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Add auto path preloading

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- Refactor recording to use commands
This commit is contained in:
nathanrsxtn
2022-02-16 22:31:00 -07:00
parent 3cb4a13bb1
commit 9ccf4bcea2
17 changed files with 1870 additions and 1463 deletions
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src/main/java/frc4388/robot/Robot.java
+43 -32
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@@ -5,22 +5,23 @@
package frc4388.robot;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.util.logging.Level;
import java.util.logging.Logger;
import java.util.stream.StreamSupport;
import com.diffplug.common.base.Errors;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.PathPlannerUtil;
import frc4388.utility.RobotLogger;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.utility.RobotTime;
import frc4388.utility.PathPlannerUtil.Path;
/**
* The VM is configured to automatically run this class, and to call the
@@ -61,6 +62,33 @@ public class Robot extends TimedRobot {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
// addPeriodic(m_robotContainer::recordPeriodic, kDefaultPeriod);
SmartDashboard.putData(CommandScheduler.getInstance());
SmartDashboard.putData("JVM Memory", new RunCommand(() -> {}) {
@Override public boolean runsWhenDisabled() { return true; }
@Override public String getName() {
if (isScheduled()) {
Runtime runtime = Runtime.getRuntime();
long totalMemory = runtime.totalMemory() / 1_000_000;
long freeMemory = runtime.freeMemory() / 1_000_000;
long maxMemory = runtime.maxMemory() / 1_000_000;
return totalMemory - freeMemory + " MB / " + totalMemory + " MB / " + maxMemory + " MB";
}
return "Not Running";
}
});
SmartDashboard.putData("Usable Deploy Space", new RunCommand(() -> {}) {
@Override public boolean runsWhenDisabled() { return true; }
@Override public String getName() {
if (isScheduled()) {
File deploy = Filesystem.getDeployDirectory();
long usedSpace = Errors.suppress().getWithDefault(() -> Files.walk(deploy.toPath()).map(Path::toFile).filter(File::isFile).mapToLong(File::length).sum(), 0l) / 1_000_000;
long usableSpace = deploy.getUsableSpace() / 1_000_000;
return usedSpace + " MB / " + usableSpace + " MB";
}
return "Not Running";
}
});
}
/**
@@ -94,26 +122,13 @@ public class Robot extends TimedRobot {
LOGGER.fine("disabledInit()");
m_robotTime.endMatchTime();
if (isTest()) {
try {
// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
Path path = RobotLogger.getInstance().createPath(0.1, 0.1, false);
String pathPath = "recording." + System.currentTimeMillis() + ".path";
File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve(pathPath).toFile();
outputFile.createNewFile();
path.write(outputFile);
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "Recorded path to {0} in the deploy directory on the RoboRIO", pathPath);
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
// LOGGER.finest(path::toString);
} catch (IOException e) {
e.printStackTrace();
}
// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("recording." + System.currentTimeMillis() + ".path").toFile();
if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
m_robotContainer.createPath(null, null, false).write(outputFile);
LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath());
} else
LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath());
}
}
@@ -130,12 +145,7 @@ public class Robot extends TimedRobot {
@Override
public void autonomousInit() {
LOGGER.fine("autonomousInit()");
try {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
@@ -176,6 +186,7 @@ public class Robot extends TimedRobot {
@Override
public void testInit() {
CommandScheduler.getInstance().cancelAll();
}
/**