Change HAL messages to be formatted by the logger

src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -584,9 +584,7 @@ public class DriverStation {
         logRecord.setThrown(throwable);
       });
       if (!frc4388.utility.AnsiLogging.halLoggerHandler.isLoggable(logRecord)) return;
-      // java.util.logging.Logger.getLogger(HAL.class.getSimpleName()).log(logRecord);
-      String msg = frc4388.utility.AnsiLogging.halLoggerHandler.getFormatter().format(logRecord);
-      HAL.sendError(isError, code, false, msg.substring(0, msg.length() - 1), "", "", true);
+      frc4388.utility.AnsiLogging.halLoggerHandler.publish(logRecord);
     } else {
       String locString;
       if (stackTrace.length >= stackTraceFirst + 1) {

src/main/java/frc4388/utility/AnsiLogging.java

@@ -4,9 +4,11 @@ import static org.fusesource.jansi.Ansi.ansi;
 
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;
+import java.io.OutputStream;
 import java.io.PrintStream;
 import java.io.PrintWriter;
 import java.io.StringWriter;
+import java.nio.charset.StandardCharsets;
 import java.time.ZoneId;
 import java.time.ZonedDateTime;
 import java.util.Map;
@@ -25,6 +27,9 @@ import com.diffplug.common.base.Errors;
 
 import org.fusesource.jansi.Ansi.Attribute;
 import org.fusesource.jansi.Ansi.Color;
+
+import edu.wpi.first.hal.HAL;
+
 import org.fusesource.jansi.AnsiConsole;
 import org.fusesource.jansi.AnsiPrintStream;
 
@@ -56,7 +61,7 @@ public class AnsiLogging {
       // This is registering a plugin that will log Durian errors to the console using a logger.
       DurianPlugins.register(Errors.Plugins.Log.class, e -> Logger.getLogger(e.getStackTrace()[0].getClassName().substring(e.getStackTrace()[0].getClassName().lastIndexOf('.') + 1)).log(Level.SEVERE, e, e::getLocalizedMessage));
       // Store the handler for HAL to use when sending errors to DriverStation.
-      halLoggerHandler = new LoggingAnsiConsoleHandler();
+      halLoggerHandler = new LoggingAnsiConsoleHandler(new HalOutputStream());
     } catch (IOException exception) {
       exception.printStackTrace(AnsiConsole.sysErr());
     }
@@ -70,6 +75,10 @@ public class AnsiLogging {
       super(ANSI_CONSOLE_STREAM, new LoggingAnsiFormatter());
       setLevel(LEVEL);
     }
+    public LoggingAnsiConsoleHandler(OutputStream out) {
+      super(out, new LoggingAnsiFormatter());
+      setLevel(LEVEL);
+    }
 
     private static class LoggingAnsiFormatter extends Formatter {
       private static final ZoneId ZONE_ID = ZoneId.systemDefault();
@@ -129,4 +138,18 @@ public class AnsiLogging {
       }
     }, true);
   }
+
+  private static class HalOutputStream extends ByteArrayOutputStream {
+    @Override
+    public synchronized void write(int b) {
+      if (b == '\n') flush();
+      else super.write(b);
+    }
+    @Override
+    public void flush() {
+      String s = toString();
+      HAL.sendError(false, 0, false, s.substring(0, s.length() - 1), "", "", true);
+      reset();
+    }
+  }
 }