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Add more driver station feedback and diagnostic logging #25

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merged 5 commits into from
Mar 9, 2024
Merged

Add more driver station feedback and diagnostic logging #25

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274b668
Fix logfile null crash, add Git warning to driver station
garrettsummerfi3ld Feb 26, 2024
e66e694
Add CTRE logging, log writer
garrettsummerfi3ld Mar 9, 2024
36216b9
Merge branch 'main' into feature/driver-station-feedback
garrettsummerfi3ld Mar 9, 2024
18bfb6e
[Spotless] Apply formatting
garrettsummerfi3ld Mar 9, 2024
e0afacb
Add event branch warnings
garrettsummerfi3ld Mar 9, 2024
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21 changes: 13 additions & 8 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;
Expand Down Expand Up @@ -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
Expand Down
44 changes: 44 additions & 0 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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);
}

Expand Down
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