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Send formatted DriverStation messages through HAL

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Check logging levels against HAL messages
Add constant to disable console changes entirely
This commit is contained in:
nathanrsxtn
2022-04-04 00:55:42 -06:00
parent eea2cb92d3
commit b5f57a09ff
2 changed files with 50 additions and 37 deletions
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src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+42 -36
View File
@@ -563,46 +563,52 @@ public class DriverStation {
boolean printTrace,
StackTraceElement[] stackTrace,
int stackTraceFirst) {
/*
String locString;
if (stackTrace.length >= stackTraceFirst + 1) {
locString = stackTrace[stackTraceFirst].toString();
if (frc4388.utility.AnsiLogging.ENABLED) {
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;
// 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);
} else {
locString = "";
}
StringBuilder traceString = new StringBuilder();
if (printTrace) {
boolean haveLoc = false;
for (int i = stackTraceFirst; i < stackTrace.length; i++) {
String loc = stackTrace[i].toString();
traceString.append("\tat ").append(loc).append('\n');
// get first user function
if (!haveLoc && !loc.startsWith("edu.wpi.first")) {
locString = loc;
haveLoc = true;
String locString;
if (stackTrace.length >= stackTraceFirst + 1) {
locString = stackTrace[stackTraceFirst].toString();
} else {
locString = "";
}
StringBuilder traceString = new StringBuilder();
if (printTrace) {
boolean haveLoc = false;
for (int i = stackTraceFirst; i < stackTrace.length; i++) {
String loc = stackTrace[i].toString();
traceString.append("\tat ").append(loc).append('\n');
// get first user function
if (!haveLoc && !loc.startsWith("edu.wpi.first")) {
locString = loc;
haveLoc = true;
}
}
}
HAL.sendError(isError, code, false, error, locString, traceString.toString(), true);
}
HAL.sendError(isError, code, false, error, locString, traceString.toString(), true);
*/
java.util.logging.LogRecord logRecord = new java.util.logging.LogRecord(isError ? java.util.logging.Level.SEVERE : java.util.logging.Level.FINER, error.stripTrailing());
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);
});
java.util.logging.Logger.getLogger(HAL.class.getSimpleName()).log(logRecord);
}
/**
src/main/java/frc4388/utility/AnsiLogging.java
+8 -1
View File
@@ -11,6 +11,7 @@ import java.time.ZoneId;
import java.time.ZonedDateTime;
import java.util.Map;
import java.util.Optional;
import java.util.logging.ConsoleHandler;
import java.util.logging.Formatter;
import java.util.logging.Handler;
import java.util.logging.Level;
@@ -28,10 +29,14 @@ import org.fusesource.jansi.AnsiConsole;
import org.fusesource.jansi.AnsiPrintStream;
public class AnsiLogging {
private static final AnsiPrintStream ANSI_CONSOLE_STREAM = AnsiConsole.out();
public static final boolean ENABLED = true;
private static final AnsiPrintStream ANSI_CONSOLE_STREAM = AnsiConsole.err();
private static final Level LEVEL = Level.ALL;
public static Handler halLoggerHandler = new ConsoleHandler();
public static void systemInstall() {
if (!ENABLED) return;
try {
// Configure java.util.logging.Logger to output additional colored information.
LogManager.getLogManager().updateConfiguration(key -> (o, n) -> {
@@ -52,6 +57,8 @@ public class AnsiLogging {
System.setErr(printStreamLogger(Logger.getGlobal(), "err", Level.SEVERE));
// 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();
} catch (IOException exception) {
exception.printStackTrace(AnsiConsole.sysErr());
}