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Signed-off-by: Dasun Abeykoon <[email protected]>
1 parent 9605637 commit 0bae2b6

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10 files changed

+258
-56
lines changed

10 files changed

+258
-56
lines changed

‎networktables.json‎

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[]

‎simgui-ds.json‎

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{
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"keyboardJoysticks": [
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{
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"axisConfig": [
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{
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"decKey": 65,
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"incKey": 68
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},
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{
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"decKey": 87,
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"incKey": 83
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},
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{
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"decKey": 69,
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"decayRate": 0.0,
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"incKey": 82,
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"keyRate": 0.009999999776482582
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}
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],
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"axisCount": 3,
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"buttonCount": 4,
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"buttonKeys": [
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90,
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88,
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67,
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86
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],
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"povConfig": [
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{
30+
"key0": 328,
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"key135": 323,
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"key180": 322,
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"key225": 321,
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"key270": 324,
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"key315": 327,
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"key45": 329,
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"key90": 326
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}
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],
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"povCount": 1
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},
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{
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"axisConfig": [
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{
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"decKey": 74,
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"incKey": 76
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},
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{
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"decKey": 73,
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"incKey": 75
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}
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],
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"axisCount": 2,
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"buttonCount": 4,
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"buttonKeys": [
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77,
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44,
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46,
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47
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],
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"povCount": 0
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},
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{
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"axisConfig": [
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{
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"decKey": 263,
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"incKey": 262
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},
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{
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"decKey": 265,
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"incKey": 264
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}
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],
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"axisCount": 2,
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"buttonCount": 6,
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"buttonKeys": [
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260,
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268,
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266,
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261,
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269,
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267
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],
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"povCount": 0
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},
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{
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"axisCount": 0,
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"buttonCount": 0,
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"povCount": 0
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}
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]
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}

‎simgui-window.json‎

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{
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"Docking": {
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"Data": []
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},
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"MainWindow": {
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"GLOBAL": {
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"font": "Proggy Dotted",
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"fps": "120",
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"height": "1800",
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"maximized": "0",
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"style": "0",
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"userScale": "2",
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"width": "3200",
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"xpos": "532",
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"ypos": "100"
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}
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},
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"Window": {
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"###FMS": {
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"Collapsed": "0",
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"Pos": "12,1350",
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"Size": "600,248"
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},
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"###Joysticks": {
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"Collapsed": "0",
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"Pos": "632,1412",
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"Size": "1876,127"
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},
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"###NetworkTables": {
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"Collapsed": "0",
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"Pos": "625,692",
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"Size": "1875,741"
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},
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"###NetworkTables Info": {
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"Collapsed": "0",
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"Pos": "625,325",
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"Size": "1875,362"
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},
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"###Other Devices": {
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"Collapsed": "0",
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"Pos": "2562,50",
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"Size": "625,1737"
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},
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"###System Joysticks": {
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"Collapsed": "0",
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"Pos": "12,875",
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"Size": "435,434"
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},
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"###Timing": {
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"Collapsed": "0",
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"Pos": "12,375",
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"Size": "294,217"
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},
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"Debug##Default": {
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"Collapsed": "0",
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"Pos": "60,60",
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"Size": "400,400"
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},
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"Robot State": {
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"Collapsed": "0",
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"Pos": "5,20",
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"Size": "213,224"
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}
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}
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}

‎simgui.json‎

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{
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"NTProvider": {
3+
"types": {
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"/FMSInfo": "FMSInfo",
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"/Field": "Field2d",
6+
"/SmartDashboard/Alerts": "Alerts"
7+
}
8+
},
9+
"NetworkTables": {
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"transitory": {
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"Robot": {
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"bin": {
13+
"hardware": {
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"open": true
15+
},
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"open": true
17+
},
18+
"open": true
19+
},
20+
"Telemetry": {
21+
"bin": {
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"hardware": {
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"open": true
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}
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},
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"elevator": {
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"open": true
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},
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"open": true
30+
}
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}
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},
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"NetworkTables Info": {
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"visible": true
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}
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}

‎src/main/java/org/frc6423/lib/drivers/LoggedSubsystem.java‎

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This file was deleted.

‎src/main/java/org/frc6423/robot/Constants.java‎

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@@ -21,6 +21,7 @@ public class Constants {
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/** Constants that affect robot behavior during runtime */
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public class Flags {
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public static final Time LOOPTIME = Seconds.of(0.02);
24+
public static final boolean debugMode = false;
2425
}
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2627
/** Constants representing port IDs that devices are connected to */

‎src/main/java/org/frc6423/robot/Robot.java‎

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@@ -8,36 +8,40 @@
88

99
import static edu.wpi.first.units.Units.Seconds;
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11+
import edu.wpi.first.epilogue.Epilogue;
12+
import edu.wpi.first.epilogue.Logged;
13+
import edu.wpi.first.epilogue.logging.LazyBackend;
14+
import edu.wpi.first.epilogue.logging.NTEpilogueBackend;
15+
import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
16+
import edu.wpi.first.networktables.NetworkTableInstance;
1117
import edu.wpi.first.wpilibj.Alert;
1218
import edu.wpi.first.wpilibj.Alert.AlertType;
19+
import edu.wpi.first.wpilibj.DataLogManager;
1320
import edu.wpi.first.wpilibj.DriverStation;
1421
import edu.wpi.first.wpilibj.RobotController;
1522
import edu.wpi.first.wpilibj.XboxController;
1623
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
1724
import edu.wpi.first.wpilibj2.command.Command;
1825
import edu.wpi.first.wpilibj2.command.Commands;
1926
import org.frc6423.lib.drivers.CommandRobot;
20-
import org.frc6423.lib.utilities.Tracer;
21-
import org.frc6423.monologue.Logged;
22-
import org.frc6423.monologue.Monologue;
23-
import org.frc6423.monologue.Monologue.MonologueConfig;
2427
import org.frc6423.robot.Constants.Flags;
25-
import org.frc6423.robot.subsystems.trashBin.TrashBin;
26-
import org.frc6423.robot.subsystems.trashBin.TrashBinIOSim;
28+
import org.frc6423.robot.subsystems.trashBin.Elevator;
29+
import org.frc6423.robot.subsystems.trashBin.ElevatorIOSim;
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2831
/**
2932
* Declares the structure of the robot program (subsystems, commands, triggers, etc.).
3033
*
3134
* <p>Only scheduler calls are allowed in the {@link Robot} periodic method. Very little logic
3235
* should be defined in it.
3336
*/
34-
public class Robot extends CommandRobot implements Logged {
37+
@Logged
38+
public class Robot extends CommandRobot {
3539
// * IO INIT
3640
private final XboxController driverController = new XboxController(0);
3741
private final XboxController operatorController = new XboxController(1);
3842

3943
// * SUBSYSTEM INIT
40-
private final TrashBin bin = new TrashBin(new TrashBinIOSim());
44+
@Logged private final Elevator elevator = new Elevator(new ElevatorIOSim());
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4246
// * ALERT INIT
4347
private final Alert batteryBrownout = new Alert("Battery voltage output low", AlertType.kWarning);
@@ -54,31 +58,38 @@ public Robot() {
5458
// Prevent driverstation from clogging output
5559
DriverStation.silenceJoystickConnectionWarning(true);
5660

57-
// Initialize Monologue
58-
Monologue.setupMonologue(
59-
this,
60-
"/Robot",
61-
new MonologueConfig()
62-
.withAllowNonFinalLoggedFields(true)
63-
.withDatalogPrefix("Telemetry")
64-
.withLazyLogging(true)
65-
.withOptimizeBandwidth(DriverStation::isFMSAttached)
66-
.withThrowOnWarning(false));
67-
68-
// Log build data to datalog
69-
final String meta = "/BuildData/";
70-
Monologue.log(meta + "RuntimeType", getRuntimeType().toString());
71-
Monologue.log(meta + "ProjectName", BuildConstants.MAVEN_NAME);
72-
Monologue.log(meta + "Version", BuildConstants.VERSION);
73-
Monologue.log(meta + "BuildDate", BuildConstants.BUILD_DATE);
74-
Monologue.log(meta + "GitDirty", String.valueOf(BuildConstants.DIRTY));
75-
Monologue.log(meta + "GitSHA", BuildConstants.GIT_SHA);
76-
Monologue.log(meta + "GitDate", BuildConstants.GIT_DATE);
77-
Monologue.log(meta + "GitBranch", BuildConstants.GIT_BRANCH);
78-
79-
// Update and trace monologue periodically
80-
addPeriodic(
81-
() -> Tracer.traceFunc("Monologue", Monologue::updateAll), Flags.LOOPTIME.in(Seconds));
61+
// Initialize Epilogue
62+
Epilogue.configure(
63+
config -> {
64+
// Set root data path
65+
config.root = "Telemetry";
66+
67+
// Mirror NT logged data to log file
68+
DataLogManager.start();
69+
// Lazy log to NT
70+
config.backend =
71+
new LazyBackend(new NTEpilogueBackend(NetworkTableInstance.getDefault()));
72+
73+
// Log build data to datalog
74+
final String meta = "/BuildData/";
75+
config.backend.log(meta + "RuntimeType", getRuntimeType().toString());
76+
config.backend.log(meta + "ProjectName", BuildConstants.MAVEN_NAME);
77+
config.backend.log(meta + "Version", BuildConstants.VERSION);
78+
config.backend.log(meta + "BuildDate", BuildConstants.BUILD_DATE);
79+
config.backend.log(meta + "GitDirty", String.valueOf(BuildConstants.DIRTY));
80+
config.backend.log(meta + "GitSHA", BuildConstants.GIT_SHA);
81+
config.backend.log(meta + "GitDate", BuildConstants.GIT_DATE);
82+
config.backend.log(meta + "GitBranch", BuildConstants.GIT_BRANCH);
83+
84+
// crash sim on epilogue error
85+
if (isSimulation()) {
86+
config.errorHandler = ErrorHandler.crashOnError();
87+
}
88+
89+
// Log everything
90+
config.minimumImportance = Logged.Importance.DEBUG;
91+
});
92+
Epilogue.bind(this);
8293

8394
// Update drive dashboard periodically
8495
addPeriodic(this::updateDashboard, 0.02);

src/main/java/org/frc6423/robot/subsystems/trashBin/TrashBin.java renamed to src/main/java/org/frc6423/robot/subsystems/trashBin/Elevator.java

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@@ -6,13 +6,14 @@
66

77
package org.frc6423.robot.subsystems.trashBin;
88

9-
import org.frc6423.lib.drivers.LoggedSubsystem;
10-
import org.frc6423.monologue.Annotations.FlattenedLogged;
9+
import edu.wpi.first.epilogue.Logged;
1110

12-
public class TrashBin extends LoggedSubsystem {
13-
@FlattenedLogged private final TrashBinIO hardware;
11+
public class Elevator {
12+
@Logged private final ElevatorIO hardware;
1413

15-
public TrashBin(TrashBinIO hardware) {
14+
@Logged public double bruh = 0.0;
15+
16+
public Elevator(ElevatorIO hardware) {
1617
this.hardware = hardware;
1718
}
1819
}

src/main/java/org/frc6423/robot/subsystems/trashBin/TrashBinIO.java renamed to src/main/java/org/frc6423/robot/subsystems/trashBin/ElevatorIO.java

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@@ -6,10 +6,13 @@
66

77
package org.frc6423.robot.subsystems.trashBin;
88

9-
import org.frc6423.monologue.Annotations.Log;
10-
import org.frc6423.monologue.Logged;
9+
import edu.wpi.first.epilogue.Logged;
1110

12-
public interface TrashBinIO extends Logged {
13-
@Log
11+
@Logged
12+
public interface ElevatorIO {
13+
@Logged(importance = Logged.Importance.INFO)
1414
public double test();
15+
16+
@Logged(importance = Logged.Importance.INFO)
17+
public double testDos();
1518
}

src/main/java/org/frc6423/robot/subsystems/trashBin/TrashBinIOSim.java renamed to src/main/java/org/frc6423/robot/subsystems/trashBin/ElevatorIOSim.java

Lines changed: 6 additions & 1 deletion
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@@ -6,9 +6,14 @@
66

77
package org.frc6423.robot.subsystems.trashBin;
88

9-
public class TrashBinIOSim implements TrashBinIO {
9+
public class ElevatorIOSim implements ElevatorIO {
1010
@Override
1111
public double test() {
1212
return 69.69;
1313
}
14+
15+
@Override
16+
public double testDos() {
17+
return 0.0;
18+
}
1419
}

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