Merge pull request #102 from strykeforce/fix-swerve-healthcheck

fix swerve healthcheck

Author: jhh

build.gradle

@@ -11,7 +11,7 @@ plugins {
 }
 
 group = "org.strykeforce"
-version = "23.1.1"
+version = "23.1.3"
 
 sourceCompatibility = JavaVersion.VERSION_17
 targetCompatibility = JavaVersion.VERSION_17

src/main/kotlin/org/strykeforce/healthcheck/HealthCheckCommand.kt

@@ -18,17 +18,18 @@ class HealthCheckCommand(vararg subsystems: Subsystem) : Command {
         val BUTTON = InternalButton()
     }
 
-
-    private val robotHealthCheck: RobotHealthCheck = RobotHealthCheckBuilder(*subsystems).build()
+    private val robotHealthCheckBuilder = RobotHealthCheckBuilder(*subsystems)
+    private lateinit var robotHealthCheck: RobotHealthCheck
 
     private var isFinished: Boolean = false
 
-    private var reportServer = ReportServer(robotHealthCheck)
+    private var reportServer: ReportServer? = null
 
     private val subsystemSet = subsystems.toSet()
     override fun getRequirements() = subsystemSet
 
     override fun initialize() {
+        robotHealthCheck = robotHealthCheckBuilder.build()
         robotHealthCheck.initialize()
         BUTTON.setPressed(false)
     }
@@ -44,6 +45,7 @@ class HealthCheckCommand(vararg subsystems: Subsystem) : Command {
     override fun isFinished() = isFinished
 
     override fun end(interrupted: Boolean) {
+        reportServer = ReportServer(robotHealthCheck)
         DumpVisitor().visit(robotHealthCheck)
         isFinished = false
     }