93,6 @@ public void perform() {
8193
outputParameter("D:", ParamEnum.eProfileParamSlot_D);
8294
outputParameter("F:", ParamEnum.eProfileParamSlot_F);
8395
outputParameter("IZone:", ParamEnum.eProfileParamSlot_IZone);
84-
outputParameter("Max I Accum:", ParamEnum.eProfileParamSlot_MaxIAccum);
8596
outputParameter("Allowed Err:", ParamEnum.eProfileParamSlot_AllowableErr);
8697

8798
outputInteger(
@@ -120,7 +131,101 @@ public void perform() {
120131

121132
outputParameter("VM Period:", ParamEnum.eSampleVelocityPeriod);
122133
outputParameter("VM Window:", ParamEnum.eSampleVelocityWindow);
123-
terminal.writer().println();
134+
writer.println();
135+
136+
//
137+
// read talon configuration
138+
//
139+
writer.println(Messages.bold("Current session configuration:"));
140+
TalonConfiguration config = talonSet.talonConfigurationBuilder().build();
141+
writer.println();
142+
143+
stringLine("Mode:", config.getMode().name());
144+
doubleLine("Max Setpoint:", config.getSetpointMax());
145+
Encoder encoder = config.getEncoder();
146+
if (encoder != null) {
147+
writer.println();
148+
stringLine("Encoder:", encoder.getDevice().name());
149+
booleanLine(" Reversed:", encoder.isReversed());
150+
writer.println();
151+
} else {
152+
stringLine("Encoder:", "DEFAULT");
153+
}
154+
155+
NeutralMode neutralMode = config.getBrakeInNeutral();
156+
stringLine("Neutral Mode:", neutralMode != null ? neutralMode.name() : "DEFAULT");
157+
booleanLine("Output Reversed:", config.getOutputReversed());
158+
VelocityMeasPeriod period = config.getVelocityMeasurementPeriod();
159+
stringLine("Vel. Meas. Period:", period != null ? period.name() : "DEFAULT");
160+
intLine("Vel. Meas. Window:", config.getVelocityMeasurementWindow());
161+
162+
LimitSwitch limit = config.getForwardLimitSwitch();
163+
if (limit != null) {
164+
writer.println();
165+
booleanLine("Fwd Limit Switch:", limit.isEnabled());
166+
booleanLine(" Normally Open :", limit.isNormallyOpen());
167+
} else {
168+
stringLine("Fwd Limit Switch:", "DEFAULT");
169+
}
170+
171+
limit = config.getReverseLimitSwitch();
172+
if (limit != null) {
173+
writer.println();
174+
booleanLine("Rev Limit Switch:", limit.isEnabled());
175+
booleanLine(" Normally Open :", limit.isNormallyOpen());
176+
writer.println();
177+
} else {
178+
stringLine("Rev Limit Switch:", "DEFAULT");
179+
}
180+
181+
SoftLimit soft = config.getForwardSoftLimit();
182+
if (soft != null) {
183+
writer.println();
184+
booleanLine("Fwd Soft Limit:", soft.isEnabled());
185+
intLine(" Position:", soft.getPosition());
186+
writer.println();
187+
} else {
188+
stringLine("Fwd Soft Limit:", "DEFAULT");
189+
}
190+
191+
soft = config.getReverseSoftLimit();
192+
if (soft != null) {
193+
writer.println();
194+
booleanLine("Rev Soft Limit:", soft.isEnabled());
195+
intLine(" Position:", soft.getPosition());
196+
writer.println();
197+
} else {
198+
stringLine("Rev Soft Limit:", "DEFAULT");
199+
}
200+
201+
intLine("Current Limit:", config.getContinuousCurrentLimit());
202+
doubleLine("Voltage Ramp Rate:", config.getOpenLoopRampTime());
203+
204+
if (config instanceof PIDTalonConfiguration) {
205+
PIDTalonConfiguration pid = (PIDTalonConfiguration) config;
206+
writer.println();
207+
doubleLine("P:", pid.getPGain());
208+
doubleLine("I:", pid.getIGain());
209+
doubleLine("D:", pid.getDGain());
210+
doubleLine("F:", pid.getFGain());
211+
intLine("I-zone:", pid.getIZone());
212+
writer.println();
213+
if (pid instanceof MotionMagicTalonConfiguration) {
214+
MotionMagicTalonConfiguration mmtc = (MotionMagicTalonConfiguration) pid;
215+
intLine("MM Cruise Velocity:", mmtc.getMotionMagicCruiseVelocity());
216+
intLine("MM Acceleration:", mmtc.getMotionMagicAcceleration());
217+
writer.println();
218+
}
219+
intLine("Allowable CL Error:", pid.getAllowableClosedLoopError());
220+
doubleLine("Nominal CL Voltage:", pid.getNominalClosedLoopVoltage());
221+
doubleLine("Output Voltage Max:", pid.getVoltageCompSaturation());
222+
doubleLine("Fwd Peak Output Voltage:", pid.getForwardOutputVoltagePeak());
223+
doubleLine("Rev Peak Output Voltage:", pid.getReverseOutputVoltagePeak());
224+
doubleLine("Fwd Nom. Output Voltage:", pid.getForwardOutputVoltageNominal());
225+
doubleLine("Rev Nom. Output Voltage:", pid.getReverseOutputVoltageNominal());
226+
}
227+
228+
writer.println();
124229
}
125230

126231
private void outputParameter(String description, ParamEnum param) {
@@ -189,4 +294,44 @@ private String header() {
189294
sb.append("\n");
190295
return Messages.bold(sb.toString());
191296
}
297+
298+
private void stringLine(String description, String value) {
299+
StringBuilder sb = new StringBuilder();
300+
Formatter formatter = new Formatter(sb);
301+
sb.append(Messages.bold(String.format(FORMAT_CONFIG_DESCRIPTION, description)));
302+
formatter.format(FORMAT_STRING, value);
303+
terminal.writer().println(sb.toString());
304+
}
305+
306+
private void booleanLine(String description, @Nullable Boolean value) {
307+
StringBuilder sb = new StringBuilder();
308+
Formatter formatter = new Formatter(sb);
309+
sb.append(Messages.bold(String.format(FORMAT_CONFIG_DESCRIPTION, description)));
310+
formatter.format(FORMAT_STRING, value == null ? "DEFAULT" : (value ? "YES" : "NO"));
311+
terminal.writer().println(sb.toString());
312+
}
313+
314+
private void intLine(String description, @Nullable Integer value) {
315+
StringBuilder sb = new StringBuilder();
316+
Formatter formatter = new Formatter(sb);
317+
sb.append(Messages.bold(String.format(FORMAT_CONFIG_DESCRIPTION, description)));
318+
if (value != null) {
319+
formatter.format(FORMAT_INTEGER, value);
320+
} else {
321+
formatter.format(FORMAT_STRING, "DEFAULT");
322+
}
323+
terminal.writer().println(sb.toString());
324+
}
325+
326+
private void doubleLine(String description, @Nullable Double value) {
327+
StringBuilder sb = new StringBuilder();
328+
Formatter formatter = new Formatter(sb);
329+
sb.append(Messages.bold(String.format(FORMAT_CONFIG_DESCRIPTION, description)));
330+
if (value != null) {
331+
formatter.format(FORMAT_DOUBLE, value);
332+
} else {
333+
formatter.format(FORMAT_STRING, "DEFAULT");
334+
}
335+
terminal.writer().println(sb.toString());
336+
}
192337
}

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