Add overloads for logging int32 values

docs/DATA-FLOW.md

@@ -23,7 +23,7 @@ Below are definitions of each component:
 
 Data is stored using string keys where slashes are used to denote subtables (similar to NetworkTables). Each subsystem stores data in a separate subtable. Like NetworkTables, **all logged values are persistent (they will continue to appear on subsequent cycles until updated**). The following simple data types are currently supported:
 
-`boolean, long, float, double, String, boolean[], long[], float[], double[], String[], byte[]`
+`boolean, int, long, float, double, String, boolean[], int[], long[], float[], double[], String[], byte[]`
 
 ## Structured Data Types
 

junction/autolog/src/org/littletonrobotics/junction/AutoLogAnnotationProcessor.java

@@ -1,3 +1,16 @@
+// Copyright 2021-2023 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package org.littletonrobotics.junction;
 
 import com.squareup.javapoet.*;
@@ -30,33 +43,18 @@ private static String getPackageName(Element e) {
   private static final TypeName LOG_TABLE_TYPE = ClassName.get("org.littletonrobotics.junction", "LogTable");
   private static final TypeName LOGGABLE_INPUTS_TYPE = ClassName.get("org.littletonrobotics.junction.inputs",
       "LoggableInputs");
-  private static final Map<String, String> LOGGABLE_TYPES_LOOKUP = new HashMap<>();
   private static final Map<String, String> UNLOGGABLE_TYPES_SUGGESTIONS = new HashMap<>();
 
   static {
-    LOGGABLE_TYPES_LOOKUP.put("byte[]", "Raw");
-    LOGGABLE_TYPES_LOOKUP.put("boolean", "Boolean");
-    LOGGABLE_TYPES_LOOKUP.put("long", "Integer");
-    LOGGABLE_TYPES_LOOKUP.put("float", "Float");
-    LOGGABLE_TYPES_LOOKUP.put("double", "Double");
-    LOGGABLE_TYPES_LOOKUP.put("java.lang.String", "String");
-    LOGGABLE_TYPES_LOOKUP.put("boolean[]", "BooleanArray");
-    LOGGABLE_TYPES_LOOKUP.put("long[]", "IntegerArray");
-    LOGGABLE_TYPES_LOOKUP.put("float[]", "FloatArray");
-    LOGGABLE_TYPES_LOOKUP.put("double[]", "DoubleArray");
-    LOGGABLE_TYPES_LOOKUP.put("java.lang.String[]", "StringArray");
-
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Byte[]", "byte[]");
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Boolean", "boolean");
+    UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Integer", "int");
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Long", "long");
-    UNLOGGABLE_TYPES_SUGGESTIONS.put("int", "long");
-    UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Integer", "long");
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Float", "float");
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Double", "double");
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Boolean[]", "boolean[]");
+    UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Integer[]", "int[]");
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Long[]", "long[]");
-    UNLOGGABLE_TYPES_SUGGESTIONS.put("int[]", "long[]");
-    UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Integer[]", "long[]");
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Float[]", "float[]");
     UNLOGGABLE_TYPES_SUGGESTIONS.put("java.lang.Double[]", "double[]");
   }
@@ -93,11 +91,10 @@ public boolean process(Set<? extends TypeElement> annotations, RoundEnvironment
             String logName = simpleName.substring(0, 1).toUpperCase() + simpleName.substring(1);
 
             String fieldType = fieldElement.asType().toString();
-            String logType = LOGGABLE_TYPES_LOOKUP.get(fieldType);
             String typeSuggestion = UNLOGGABLE_TYPES_SUGGESTIONS.get(fieldType);
 
             // Check for unloggable types
-            if (typeSuggestion != null || (logType == null && fieldType.startsWith("java"))) {
+            if (typeSuggestion != null || (fieldType.startsWith("java") && !fieldType.startsWith("java.lang.String"))) {
               String extraText = "";
               if (typeSuggestion != null) {
                 extraText = "Did you mean to use \"" + typeSuggestion + "\" instead?";

junction/core/src/org/littletonrobotics/junction/LogTable.java

@@ -186,6 +186,14 @@ public void put(String key, boolean value) {
     put(key, new LogValue(value, null));
   }
 
+  /**
+   * Writes a new Integer value to the table. Skipped if the key already exists as
+   * a different type.
+   */
+  public void put(String key, int value) {
+    put(key, (long) value);
+  }
+
   /**
    * Writes a new Integer value to the table. Skipped if the key already exists as
    * a different type.
@@ -228,6 +236,18 @@ public void put(String key, boolean[] value) {
     put(key, new LogValue(valueClone, null));
   }
 
+  /**
+   * Writes a new IntegerArray value to the table. Skipped if the key already
+   * exists as a different type.
+   */
+  public void put(String key, int[] value) {
+    long[] valueClone = new long[value.length];
+    for (int i = 0; i < value.length; i++) {
+      valueClone[i] = value[i];
+    }
+    put(key, new LogValue(valueClone, null));
+  }
+
   /**
    * Writes a new IntegerArray value to the table. Skipped if the key already
    * exists as a different type.
@@ -454,6 +474,15 @@ public boolean get(String key, boolean defaultValue) {
     }
   }
 
+  /** Reads an Integer value from the table. */
+  public int get(String key, int defaultValue) {
+    if (data.containsKey(prefix + key)) {
+      return (int) get(key).getInteger(defaultValue);
+    } else {
+      return defaultValue;
+    }
+  }
+
   /** Reads an Integer value from the table. */
   public long get(String key, long defaultValue) {
     if (data.containsKey(prefix + key)) {
@@ -499,6 +528,24 @@ public boolean[] get(String key, boolean[] defaultValue) {
     }
   }
 
+  /** Reads an IntegerArray value from the table. */
+  public int[] get(String key, int[] defaultValue) {
+    if (data.containsKey(prefix + key)) {
+      long[] defaultValueLong = new long[defaultValue.length];
+      for (int i = 0; i < defaultValue.length; i++) {
+        defaultValueLong[i] = defaultValue[i];
+      }
+      long[] valueLong = get(key).getIntegerArray(defaultValueLong);
+      int[] valueInt = new int[valueLong.length];
+      for (int i = 0; i < valueLong.length; i++) {
+        valueInt[i] = (int) valueLong[i];
+      }
+      return valueInt;
+    } else {
+      return defaultValue;
+    }
+  }
+
   /** Reads an IntegerArray value from the table. */
   public long[] get(String key, long[] defaultValue) {
     if (data.containsKey(prefix + key)) {

junction/core/src/org/littletonrobotics/junction/Logger.java

@@ -424,6 +424,20 @@ public static void recordOutput(String key, boolean value) {
     }
   }
 
+  /**
+   * Records a single output field for easy access when viewing the log. On the
+   * simulator, use this method to record extra data based on the original inputs.
+   * 
+   * @param key   The name of the field to record. It will be stored under
+   *              "/RealOutputs" or "/ReplayOutputs"
+   * @param value The value of the field.
+   */
+  public static void recordOutput(String key, int value) {
+    if (running) {
+      outputTable.put(key, value);
+    }
+  }
+
   /**
    * Records a single output field for easy access when viewing the log. On the
    * simulator, use this method to record extra data based on the original inputs.
@@ -494,6 +508,20 @@ public static void recordOutput(String key, boolean[] value) {
     }
   }
 
+  /**
+   * Records a single output field for easy access when viewing the log. On the
+   * simulator, use this method to record extra data based on the original inputs.
+   * 
+   * @param key   The name of the field to record. It will be stored under
+   *              "/RealOutputs" or "/ReplayOutputs"
+   * @param value The value of the field.
+   */
+  public static void recordOutput(String key, int[] value) {
+    if (running) {
+      outputTable.put(key, value);
+    }
+  }
+
   /**
    * Records a single output field for easy access when viewing the log. On the
    * simulator, use this method to record extra data based on the original inputs.

junction/core/src/org/littletonrobotics/junction/inputs/LoggedDriverStation.java

@@ -41,12 +41,12 @@ private LoggedDriverStation() {
    * General driver station data that needs to be updated throughout the match.
    */
   public static class DriverStationInputs implements LoggableInputs {
-    public long allianceStation = 0;
+    public int allianceStation = 0;
     public String eventName = "";
     public String gameSpecificMessage = "";
-    public long matchNumber = 0;
-    public long replayNumber = 0;
-    public long matchType = 0;
+    public int matchNumber = 0;
+    public int replayNumber = 0;
+    public int matchType = 0;
     public double matchTime = 0.00;
 
     public boolean enabled = false;
@@ -96,13 +96,13 @@ public void fromLog(LogTable table) {
    */
   public static class JoystickInputs implements LoggableInputs {
     public String name = "";
-    public long type = 0;
+    public int type = 0;
     public boolean xbox = false;
-    public long buttonCount = 0;
-    public long buttonValues = 0;
-    public long[] povs = {};
+    public int buttonCount = 0;
+    public int buttonValues = 0;
+    public int[] povs = {};
     public float[] axisValues = {};
-    public long[] axisTypes = {};
+    public int[] axisTypes = {};
 
     public void toLog(LogTable table) {
       table.put("Name", name);
@@ -162,7 +162,7 @@ public static void periodic() {
         // POVs
         int povCount = conduit.getPovCount(id);
         int[] povValues = conduit.getPovValues(id);
-        joystick.povs = new long[povCount];
+        joystick.povs = new int[povCount];
         for (int i = 0; i < povCount; i++) {
           joystick.povs[i] = povValues[i];
         }
@@ -172,7 +172,7 @@ public static void periodic() {
         float[] axisValues = conduit.getAxisValues(id);
         int[] axisTypes = conduit.getAxisTypes(id);
         joystick.axisValues = new float[axisCount];
-        joystick.axisTypes = new long[axisCount];
+        joystick.axisTypes = new int[axisCount];
         for (int i = 0; i < axisCount; i++) {
           joystick.axisValues[i] = axisValues[i];
           joystick.axisTypes[i] = axisTypes[i];
@@ -256,7 +256,7 @@ private static class MatchDataSender {
     private void sendMatchData(DriverStationInputs dsInputs) {
       boolean isRedAlliance = false;
       int stationNumber = 1;
-      switch ((int) dsInputs.allianceStation) {
+      switch (dsInputs.allianceStation) {
         case 0:
           isRedAlliance = true;
           stationNumber = 1;

junction/core/src/org/littletonrobotics/junction/inputs/LoggedPowerDistribution.java

@@ -86,8 +86,8 @@ public void toLog(LogTable table) {
       table.put("TotalEnergy", pdpTotalEnergy);
 
       table.put("ChannelCount", channelCount);
-      table.put("Faults", (int) faults);
-      table.put("StickyFaults", (int) stickyFaults);
+      table.put("Faults", faults);
+      table.put("StickyFaults", stickyFaults);
     }
 
     @Override
@@ -99,7 +99,7 @@ public void fromLog(LogTable table) {
       pdpTotalPower = table.get("TotalPower", pdpTotalPower);
       pdpTotalEnergy = table.get("TotalEnergy", pdpTotalEnergy);
 
-      channelCount = (int) table.get("ChannelCount", channelCount);
+      channelCount = table.get("ChannelCount", channelCount);
       faults = table.get("Faults", faults);
       stickyFaults = table.get("StickyFaults", stickyFaults);
     }

junction/core/src/org/littletonrobotics/junction/inputs/LoggedSystemStats.java

@@ -103,11 +103,11 @@ public void toLog(LogTable table) {
 
     @Override
     public void fromLog(LogTable table) {
-      fpgaVersion = (int) table.get("FPGAVersion", fpgaVersion);
-      fpgaRevision = (int) table.get("FPGARevision", fpgaRevision);
+      fpgaVersion = table.get("FPGAVersion", fpgaVersion);
+      fpgaRevision = table.get("FPGARevision", fpgaRevision);
       serialNumber = table.get("SerialNumber", serialNumber);
       comments = table.get("Comments", comments);
-      teamNumber = (int) table.get("TeamNumber", teamNumber);
+      teamNumber = table.get("TeamNumber", teamNumber);
       fpgaButton = table.get("FPGAButton", fpgaButton);
       systemActive = table.get("SystemActive", systemActive);
       brownedOut = table.get("BrownedOut", brownedOut);
@@ -120,27 +120,27 @@ public void fromLog(LogTable table) {
       userVoltage3v3 = table.get("3v3Rail/Voltage", userVoltage3v3);
       userCurrent3v3 = table.get("3v3Rail/Current", userCurrent3v3);
       userActive3v3 = table.get("3v3Rail/Active", userActive3v3);
-      userCurrentFaults3v3 = (int) table.get("3v3Rail/CurrentFaults", userCurrentFaults3v3);
+      userCurrentFaults3v3 = table.get("3v3Rail/CurrentFaults", userCurrentFaults3v3);
 
       userVoltage5v = table.get("5vRail/Voltage", userVoltage5v);
       userCurrent5v = table.get("5vRail/Current", userCurrent5v);
       userActive5v = table.get("5vRail/Active", userActive5v);
-      userCurrentFaults5v = (int) table.get("5vRail/CurrentFaults", userCurrentFaults5v);
+      userCurrentFaults5v = table.get("5vRail/CurrentFaults", userCurrentFaults5v);
 
       userVoltage6v = table.get("6vRail/Voltage", userVoltage6v);
       userCurrent6v = table.get("6vRail/Current", userCurrent6v);
       userActive6v = table.get("6vRail/Active", userActive6v);
-      userCurrentFaults6v = (int) table.get("6vRail/CurrentFaults", userCurrentFaults6v);
+      userCurrentFaults6v = table.get("6vRail/CurrentFaults", userCurrentFaults6v);
 
       brownoutVoltage = table.get("BrownoutVoltage", brownoutVoltage);
       cpuTemp = table.get("CPUTempCelcius", cpuTemp);
 
       canStatus.setStatus(
           table.get("CANBus/Utilization", canStatus.percentBusUtilization),
-          (int) table.get("CANBus/OffCount", canStatus.busOffCount),
-          (int) table.get("CANBus/TxFullCount", canStatus.txFullCount),
-          (int) table.get("CANBus/ReceiveErrorCount", canStatus.receiveErrorCount),
-          (int) table.get("CANBus/TransmitErrorCount", canStatus.transmitErrorCount));
+          table.get("CANBus/OffCount", canStatus.busOffCount),
+          table.get("CANBus/TxFullCount", canStatus.txFullCount),
+          table.get("CANBus/ReceiveErrorCount", canStatus.receiveErrorCount),
+          table.get("CANBus/TransmitErrorCount", canStatus.transmitErrorCount));
 
       epochTime = table.get("EpochTimeMicros", epochTime);
     }

junction/core/src/org/littletonrobotics/junction/wpilog/WPILOGWriter.java

@@ -121,7 +121,7 @@ public void putTable(LogTable table) {
 
       // Update match
       MatchType matchType;
-      switch ((int) table.get("DriverStation/MatchType", 0)) {
+      switch (table.get("DriverStation/MatchType", 0)) {
         case 1:
           matchType = MatchType.Practice;
           break;
@@ -150,7 +150,7 @@ public void putTable(LogTable table) {
           default:
             break;
         }
-        logMatchText += Long.toString(table.get("DriverStation/MatchNumber", 0));
+        logMatchText += Integer.toString(table.get("DriverStation/MatchNumber", 0));
       }
 
       // Update filename