Merge pull request #2 from team-3482/telemetry

Telemetry merge to main

.gitignore

@@ -176,3 +176,11 @@ logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+# build constants, see build.gradle
+src/main/java/frc/robot/utilities/BuildConstants.java
+
+networktables.json
+
+simgui-ds.json
+simgui.json

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "com.peterabeles.gversion" version "1.10"
 }
 
 java {
@@ -47,6 +48,37 @@ wpi.java.debugJni = false
 // Set this to true to enable desktop support.
 def includeDesktopSupport = false
 
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    mavenLocal()
+}
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.CheckInstall"
+    classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+  srcDir       = "src/main/java/"
+  classPackage = "frc.robot.utilities"
+  className    = "BuildConstants"
+  dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+  timeZone     = "America/Los_Angeles" // Use preferred time zone
+  indent       = "  "
+}
+
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
@@ -69,6 +101,9 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {

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

@@ -5,10 +5,16 @@
 package frc.robot;
 
 import edu.wpi.first.net.PortForwarder;
-import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.constants.PhysicalConstants.LimelightConstants;
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -19,7 +25,7 @@
  * build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
     private Command auton;
 
     /**
@@ -35,6 +41,25 @@ public void robotInit() {
             PortForwarder.add(port + 20, LimelightConstants.BACK_APRIL_TAG_LL + ".local", port);
         }
 
+        // record buildconstants data in telemetry
+        Logger.recordMetadata("ProjectName", "Crescendo2024-Bot-2");
+        Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+        Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+        Logger.recordMetadata("Dirty", String.valueOf(BuildConstants.DIRTY));
+
+        if (isReal()) {
+            Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
+            Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+            new PowerDistribution(1, PowerDistribution.ModuleType.kRev); // Enables power distribution logging
+        } 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
+        }
+
+        Logger.start();
+
         // Initialize RobotContainer and all subsystems
         RobotContainer.getInstance();
     }

vendordeps/AdvantageKit.json

@@ -0,0 +1,42 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "3.2.1",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "frcYear": "2024",
+    "mavenUrls": [],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "wpilib-shim",
+            "version": "3.2.1"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "junction-core",
+            "version": "3.2.1"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-api",
+            "version": "3.2.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-wpilibio",
+            "version": "3.2.1",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}