Merge pull request #25 from OakvilleDynamics/feature/driver-station-f…

…eedback Add more driver station feedback and diagnostic logging
OakvilleDynamics · Mar 9, 2024 · cd3c54d · cd3c54d
2 parents e6d326b + e0afacb
commit cd3c54d
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Showing 2 changed files with 57 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import com.ctre.phoenix6.SignalLogger;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.Timer;
@@ -12,6 +13,7 @@
 import frc.robot.Constants.HardwareConstants;
 import java.io.File;
 import java.io.IOException;
+import java.nio.file.Paths;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
@@ -71,19 +73,22 @@ public void robotInit() {
         break;
     }
 
+    Logger.addDataReceiver(new NT4Publisher());
     if (isReal()) {
-      Logger.addDataReceiver(new NT4Publisher());
       LoggedPowerDistribution.getInstance(HardwareConstants.REV_PDH_ID, ModuleType.kRev);
       Logger.registerURCL(URCL.startExternal());
-    } else {
-      setUseTiming(false); // Run as fast as possible
-      String logPath = LogFileUtil.findReplayLog();
-      if (logPath != null) {
-        Logger.setReplaySource(new WPILOGReader(logPath));
+      if (Paths.get("/U").getParent() != null) {
+        Logger.addDataReceiver(new WPILOGWriter());
+        SignalLogger.start();
       } else {
-        Logger.addDataReceiver(new NT4Publisher());
+        setUseTiming(false);
+        try {
+          String logPath = LogFileUtil.findReplayLog();
+          Logger.setReplaySource(new WPILOGReader(logPath));
+        } catch (Exception e) {
+          e.printStackTrace();
+        }
       }
-      Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
     }
 
     // Start logging

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -106,6 +107,49 @@ public RobotContainer() {
             () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
             () -> driverXbox.getRawAxis(2));
 
+    // Checks if the git repo is dirty and output warnings as errors
+    if (BuildConstants.DIRTY != 0) {
+      DriverStation.reportError(
+          "WARNING! THERE ARE CHANGES THAT CURRENTLY IS NOT COMMITTED! PLEASE COMMIT THOSE CHANGES TO GIT/GITHUB OR REVERT THOSE CHANGES!",
+          false);
+      DriverStation.reportError("To see the changes, run `git status` in the terminal", false);
+      DriverStation.reportError(
+          "To commit the changes, run `git add .` to stage the changes, then run `git commit -m \"<commit message>\"` to commit the changes",
+          false);
+      DriverStation.reportError(
+          "To revert the changes, run `git reset --hard` to revert the changes. This will permanently delete those changes",
+          false);
+      DriverStation.reportError(
+          "You can also open the GitHub Desktop application to perform these actions", false);
+      DriverStation.reportError("Remember to push your changes after committing", false);
+    }
+    // Checks if the branch is currently not on 'main' and output the warnings as errors
+    if (!BuildConstants.GIT_BRANCH.equals("main")) {
+      DriverStation.reportError(
+          "WARNING! YOU ARE NOT ON THE MAIN BRANCH! PLEASE MERGE YOUR CHANGES TO MAIN OR REVERT THOSE CHANGES!",
+          false);
+      DriverStation.reportError(
+          "To see the current branch, run `git branch` in the terminal", false);
+      DriverStation.reportError(
+          "To merge your changes to main, push your changes to GitHub and go to the GitHub repository and create a pull request",
+          false);
+      DriverStation.reportError("Wait for the pull request to be reviewed and merged", false);
+    } else if (BuildConstants.GIT_BRANCH.contains("event")) {
+      DriverStation.reportWarning(
+          "You are currently on an `event` branch. After an event, please merge your changes to main as the event progresses or after the event is over",
+          false);
+      DriverStation.reportWarning(
+          "With event branches, changes made on the fly here should be committed before each build/deploy to the robot",
+          false);
+      DriverStation.reportWarning(
+          "If you are done with the event, please merge and delete the event branch", false);
+      DriverStation.reportWarning(
+          "If you are not done with the event, please keep the event branch and continue working on it",
+          false);
+      DriverStation.reportWarning(
+          "If you are not sure, please ask your team leader or mentor for help", false);
+    }
+
     drivebase.setDefaultCommand(driveFieldOrientedDirectAngle);
   }