From 05e36cf34ef6ae8befa457de2d91d01ceb45f190 Mon Sep 17 00:00:00 2001
From: Jonah <47046556+jwbonner@users.noreply.github.com>
Date: Thu, 2 Nov 2023 12:34:36 -0400
Subject: [PATCH] Add `LoggedDashboarChooser` constructor that copies from a
 `SendableChooser`

---
 docs/CODE-STRUCTURE.md                        | 13 +++++
 .../main/java/frc/robot/RobotContainer.java   |  6 +-
 .../networktables/LoggedDashboardChooser.java | 58 +++++++++++++++++--
 3 files changed, 69 insertions(+), 8 deletions(-)

diff --git a/docs/CODE-STRUCTURE.md b/docs/CODE-STRUCTURE.md
index a28149da..cb236a9d 100644
--- a/docs/CODE-STRUCTURE.md
+++ b/docs/CODE-STRUCTURE.md
@@ -119,6 +119,19 @@ public Command getAutonomousCommand() {
 }
 ```
 
+A `LoggedDashboardChooser` can also be constructed using an existing `SendableChooser`, which allows for compatibility PathPlanner's `AutoBuilder` API:
+
+```java
+private final LoggedDashboardChooser<Command> autoChooser;
+
+public RobotContainer() {
+    // ...
+
+    // buildAutoChooser() returns a SendableChooser
+    autoChooser = new LoggedDashboardChooser<>("Auto Routine", AutoBuilder.buildAutoChooser());
+}
+```
+
 ## Logging Outputs
 
 Output data consists of any calculated values which could be recreated in the simulator, including...
diff --git a/example_projects/swerve_drive/src/main/java/frc/robot/RobotContainer.java b/example_projects/swerve_drive/src/main/java/frc/robot/RobotContainer.java
index 4b4d1d16..05bcc418 100644
--- a/example_projects/swerve_drive/src/main/java/frc/robot/RobotContainer.java
+++ b/example_projects/swerve_drive/src/main/java/frc/robot/RobotContainer.java
@@ -39,8 +39,7 @@ public class RobotContainer {
   private final CommandXboxController controller = new CommandXboxController(0);
 
   // Dashboard inputs
-  private final LoggedDashboardChooser<Command> autoChooser =
-      new LoggedDashboardChooser<>("Auto Choices");
+  private final LoggedDashboardChooser<Command> autoChooser;
   private final LoggedDashboardNumber flywheelSpeedInput =
       new LoggedDashboardNumber("Flywheel Speed", 1500.0);
 
@@ -98,8 +97,7 @@ public RobotContainer() {
             () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel));
 
     // Set up auto routines
-    autoChooser.addDefaultOption("Do Nothing", Commands.none());
-    autoChooser.addOption("Example Auto", new PathPlannerAuto("Example Auto"));
+    autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
 
     // Set up FF characterization routines
     autoChooser.addOption(
diff --git a/junction/core/src/org/littletonrobotics/junction/networktables/LoggedDashboardChooser.java b/junction/core/src/org/littletonrobotics/junction/networktables/LoggedDashboardChooser.java
index 992b389c..b56def63 100644
--- a/junction/core/src/org/littletonrobotics/junction/networktables/LoggedDashboardChooser.java
+++ b/junction/core/src/org/littletonrobotics/junction/networktables/LoggedDashboardChooser.java
@@ -1,5 +1,6 @@
 package org.littletonrobotics.junction.networktables;
 
+import java.lang.reflect.Field;
 import java.util.HashMap;
 import java.util.Map;
 
@@ -27,11 +28,11 @@ public void fromLog(LogTable table) {
   };
 
   /**
-   * Creates a new LoggedDashboardString, for handling a string input sent via
+   * Creates a new LoggedDashboardChooser, for handling a chooser input sent via
    * NetworkTables.
-   * 
-   * @param key The key for the chooser, published to
-   *            "/SmartDashboard/{key}" for NT or
+   *
+   * @param key The key for the chooser, published to "/SmartDashboard/{key}" for
+   *            NT or
    *            "/DashboardInputs/{key}" when logged.
    */
   public LoggedDashboardChooser(String key) {
@@ -41,6 +42,55 @@ public LoggedDashboardChooser(String key) {
     Logger.registerDashboardInput(this);
   }
 
+  /**
+   * Creates a new LoggedDashboardChooser, for handling a chooser input sent via
+   * NetworkTables. This constructor copies the options from a SendableChooser.
+   * Note that updates to the original SendableChooser will not affect this
+   * object.
+   *
+   * @param key The key for the chooser, published to "/SmartDashboard/{key}" for
+   *            NT or "/DashboardInputs/{key}" when logged.
+   */
+  @SuppressWarnings("unchecked")
+  public LoggedDashboardChooser(String key, SendableChooser<V> chooser) {
+    this(key);
+
+    // Get options map
+    Map<String, V> options = new HashMap<>();
+    try {
+      Field mapField = SendableChooser.class.getDeclaredField("m_map");
+      mapField.setAccessible(true);
+      options = (Map<String, V>) mapField.get(chooser);
+    } catch (NoSuchFieldException
+        | SecurityException
+        | IllegalArgumentException
+        | IllegalAccessException e) {
+      e.printStackTrace();
+    }
+
+    // Get default option
+    String defaultString = "";
+    try {
+      Field defaultField = SendableChooser.class.getDeclaredField("m_defaultChoice");
+      defaultField.setAccessible(true);
+      defaultString = (String) defaultField.get(chooser);
+    } catch (NoSuchFieldException
+        | SecurityException
+        | IllegalArgumentException
+        | IllegalAccessException e) {
+      e.printStackTrace();
+    }
+
+    // Add options
+    for (String optionKey : options.keySet()) {
+      if (optionKey.equals(defaultString)) {
+        addDefaultOption(optionKey, options.get(optionKey));
+      } else {
+        addOption(optionKey, options.get(optionKey));
+      }
+    }
+  }
+
   /** Adds a new option to the chooser. */
   public void addOption(String key, V value) {
     sendableChooser.addOption(key, key);