Merge pull request #12 from Team766/merge-and-update-advantage-kit

merge AdvantageKit integration from MaroonFramework

build.gradle

@@ -182,6 +182,22 @@ allprojects {
 
         // REV
         maven { url = uri('https://maven.revrobotics.com/') }
+
+        // AdvantageKit
+        // we're using the credentials documented at
+        // https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/INSTALLATION.md
+        maven {
+            url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+            credentials {
+                username = "Mechanical-Advantage-Bot"
+                password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+            }
+        }
+    }
+
+    //AdvantageKit code
+    configurations.all {
+        exclude group: "edu.wpi.first.wpilibj"
     }
 }
 

src/main/java/com/team766/hal/wpilib/RobotMain.java

@@ -5,15 +5,22 @@
 import com.team766.hal.GenericRobotMain;
 import com.team766.hal.RobotProvider;
 import com.team766.logging.LoggerExceptionUtils;
+import edu.wpi.first.wpilibj.DataLogManager;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.TimedRobot;
 import java.io.File;
 // import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.function.Supplier;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
-public class RobotMain extends TimedRobot {
+public class RobotMain extends LoggedRobot {
     private static final String USB_CONFIG_FILE = "/U/config/robotConfig.txt";
     private static final String INTERNAL_CONFIG_FILE = "/home/lvuser/robotConfig.txt";
 
@@ -82,6 +89,24 @@ public void robotInit() {
             RobotProvider.instance = new WPIRobotProvider();
             robot = new GenericRobotMain();
 
+            DriverStation.startDataLog(DataLogManager.getLog());
+
+            if (isReal()) {
+                // enable dual-logging
+                com.team766.logging.Logger.enableLoggingToDataLog(true);
+
+                // set up AdvantageKit logging
+                DataLogManager.log("Initializing logging.");
+                Logger.addDataReceiver(new WPILOGWriter("/U/logs")); // Log to sdcard
+                Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+                new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
+
+            } else {
+                // TODO: add support for simulation logging/replay
+            }
+
+            Logger.start();
+
             robot.robotInit();
         } catch (Exception e) {
             e.printStackTrace();

src/main/java/com/team766/logging/Logger.java

@@ -2,6 +2,7 @@
 
 import com.team766.config.ConfigFileReader;
 import com.team766.library.CircularBuffer;
+import edu.wpi.first.wpilibj.DataLogManager;
 import java.io.File;
 import java.text.SimpleDateFormat;
 import java.util.Collection;
@@ -10,6 +11,9 @@
 import java.util.EnumMap;
 
 public final class Logger {
+
+    private static boolean alsoLogToDataLog = false;
+
     private static class LogUncaughtException implements Thread.UncaughtExceptionHandler {
         public void uncaughtException(final Thread t, final Throwable e) {
             e.printStackTrace();
@@ -68,6 +72,10 @@ public void uncaughtException(final Thread t, final Throwable e) {
         Thread.setDefaultUncaughtExceptionHandler(new LogUncaughtException());
     }
 
+    public static void enableLoggingToDataLog(boolean enabled) {
+        alsoLogToDataLog = enabled;
+    }
+
     public static Logger get(final Category category) {
         return m_loggers.get(category);
     }
@@ -100,9 +108,11 @@ public void logData(final Severity severity, final String format, final Object..
                         .setTime(getTime())
                         .setSeverity(severity)
                         .setCategory(m_category);
-        entry.setMessageStr(String.format(format, args));
+        String message = String.format(format, args);
+        entry.setMessageStr(message);
         m_recentEntries.add(entry.build());
         entry.setMessageStr(format);
+
         for (Object arg : args) {
             var logValue = LogValue.newBuilder();
             SerializationUtils.valueToProto(arg, logValue);
@@ -111,6 +121,9 @@ public void logData(final Severity severity, final String format, final Object..
         if (m_logWriter != null) {
             m_logWriter.logStoredFormat(entry);
         }
+        if (alsoLogToDataLog) {
+            DataLogManager.log(message);
+        }
     }
 
     public void logRaw(final Severity severity, final String message) {
@@ -125,6 +138,9 @@ public void logRaw(final Severity severity, final String message) {
         if (m_logWriter != null) {
             m_logWriter.log(entry);
         }
+        if (alsoLogToDataLog) {
+            DataLogManager.log(message);
+        }
     }
 
     void logOnlyInMemory(final Severity severity, final String message) {

vendordeps/AdvantageKit.json

@@ -0,0 +1,42 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "3.0.0",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "frcYear": "2024",
+    "mavenUrls": [],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "wpilib-shim",
+            "version": "3.0.0"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "junction-core",
+            "version": "3.0.0"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-api",
+            "version": "3.0.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-wpilibio",
+            "version": "3.0.0",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}