Change the off logging level to behave properly

Reduce the amount of strings created when logging
Add a temporary to do list to the read me file

readme.md

@@ -1 +1,29 @@
-# I don't know what to put here
+# Experimental
+## To Do
+- [x] Rewrite target tracking.
+- [x] Cleanup robot map.
+- [x] Cleanup robot.
+- [x] Change swerve module ordering to be consistent.
+- [x] Remove old-style autonomous programs.
+- [x] Change HAL logging to use custom formatting on its output stream.
+- [x] Use original HAL logging when custom logging is off.
+- [x] Change SparkMax sendable implementation to be an extension.
+- [x] Add Shuffleboard layout plan.
+- [ ] Organize constants.
+- [ ] Efficiently load path files.
+- [ ] Change the path chooser to select autonomous commands.
+- [ ] Remove unused commands.
+- [ ] Rewrite controller bindings.
+- [ ] Write new-style autonomous programs for lower ball counts.
+- [ ] Fix all XXX comments.
+- [ ] Visit TODO comments.
+- [ ] Forward the limelight port so it can be accessed over a USB tether.
+## Planned
+- [ ] Shuffleboard replacements options:
+  - [ ] Run a web server on the robot and bypass network tables.
+  - [ ] Run a web server on the drive laptop that accesses network tables.
+  - [ ] Write a network tables client in C++.
+- [ ] Consider combining intake, serializer, and storage into a single subsystem.
+- [ ] Consider combining turret, hood, and flywheels into a single subsystem.
+- [ ] Move the network tables recorded path downloader into a Shuffleboard plugin.
+- [ ] Finish the graph and web Shuffleboard widgets.

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

@@ -563,28 +563,30 @@ public class DriverStation {
       boolean printTrace,
       StackTraceElement[] stackTrace,
       int stackTraceFirst) {
-    if (!frc4388.utility.AnsiLogging.LEVEL.equals(java.util.logging.Level.OFF)) {
-      java.util.logging.LogRecord logRecord = new java.util.logging.LogRecord(isError ? java.util.logging.Level.SEVERE : java.util.logging.Level.FINER, error.stripTrailing());
-      logRecord.setLoggerName("HAL");
-      if (!frc4388.utility.AnsiLogging.halLoggerHandler.isLoggable(logRecord)) return;
-      java.util.Optional.ofNullable(stackTrace).filter(s -> s.length >= stackTraceFirst + 1).map(s -> java.util.Arrays.copyOfRange(s, Math.min(Math.max(0, stackTraceFirst), s.length - 1), s.length - 1)).ifPresent(presentStackTrace -> {
-        logRecord.setSourceMethodName(presentStackTrace[0].getMethodName());
-        String throwableMessage;
-        if (presentStackTrace[0].toString().equals("edu.wpi.first.wpilibj.Tracer.lambda$printEpochs$0(Tracer.java:63)")) {
-          throwableMessage = "Epochs" + System.lineSeparator() + logRecord.getMessage();
-          presentStackTrace = new java.lang.StackTraceElement[0];
-          logRecord.setLevel(java.util.logging.Level.FINEST);
-          logRecord.setMessage("Execution times:");
-        } else if (printTrace) {
-          long lineCount = logRecord.getMessage().lines().count();
-          throwableMessage = (lineCount > 1 ? logRecord.getMessage().lines().findFirst().map(s -> s + " + " + lineCount + " more lines...").orElse("") : logRecord.getMessage()).stripLeading();
-        } else return;
-        java.lang.Throwable throwable = new java.lang.Throwable(throwableMessage);
-        throwable.setStackTrace(presentStackTrace);
-        logRecord.setThrown(throwable);
-      });
-      if (!frc4388.utility.AnsiLogging.halLoggerHandler.isLoggable(logRecord)) return;
-      frc4388.utility.AnsiLogging.halLoggerHandler.publish(logRecord);
+    if (frc4388.utility.AnsiLogging.halLoggerHandler != null) {
+      if (!frc4388.utility.AnsiLogging.LEVEL.equals(java.util.logging.Level.OFF)) {
+        java.util.logging.LogRecord logRecord = new java.util.logging.LogRecord(isError ? java.util.logging.Level.SEVERE : java.util.logging.Level.FINER, error.stripTrailing());
+        logRecord.setLoggerName("HAL");
+        if (!frc4388.utility.AnsiLogging.halLoggerHandler.isLoggable(logRecord)) return;
+        java.util.Optional.ofNullable(stackTrace).filter(s -> s.length >= stackTraceFirst + 1).map(s -> java.util.Arrays.copyOfRange(s, Math.min(Math.max(0, stackTraceFirst), s.length - 1), s.length - 1)).ifPresent(presentStackTrace -> {
+          logRecord.setSourceMethodName(presentStackTrace[0].getMethodName());
+          String throwableMessage;
+          if (presentStackTrace[0].toString().equals("edu.wpi.first.wpilibj.Tracer.lambda$printEpochs$0(Tracer.java:63)")) {
+            throwableMessage = "Epochs" + System.lineSeparator() + logRecord.getMessage();
+            presentStackTrace = new java.lang.StackTraceElement[0];
+            logRecord.setLevel(java.util.logging.Level.FINEST);
+            logRecord.setMessage("Execution times:");
+          } else if (printTrace) {
+            long lineCount = logRecord.getMessage().lines().count();
+            throwableMessage = (lineCount > 1 ? logRecord.getMessage().lines().findFirst().map(s -> s + " + " + lineCount + " more lines...").orElse("") : logRecord.getMessage()).stripLeading();
+          } else return;
+          java.lang.Throwable throwable = new java.lang.Throwable(throwableMessage);
+          throwable.setStackTrace(presentStackTrace);
+          logRecord.setThrown(throwable);
+        });
+        if (!frc4388.utility.AnsiLogging.halLoggerHandler.isLoggable(logRecord)) return;
+        frc4388.utility.AnsiLogging.halLoggerHandler.publish(logRecord);
+      }
     } else {
       String locString;
       if (stackTrace.length >= stackTraceFirst + 1) {

src/main/java/frc4388/robot/RobotMap.java

@@ -14,7 +14,6 @@ import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import frc4388.robot.Constants.ClimberConstants;

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

@@ -35,9 +35,8 @@ public class AnsiLogging {
   public static final Level LEVEL = Level.ALL;
   private static final AnsiPrintStream ANSI_CONSOLE_STREAM = AnsiConsole.err();
 
-  public static Handler halLoggerHandler = new ConsoleHandler();
+  public static Handler halLoggerHandler = null;
   public static void systemInstall() {
-    if (LEVEL.equals(Level.OFF)) return;
     try {
       // Configure java.util.logging.Logger to output additional colored information.
       LogManager.getLogManager().updateConfiguration(key -> (o, n) -> {
@@ -60,7 +59,6 @@ public class AnsiLogging {
       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(new HalOutputStream());
-      // Logger.getLogger(name)
     } catch (IOException exception) {
       exception.printStackTrace(AnsiConsole.sysErr());
     }
@@ -132,7 +130,7 @@ public class AnsiLogging {
       @Override
       public void flush() throws IOException {
         String s = toString();
-        if (!s.isBlank()) logger.logp(level, null, source, toString());
+        if (!s.isBlank()) logger.logp(level, null, source, s);
         reset();
       }
     }, true);
@@ -146,8 +144,7 @@ public class AnsiLogging {
     }
     @Override
     public void flush() {
-      String s = toString();
-      HAL.sendError(false, 0, false, s.substring(0, s.length() - 1), "", "", true);
+      HAL.sendError(false, 0, false, new String(buf, 0, count - 1), "", "", true);
       reset();
     }
   }

src/test/java/frc4388/utility/RobotGyroUtilityTest.java.old

@@ -1,181 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc4388.utility;
-
-import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-
-import com.kauailabs.navx.frc.AHRS;
-
-import org.junit.*;
-
-import frc4388.mocks.MockPigeonIMU;
-import frc4388.robot.Constants.ArcadeDriveConstants;
-
-/**
- * Add your docs here.
- */
-public class RobotGyroUtilityTest {
-    // TODO UNTESTED: most functions for NavX
-
-    private RobotGyro gyroPigeon;
-    private RobotGyro gyroNavX;
-
-    @Test
-    public void testConstructor() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
-        AHRS navX = mock(AHRS.class);
-        gyroPigeon = new RobotGyro(pigeon);
-        gyroNavX = new RobotGyro(navX);
-
-        // Assert
-        assertEquals(true, gyroPigeon.m_isGyroAPigeon);
-        assertEquals(pigeon, gyroPigeon.getPigeon());
-        assertEquals(null, gyroPigeon.getNavX());
-        assertEquals(false, gyroNavX.m_isGyroAPigeon);
-        assertEquals(navX, gyroNavX.getNavX());
-        assertEquals(null, gyroNavX.getPigeon());
-    }
-
-    @Test
-    public void testHeadingPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-
-        // Act & Assert
-        assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
-        assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
-        assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
-        assertEquals(30, gyroPigeon.getHeading(30), 0.0001);
-        assertEquals(0, gyroPigeon.getHeading(0), 0.0001);
-        assertEquals(180, gyroPigeon.getHeading(180), 0.0001);
-        assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001);
-        assertEquals(97, gyroPigeon.getHeading(1537), 0.0001);
-        assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001);
-    }
-
-    @Test
-    public void testYawPitchRollPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-
-        // Assert
-        assertEquals(0, gyroPigeon.getAngle(), 0.0001);
-
-        // Act
-        pigeon.setYaw(40);
-
-        // Assert
-        assertEquals(40, gyroPigeon.getAngle(), 0.0001);
-
-        // Act
-        gyroPigeon.reset();
-
-        // Assert
-        assertEquals(0, gyroPigeon.getAngle(), 0.0001);
-
-        // Act
-        pigeon.setYaw(-1457);
-        pigeon.setCurrentPitch(100);
-        pigeon.setCurrentRoll(100);
-
-        // Assert
-        assertEquals(-1457, gyroPigeon.getAngle(), 0.0001);
-        assertEquals(90, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(90, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(45);
-        pigeon.setCurrentRoll(45);
-
-        // Assert
-        assertEquals(45, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(45, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(0);
-        pigeon.setCurrentRoll(0);
-
-        // Assert
-        assertEquals(0, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(0, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(-60);
-        pigeon.setCurrentRoll(-60);
-
-        // Assert
-        assertEquals(-60, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(-60, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(-90);
-        pigeon.setCurrentRoll(-90);
-
-        // Assert
-        assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(-100);
-        pigeon.setCurrentRoll(-100);
-
-        // Assert
-        assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
-    }
-
-    @Test
-    public void testRatesPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-        RobotTime robotTime = RobotTime.getInstance();
-        gyroPigeon.updatePigeonDeltas();
-
-        // Act
-        robotTime.m_deltaTime = 5;
-        pigeon.setYaw(0);
-        gyroPigeon.updatePigeonDeltas();
-
-        // Assert
-        assertEquals(0, gyroPigeon.getRate(), 1);
-
-        // Act
-        robotTime.m_deltaTime = 5;
-        pigeon.setYaw(90);
-        gyroPigeon.updatePigeonDeltas();
-
-        // Assert
-        assertEquals(18000, gyroPigeon.getRate(), 0.001);
-
-        // Act
-        robotTime.m_deltaTime = 5;
-        pigeon.setYaw(90);
-        gyroPigeon.updatePigeonDeltas();
-
-        // Assert
-        assertEquals(0, gyroPigeon.getRate(), 0.001);
-
-        // Act
-        robotTime.m_deltaTime = 3;
-        pigeon.setYaw(-30);
-        gyroPigeon.updatePigeonDeltas();
-        
-        // Assert
-        assertEquals(-40000, gyroPigeon.getRate(), 0.001);
-
-        // Act
-        robotTime.m_deltaTime = 6;
-        pigeon.setYaw(690);
-        gyroPigeon.updatePigeonDeltas();
-
-        // Assert
-        assertEquals(120000, gyroPigeon.getRate(), 0.001);
-    }
-}