Fix crash if replay log not found, add robot software metadata

Fixed an issue where if not provided a log of a match during robot simulation, the software would crash. This now is handled with just running the simulation as normal without a replay. There is no current logic for how to feed information into the simulator at the moment.

Added metadata for robot software. This includes runtime type such as a simulation or a real robot, as well as Git information such as the commit SHA, the build date, the commit date, branch, and whether or not if there are files not committed to the repository.

src/main/java/frc/robot/Robot.java

@@ -5,7 +5,6 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.Filesystem;
-import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -16,6 +15,7 @@
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.inputs.LoggedPowerDistribution;
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
@@ -51,34 +51,44 @@ public static Robot getInstance() {
    */
   @Override
   public void robotInit() {
-    // Set up logging
-    Logger.recordMetadata("ProjectName", "2024-Robot"); // Set a metadata value
+    // Record metadata about robot code
+    Logger.recordMetadata("ProjectName", "2024-Robot");
+    Logger.recordMetadata("RuntimeType", getRuntimeType().toString());
+    Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+    Logger.recordMetadata("GitSHA", null);
+    Logger.recordMetadata("GitDate", null);
+    Logger.recordMetadata("GitBranch", null);
+    // Determine if the git repo is dirty
+    switch (BuildConstants.DIRTY) {
+      case 0:
+        Logger.recordMetadata("GitDirty", "Clean");
+        break;
+      case 1:
+        Logger.recordMetadata("GitDirty", "Uncommitted changes");
+        break;
+      default:
+        Logger.recordMetadata("GitDirty", "Unknown");
+        break;
+    }
 
     if (isReal()) {
-      Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
-      PowerDistribution pdh =
-          new PowerDistribution(
-              HardwareConstants.REV_PDH_ID, ModuleType.kRev); // Enables power distribution logging
-      pdh.setSwitchableChannel(true);
-      pdh.close();
+      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(); // Pull the replay log from AdvantageScope (or prompt the user)
-      Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
-      Logger.addDataReceiver(
-          new WPILOGWriter(
-              LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
+      String logPath = LogFileUtil.findReplayLog();
+      if (logPath != null) {
+        Logger.setReplaySource(new WPILOGReader(logPath));
+      } else {
+        Logger.addDataReceiver(new NT4Publisher());
+      }
+      Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
     }
     Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
 
-    // Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the
-    // "Understanding Data Flow" page
-    Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may
-    // be added.
+    // Start logging
+    Logger.start();
 
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.