mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Significantly improve logging
Allow System.out.print messages to appear Binding cleanup
This commit is contained in:
nathanrsxtn
@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.PrintCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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@@ -71,42 +72,33 @@ public class RobotContainer {
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configureButtonBindings();
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/* Default Commands */
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// Swerve Drive with Input
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// Swerve Drive with Input
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m_robotSwerveDrive.setDefaultCommand(
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new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
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getDriverController().getLeftX(),
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getDriverController().getLeftY(),
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//getDriverController().getRightX(),
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getDriverController().getRightX(),
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getDriverController().getRightY(),
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getDriverController().getRightY(),
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true),
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m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
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// Intake with Triggers
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m_robotSwerveDrive));
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// Intake with Triggers
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m_robotIntake.setDefaultCommand(
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new RunCommand(() -> m_robotIntake.runWithTriggers(
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getOperatorController().getLeftTriggerAxis(),
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getOperatorController().getRightTriggerAxis()),
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m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
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// Storage Management
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/*m_robotStorage.setDefaultCommand(
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new RunCommand(() -> m_robotStorage.manageStorage(),
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m_robotStorage).withName("Storage manageStorage defaultCommand"));*/
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// Serializer Management
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// m_robotSerializer.setDefaultCommand(
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// new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(),
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// m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
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// Turret Manual
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m_robotTurret.setDefaultCommand(
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new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
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m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
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m_robotHood.setDefaultCommand(
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new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY() * 0.1), m_robotHood));
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// m_robotTurret.setDefaultCommand(
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// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
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m_robotIntake));
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// Storage Management
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// m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.manageStorage(), m_robotStorage).withName("Storage manageStorage defaultCommand"));
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// Serializer Management
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// m_robotSerializer.setDefaultCommand(new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(), m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
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// Turret Manual
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m_robotTurret.setDefaultCommand(new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret));
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m_robotHood.setDefaultCommand(new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY() * 0.1), m_robotHood));
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// m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand"));
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// Creates a button on the SmartDashboard that will record the path of the robot.
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SmartDashboard.putData("Path Recording", m_pathChooser);
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}
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@@ -118,6 +110,7 @@ public class RobotContainer {
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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// Iterate over all Xbox controller buttons.
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for (XboxController.Button binding : XboxController.Button.values()) {
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/* ------------------------------------ Driver ------------------------------------ */
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JoystickButton button = new JoystickButton(getDriverController(), binding.value);
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@@ -126,13 +119,13 @@ public class RobotContainer {
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else if (binding == XboxController.Button.kRightBumper)
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/* Right Bumper > Shift Up */ button.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
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else if (binding == XboxController.Button.kLeftStick)
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/* Left Stick > Unbound */ {/* No Commands */}
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/* Left Stick > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kRightStick)
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/* Right Stick > Unbound */ {/* No Commands */}
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/* Right Stick > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kA)
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/* A > Unbound */ {/* No Commands */}
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/* A > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kB)
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/* B > Unbound */ {/* No Commands */}
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/* B > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kX)
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/* X > TEMP */ button.whenPressed(() -> {
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m_robotMap.leftFront.reset();
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@@ -141,45 +134,37 @@ public class RobotContainer {
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m_robotMap.rightBack.reset();
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});
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else if (binding == XboxController.Button.kY)
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/* Y > Unbound */ {/* No Commands */}
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/* Y > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kBack)
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/* Start > Reset Odometry */ button.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
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/* Back > Reset Odometry */ button.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
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else if (binding == XboxController.Button.kStart)
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/* Start > Reset Gyro */ button.whenPressed(m_robotSwerveDrive::resetGyro);
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/* ------------------------------------ Operator ------------------------------------ */
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button = new JoystickButton(getDriverController(), binding.value);
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if (binding == XboxController.Button.kLeftBumper)
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/* Left Bumper > Storage Out */ button
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.whileHeld(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED), m_robotStorage)
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.whenReleased(() -> m_robotStorage.runStorage(0.0), m_robotStorage);
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/* Left Bumper > Storage Out */ button.whileHeld(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED), m_robotStorage)
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.whenReleased(() -> m_robotStorage.runStorage(0.0), m_robotStorage);
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else if (binding == XboxController.Button.kRightBumper)
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/* Right Bumper > Storage In */ button
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.whileHeld(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage)
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.whenReleased(() -> m_robotStorage.runStorage(0.0), m_robotStorage);
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/* Right Bumper > Storage In */ button.whileHeld(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage)
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.whenReleased(() -> m_robotStorage.runStorage(0.0), m_robotStorage);
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else if (binding == XboxController.Button.kLeftStick)
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/* Left Stick > Unbound */ {/* No Commands */}
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/* Left Stick > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kRightStick)
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/* Right Stick > Unbound */ {/* No Commands */}
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/* Right Stick > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kA)
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// /* A > Shoot with Odo */ // button.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood))
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/* A > Unbound */ {/* No Commands */}
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/* A > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kB)
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// /* B > Shoot with Lime */ // button.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry))
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/* B > Reset Hood*/
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button.whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
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/* B > Reset Hood*/ button.whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
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else if (binding == XboxController.Button.kX)
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// /* X > Extend Intake */ // button.whenPressed(() -> m_robotIntake.runExtender(true))
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/* X > Run Shooter */ button
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.whileHeld(() -> m_robotBoomBoom.runDrumShooter(0.3))
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.whenReleased(() -> m_robotBoomBoom.runDrumShooter(0.0));
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/* X > Run Shooter */ button.whileHeld(() -> m_robotBoomBoom.runDrumShooter(0.3))
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.whenReleased(() -> m_robotBoomBoom.runDrumShooter(0.0));
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else if (binding == XboxController.Button.kY)
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// /* Y > Retract Intake */ // operatorButton.whenPressed(() -> m_robotIntake.runExtender(false))
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/* Y > Unbound */ {/* No Commands */}
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/* Y > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kBack)
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/* Back > Unbound */ {/* No Commands */}
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/* Back > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kStart)
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/* Start > Unbound */ {/* No Commands */}
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/* Start > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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}
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}
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@@ -215,6 +200,10 @@ public class RobotContainer {
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return m_driverXbox;
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}
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public XboxController getOperatorController() {
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return m_operatorXbox;
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}
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/**
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* Get odometry.
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*
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@@ -232,8 +221,4 @@ public class RobotContainer {
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public void resetOdometry(Pose2d pose) {
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m_robotSwerveDrive.resetOdometry(pose);
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}
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public XboxController getOperatorController() {
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return m_operatorXbox;
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}
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}
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@@ -2,8 +2,8 @@ package frc4388.utility;
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import static org.fusesource.jansi.Ansi.ansi;
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import java.io.ByteArrayOutputStream;
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import java.io.IOException;
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import java.io.OutputStream;
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import java.io.PrintStream;
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import java.io.PrintWriter;
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import java.io.StringWriter;
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@@ -11,78 +11,64 @@ import java.time.ZoneId;
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import java.time.ZonedDateTime;
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import java.util.Map;
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import java.util.Optional;
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import java.util.logging.ConsoleHandler;
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import java.util.logging.Formatter;
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import java.util.logging.Handler;
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import java.util.logging.Level;
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import java.util.logging.LogManager;
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import java.util.logging.LogRecord;
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import java.util.logging.Logger;
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import java.util.logging.StreamHandler;
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import org.fusesource.jansi.Ansi;
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import org.fusesource.jansi.Ansi.Attribute;
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import org.fusesource.jansi.Ansi.Color;
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import org.fusesource.jansi.AnsiConsole;
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import org.fusesource.jansi.AnsiPrintStream;
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public class AnsiLogging {
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private static final AnsiPrintStream ANSI_CONSOLE_STREAM = AnsiConsole.out();
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private static final Level LEVEL = Level.ALL;
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public class AnsiLogging extends ConsoleHandler {
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public static void systemInstall() {
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try {
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// Configure java.util.logging.Logger to output additional colored information.
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LogManager.getLogManager().updateConfiguration(key -> (o, n) -> {
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switch (key) {
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case ".level":
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return Level.ALL.getName();
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return LEVEL.getName();
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case "handlers":
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return AnsiColorConsoleHandler.class.getName();
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return LoggingAnsiConsoleHandler.class.getName();
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default:
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return n;
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}
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});
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// Replace standard output streams with org.fusesource.jansi.AnsiPrintStreams.
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AnsiConsole.systemInstall();
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// Replace standard output stream with java.util.logging.Logger.
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System.setOut(printStreamLogger(Logger.getGlobal(), Level.INFO));
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// Replace standard error output stream with java.util.logging.Logger.
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System.setErr(printStreamLogger(Logger.getGlobal(), Level.SEVERE));
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// Set the console to process ANSI escape codes.
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ANSI_CONSOLE_STREAM.install();
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// Sends standard output stream messages through a logger.
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System.setOut(printStreamLogger(Logger.getGlobal(), "out", Level.INFO));
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// Sends standard error output stream messages through a logger.
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System.setErr(printStreamLogger(Logger.getGlobal(), "err", Level.SEVERE));
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} catch (IOException exception) {
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exception.printStackTrace(AnsiConsole.sysErr());
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}
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}
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/**
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* This class is a ConsoleHandler that uses ANSI escape codes to colorize the output
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* This class is a StreamHandler that uses ANSI escape codes to colorize the log messages
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*/
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public static class AnsiColorConsoleHandler extends ConsoleHandler {
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@Override
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public void publish(LogRecord logRecord) {
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AnsiConsole.err().print(getFormatter().format(logRecord));
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AnsiConsole.err().flush();
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public static class LoggingAnsiConsoleHandler extends StreamHandler {
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public LoggingAnsiConsoleHandler() {
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super(ANSI_CONSOLE_STREAM, new LoggingAnsiFormatter());
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setLevel(LEVEL);
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}
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@Override
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public Formatter getFormatter() {
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return formatter;
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}
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private static class LoggingAnsiFormatter extends Formatter {
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private static final ZoneId ZONE_ID = ZoneId.systemDefault();
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// Specify colors for the different message levels.
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private static final Map<Integer, String> LEVEL_COLORS = Map.of(Level.OFF.intValue(), "", Level.SEVERE.intValue(), ansi().fgBright(Color.RED).toString(), Level.WARNING.intValue(), ansi().fgBright(Color.YELLOW).toString(), Level.INFO.intValue(), ansi().fg(Color.GREEN).toString(), Level.CONFIG.intValue(), ansi().fgBright(Color.BLUE).toString(), Level.FINE.intValue(), ansi().fg(Color.CYAN).toString(), Level.FINER.intValue(), ansi().fg(Color.MAGENTA).toString(), Level.FINEST.intValue(), ansi().fgBright(Color.BLACK).toString(), Level.ALL.intValue(), ansi().fg(Color.DEFAULT).toString());
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private static final String FORMAT = ansi().a("%s").bold().a(Attribute.UNDERLINE).a("[%tb %<td %<tk:%<tM:%<tS.%<tL] %s %s:").boldOff().a(Attribute.UNDERLINE_OFF).a("%s%s").a(Attribute.INTENSITY_FAINT).a("%s").boldOff().reset().newline().toString();
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private static final String RESET = ansi().reset().toString();
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private static final Formatter formatter = new Formatter() {
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private final ZoneId zoneId = ZoneId.systemDefault();
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// Specify and prepare formats for messages
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private final Map<Integer, String> levelColors = Map.of(
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Level.OFF.intValue(), "",
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Level.SEVERE.intValue(), makeMessageFormatString(ansi().fgBright(Color.RED)),
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Level.WARNING.intValue(), makeMessageFormatString(ansi().fgBright(Color.YELLOW)),
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Level.INFO.intValue(), makeMessageFormatString(ansi().fg(Color.GREEN)),
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Level.CONFIG.intValue(), makeMessageFormatString(ansi().fgBright(Color.BLUE)),
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Level.FINE.intValue(), makeMessageFormatString(ansi().fg(Color.CYAN)),
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Level.FINER.intValue(), makeMessageFormatString(ansi().fg(Color.MAGENTA)),
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Level.FINEST.intValue(), makeMessageFormatString(ansi().fgBright(Color.BLACK)),
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Level.ALL.intValue(), makeMessageFormatString(ansi().fg(Color.DEFAULT))
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);
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private String makeMessageFormatString(Ansi base) {
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return base.bold().a(Attribute.UNDERLINE).a("[%1$tb %1$td %1$tk:%1$tM:%1$tS.%1$tL] %2$s %3$s:").boldOff().a(Attribute.UNDERLINE_OFF).a("%4$s%5$s").a(Attribute.INTENSITY_FAINT).a("%6$s").reset().a("%n").toString();
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}
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private String makeStackTraceString(Throwable throwable) {
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private static String makeStackTraceString(Throwable throwable) {
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StringWriter stringWriter = new StringWriter();
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try (PrintWriter printWriter = new PrintWriter(stringWriter)) {
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printWriter.println();
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@@ -93,43 +79,44 @@ public class AnsiLogging extends ConsoleHandler {
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@Override
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public String format(LogRecord logRecord) {
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ZonedDateTime time = ZonedDateTime.ofInstant(logRecord.getInstant(), zoneId);
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ZonedDateTime time = ZonedDateTime.ofInstant(logRecord.getInstant(), ZONE_ID);
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// Get the logger name, source class name, and/or source method name.
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String source = Optional.ofNullable(logRecord.getLoggerName()).or(() -> Optional.ofNullable(logRecord.getSourceClassName())).map(s -> s + " ").orElse("") + Optional.ofNullable(logRecord.getSourceMethodName()).orElse("");
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String message = formatMessage(logRecord);
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// Get the stack trace of the exception if it was thrown.
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String throwable = Optional.ofNullable(logRecord.getThrown()).map(this::makeStackTraceString).orElse("");
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String throwable = Optional.ofNullable(logRecord.getThrown()).map(LoggingAnsiFormatter::makeStackTraceString).orElse("");
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// Select the appropriate format string for the log level.
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String format = levelColors.getOrDefault(logRecord.getLevel().intValue(), levelColors.get(Level.ALL.intValue()));
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String color = LEVEL_COLORS.getOrDefault(logRecord.getLevel().intValue(), LEVEL_COLORS.get(Level.ALL.intValue()));
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boolean multiline = message.lines().skip(1).findAny().isPresent();
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boolean ansi = message.contains("\033");
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String prefix = (ansi ? RESET : "") + (multiline ? System.lineSeparator() : " ");
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// Format the log message.
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return String.format(format, time, source, logRecord.getLevel().getLocalizedName(), message.lines().count() > 1 ? System.lineSeparator() : " ", message.contains("\033") ? "\033[0m" + message : message, throwable);
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return String.format(FORMAT, color, time, source, logRecord.getLevel().getLocalizedName(), prefix, message, throwable);
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}
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};
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@Override
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public String getHead(Handler h) {
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return String.format("%s%s level set to %s%s%n", LEVEL_COLORS.get(h.getLevel().intValue()), h.getClass().getSimpleName(), h.getLevel().getName(), RESET);
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}
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}
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@Override
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public synchronized void publish(LogRecord logRecord) {
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super.publish(logRecord);
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flush();
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}
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}
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/**
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* Create a PrintStream that writes to the given logger at the given level
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*
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* @param logger The logger to use.
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* @param level The level of the log message.
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* @return A new PrintStream object.
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*/
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private static PrintStream printStreamLogger(Logger logger, Level level) {
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return new PrintStream(new OutputStream() {
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// This is a buffer that is used to store the characters that are written to the PrintStream.
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private final StringBuilder stringBuilder = new StringBuilder();
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/**
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* If the character is a newline, flush the buffer to the logger, otherwise add the character to the
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* buffer.
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*/
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private static PrintStream printStreamLogger(Logger logger, String source, Level level) {
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return new PrintStream(new ByteArrayOutputStream() {
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@Override
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public void write(int i) throws IOException {
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if (i == '\n') {
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logger.log(level, stringBuilder::toString);
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stringBuilder.setLength(0);
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} else stringBuilder.appendCodePoint(i);
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public void flush() throws IOException {
|
||||
String s = toString();
|
||||
if (!s.isBlank()) logger.logp(level, null, source, toString());
|
||||
reset();
|
||||
}
|
||||
});
|
||||
}, true);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user