diff --git a/.SysId/sysid.json b/.SysId/sysid.json deleted file mode 100644 index 34da6f7..0000000 --- a/.SysId/sysid.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "SysId": { - "Analysis Type": "General Mechanism", - "AnalyzerJSONLocation": "C:\\Users\\Ridgebotics\\Documents\\GitHub\\2022NoWayHome\\sysid\\sysid_data20220128-205132.json", - "NetworkTables Settings": { - "serverTeam": "4388" - }, - "mode": "Client", - "serverTeam": "4388" - } -} diff --git a/.gitignore b/.gitignore index 9535c83..5e48910 100644 --- a/.gitignore +++ b/.gitignore @@ -159,4 +159,6 @@ gradle-app.setting bin/ # Simulation GUI and other tools window save file -*-window.json +simgui*.json + +src/main/deploy/config.json \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json index 4dbe5d3..4cb2727 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -8,13 +8,14 @@ "type": "wpilib", "name": "WPILib Desktop Debug", "request": "launch", - "desktop": true, + "desktop": true }, { "type": "wpilib", "name": "WPILib roboRIO Debug", "request": "launch", "desktop": false, + "postDebugTask": "downloadDeployDirectory" } ] } diff --git a/.vscode/settings.json b/.vscode/settings.json index 5afa0ae..5aecc09 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -26,5 +26,8 @@ }, ], "java.test.defaultConfig": "WPIlibUnitTests", - "java.dependency.packagePresentation": "hierarchical" + "java.dependency.packagePresentation": "hierarchical", + "files.associations": { + "*.path": "json" + } } diff --git a/.vscode/tasks.json b/.vscode/tasks.json new file mode 100644 index 0000000..0e86bd2 --- /dev/null +++ b/.vscode/tasks.json @@ -0,0 +1,34 @@ +{ + "version": "2.0.0", + "tasks": [ + { + "label": "downloadDeployDirectory", + "type": "shell", + "command": "scp -prv lvuser@roboRIO-4388-FRC.local:/home/lvuser/deploy ./src/main/", + "presentation": { + "echo": true, + "reveal": "always", + "focus": false, + "panel": "dedicated", + "showReuseMessage": true, + "clear": true + }, + "problemMatcher": [] + }, + { + "label": "pathPlanner", + "type": "shell", + "osx": { + "command": "open -n /Applications/PathPlanner.app" + }, + "presentation": { + "echo": false, + "reveal": "silent", + "focus": false, + "panel": "dedicated", + "showReuseMessage": false, + "clear": true + } + } + ] +} \ No newline at end of file diff --git a/2022NoWayHome.code-workspace b/2022NoWayHome.code-workspace new file mode 100644 index 0000000..077020e --- /dev/null +++ b/2022NoWayHome.code-workspace @@ -0,0 +1,18 @@ +{ + "folders": [ + { + "path": "." + }, + { + "path": "NetworkTablesDesktopClient" + } + ], + "settings": { + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "java.dependency.packagePresentation": "hierarchical", + "files.associations": { + "*.path": "json" + } + } +} \ No newline at end of file diff --git a/NetworkTablesDesktopClient/.gitignore b/NetworkTablesDesktopClient/.gitignore new file mode 100644 index 0000000..d5697ec --- /dev/null +++ b/NetworkTablesDesktopClient/.gitignore @@ -0,0 +1,2 @@ +build/ +bin/ diff --git a/NetworkTablesDesktopClient/.vscode/launch.json b/NetworkTablesDesktopClient/.vscode/launch.json new file mode 100644 index 0000000..bdf6e37 --- /dev/null +++ b/NetworkTablesDesktopClient/.vscode/launch.json @@ -0,0 +1,12 @@ +{ + "version": "0.2.0", + "configurations": [ + { + "type": "java", + "name": "Launch NetworkTablesDesktopClient", + "request": "launch", + "mainClass": "NetworkTablesDesktopClient", + "projectName": "NetworkTablesDesktopClient" + } + ] +} diff --git a/NetworkTablesDesktopClient/build.gradle b/NetworkTablesDesktopClient/build.gradle new file mode 100644 index 0000000..8fbac1e --- /dev/null +++ b/NetworkTablesDesktopClient/build.gradle @@ -0,0 +1,24 @@ +apply plugin: 'java' + +sourceCompatibility = JavaVersion.VERSION_11 +targetCompatibility = JavaVersion.VERSION_11 + +repositories { + maven { url "https://frcmaven.wpi.edu/artifactory/release/" } +} + +dependencies { + // Add ntcore-java + implementation "edu.wpi.first.ntcore:ntcore-java:2022.2.1" + + // Add wpiutil-java + implementation "edu.wpi.first.wpiutil:wpiutil-java:2022.2.1" + + // Add ntcore-jni for runtime. We are adding all supported platforms + // so that our application will work on all supported platforms. + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:windowsx86" + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:windowsx86-64" + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:linuxx86-64" + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:linuxraspbian" + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:osxx86-64" +} diff --git a/NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.jar b/NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..41d9927 Binary files /dev/null and b/NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.jar differ diff --git a/NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.properties b/NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..41dfb87 --- /dev/null +++ b/NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,5 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-7.4-bin.zip +zipStoreBase=GRADLE_USER_HOME +zipStorePath=wrapper/dists diff --git a/NetworkTablesDesktopClient/gradlew b/NetworkTablesDesktopClient/gradlew new file mode 100755 index 0000000..1b6c787 --- /dev/null +++ b/NetworkTablesDesktopClient/gradlew @@ -0,0 +1,234 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit + +APP_NAME="Gradle" +APP_BASE_NAME=${0##*/} + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + +# Collect all arguments for the java command; +# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of +# shell script including quotes and variable substitutions, so put them in +# double quotes to make sure that they get re-expanded; and +# * put everything else in single quotes, so that it's not re-expanded. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/NetworkTablesDesktopClient/gradlew.bat b/NetworkTablesDesktopClient/gradlew.bat new file mode 100644 index 0000000..107acd3 --- /dev/null +++ b/NetworkTablesDesktopClient/gradlew.bat @@ -0,0 +1,89 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/src/main/deploy/Distances.csv b/NetworkTablesDesktopClient/settings.gradle similarity index 100% rename from src/main/deploy/Distances.csv rename to NetworkTablesDesktopClient/settings.gradle diff --git a/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java b/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java new file mode 100644 index 0000000..d75c1c8 --- /dev/null +++ b/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java @@ -0,0 +1,33 @@ +import java.io.File; +import java.io.IOException; +import java.nio.file.Files; +import java.nio.file.Path; +import java.util.Scanner; + +import edu.wpi.first.networktables.EntryListenerFlags; +import edu.wpi.first.networktables.NetworkTableInstance; + +public class NetworkTablesDesktopClient { + public static void main(String[] args) { + NetworkTableInstance instance = NetworkTableInstance.getDefault(); + instance.getTable("Recording").addEntryListener((table, key, entry, value, flags) -> { + Path path = Path.of("..", "src", "main", "deploy", "pathplanner", key); + File file = path.toFile(); + try { + System.err.println("Creating path " + key); + file.createNewFile(); + Files.writeString(file.toPath(), value.getString()); + System.err.println("Recorded path to " + file.getPath()); + } catch (IOException exception) { + exception.printStackTrace(); + } + }, EntryListenerFlags.kNew); + // instance.startClientTeam(4388); + instance.startClient("localhost"); + instance.startDSClient(); + try (Scanner scanner = new Scanner(System.in)) { + System.err.println("Press enter to stop..."); + scanner.nextLine(); + } + } +} diff --git a/build.gradle b/build.gradle index ccc227f..55600bc 100644 --- a/build.gradle +++ b/build.gradle @@ -55,6 +55,8 @@ def includeDesktopSupport = true dependencies { implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() + implementation 'com.diffplug.durian:durian:3.4.0' + implementation 'com.fasterxml.jackson.datatype:jackson-datatype-jdk8:2.13.1' implementation 'org.fusesource.jansi:jansi:2.4.0' roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) diff --git a/simgui-ds.json b/simgui-ds.json deleted file mode 100644 index d5eb42e..0000000 --- a/simgui-ds.json +++ /dev/null @@ -1,101 +0,0 @@ -{ - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ], - "robotJoysticks": [ - { -// "guid": "78696e70757401000000000000000000" -// }, -// { - "guid": "78696e70757401000000000000000000", - "useGamepad": true - } - ] -} diff --git a/simgui.json b/simgui.json deleted file mode 100644 index 52a4996..0000000 --- a/simgui.json +++ /dev/null @@ -1,54 +0,0 @@ -{ - "HALProvider": { - "Other Devices": { - "SPARK MAX [10]": { - "Talon FX[2]": { - "header": { - "open": true - } - }, - "SPARK MAX [30]": { - "Talon FX[3]": { - "header": { - "open": true - } - }, - "SPARK MAX [31]": { - "Talon FX[4]": { - "header": { - "open": true - } - } - } - }, - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo", - "/LiveWindow/BoomBoom": "Subsystem", - "/LiveWindow/Hood": "Subsystem", - "/LiveWindow/LED": "Subsystem", - "/LiveWindow/SwerveDrive": "Subsystem", - "/LiveWindow/SwerveModule": "Subsystem", - "/LiveWindow/Turret": "Subsystem", - "/LiveWindow/Ungrouped/Scheduler": "Scheduler", - "/LiveWindow/Vision": "Subsystem" - "/SmartDashboard/Driver Controller": "Mechanism2d", - "/SmartDashboard/Field": "Field2d" - }, - "windows": { - "/SmartDashboard/Field": { - "window": { - "visible": true - } - } - } - }, - "NetworkTables": { - "SmartDashboard": { - "Recording": { - "open": true - }, - "open": true - } - } -} diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/ShooterData.csv similarity index 100% rename from src/main/deploy/Robot Data - Distances.csv rename to src/main/deploy/ShooterData.csv diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt deleted file mode 100644 index 70c79b6..0000000 --- a/src/main/deploy/example.txt +++ /dev/null @@ -1,3 +0,0 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'FileUtilities.getFilePath' wpilib function -to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json deleted file mode 100644 index 47a1b16..0000000 --- a/src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json +++ /dev/null @@ -1 +0,0 @@ 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\ No newline at end of file diff --git a/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/src/main/java/edu/wpi/first/wpilibj/DriverStation.java new file mode 100644 index 0000000..876e42d --- /dev/null +++ b/src/main/java/edu/wpi/first/wpilibj/DriverStation.java @@ -0,0 +1,1406 @@ +// 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 edu.wpi.first.wpilibj; + +import edu.wpi.first.hal.AllianceStationID; +import edu.wpi.first.hal.ControlWord; +import edu.wpi.first.hal.HAL; +import edu.wpi.first.hal.MatchInfoData; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.networktables.NetworkTableInstance; +import java.nio.ByteBuffer; +import java.util.concurrent.TimeUnit; +import java.util.concurrent.locks.Condition; +import java.util.concurrent.locks.Lock; +import java.util.concurrent.locks.ReentrantLock; + +/** Provide access to the network communication data to / from the Driver Station. */ +public class DriverStation { + /** Number of Joystick Ports. */ + public static final int kJoystickPorts = 6; + + private static class HALJoystickButtons { + public int m_buttons; + public byte m_count; + } + + private static class HALJoystickAxes { + public float[] m_axes; + public short m_count; + + HALJoystickAxes(int count) { + m_axes = new float[count]; + } + } + + private static class HALJoystickPOVs { + public short[] m_povs; + public short m_count; + + HALJoystickPOVs(int count) { + m_povs = new short[count]; + for (int i = 0; i < count; i++) { + m_povs[i] = -1; + } + } + } + + /** The robot alliance that the robot is a part of. */ + public enum Alliance { + Red, + Blue, + Invalid + } + + public enum MatchType { + None, + Practice, + Qualification, + Elimination + } + + private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0; + private static double m_nextMessageTime; + + private static class DriverStationTask implements Runnable { + DriverStationTask() {} + + @Override + public void run() { + DriverStation.run(); + } + } /* DriverStationTask */ + + private static class MatchDataSender { + @SuppressWarnings("MemberName") + NetworkTable table; + + @SuppressWarnings("MemberName") + NetworkTableEntry typeMetadata; + + @SuppressWarnings("MemberName") + NetworkTableEntry gameSpecificMessage; + + @SuppressWarnings("MemberName") + NetworkTableEntry eventName; + + @SuppressWarnings("MemberName") + NetworkTableEntry matchNumber; + + @SuppressWarnings("MemberName") + NetworkTableEntry replayNumber; + + @SuppressWarnings("MemberName") + NetworkTableEntry matchType; + + @SuppressWarnings("MemberName") + NetworkTableEntry alliance; + + @SuppressWarnings("MemberName") + NetworkTableEntry station; + + @SuppressWarnings("MemberName") + NetworkTableEntry controlWord; + + @SuppressWarnings("MemberName") + boolean oldIsRedAlliance = true; + + @SuppressWarnings("MemberName") + int oldStationNumber = 1; + + @SuppressWarnings("MemberName") + String oldEventName = ""; + + @SuppressWarnings("MemberName") + String oldGameSpecificMessage = ""; + + @SuppressWarnings("MemberName") + int oldMatchNumber; + + @SuppressWarnings("MemberName") + int oldReplayNumber; + + @SuppressWarnings("MemberName") + int oldMatchType; + + @SuppressWarnings("MemberName") + int oldControlWord; + + MatchDataSender() { + table = NetworkTableInstance.getDefault().getTable("FMSInfo"); + typeMetadata = table.getEntry(".type"); + typeMetadata.forceSetString("FMSInfo"); + gameSpecificMessage = table.getEntry("GameSpecificMessage"); + gameSpecificMessage.forceSetString(""); + eventName = table.getEntry("EventName"); + eventName.forceSetString(""); + matchNumber = table.getEntry("MatchNumber"); + matchNumber.forceSetDouble(0); + replayNumber = table.getEntry("ReplayNumber"); + replayNumber.forceSetDouble(0); + matchType = table.getEntry("MatchType"); + matchType.forceSetDouble(0); + alliance = table.getEntry("IsRedAlliance"); + alliance.forceSetBoolean(true); + station = table.getEntry("StationNumber"); + station.forceSetDouble(1); + controlWord = table.getEntry("FMSControlData"); + controlWord.forceSetDouble(0); + } + + private void sendMatchData() { + AllianceStationID allianceID = HAL.getAllianceStation(); + boolean isRedAlliance = false; + int stationNumber = 1; + switch (allianceID) { + case Blue1: + isRedAlliance = false; + stationNumber = 1; + break; + case Blue2: + isRedAlliance = false; + stationNumber = 2; + break; + case Blue3: + isRedAlliance = false; + stationNumber = 3; + break; + case Red1: + isRedAlliance = true; + stationNumber = 1; + break; + case Red2: + isRedAlliance = true; + stationNumber = 2; + break; + default: + isRedAlliance = true; + stationNumber = 3; + break; + } + + String currentEventName; + String currentGameSpecificMessage; + int currentMatchNumber; + int currentReplayNumber; + int currentMatchType; + int currentControlWord; + m_cacheDataMutex.lock(); + try { + currentEventName = DriverStation.m_matchInfo.eventName; + currentGameSpecificMessage = DriverStation.m_matchInfo.gameSpecificMessage; + currentMatchNumber = DriverStation.m_matchInfo.matchNumber; + currentReplayNumber = DriverStation.m_matchInfo.replayNumber; + currentMatchType = DriverStation.m_matchInfo.matchType; + } finally { + m_cacheDataMutex.unlock(); + } + currentControlWord = HAL.nativeGetControlWord(); + + if (oldIsRedAlliance != isRedAlliance) { + alliance.setBoolean(isRedAlliance); + oldIsRedAlliance = isRedAlliance; + } + if (oldStationNumber != stationNumber) { + station.setDouble(stationNumber); + oldStationNumber = stationNumber; + } + if (!oldEventName.equals(currentEventName)) { + eventName.setString(currentEventName); + oldEventName = currentEventName; + } + if (!oldGameSpecificMessage.equals(currentGameSpecificMessage)) { + gameSpecificMessage.setString(currentGameSpecificMessage); + oldGameSpecificMessage = currentGameSpecificMessage; + } + if (currentMatchNumber != oldMatchNumber) { + matchNumber.setDouble(currentMatchNumber); + oldMatchNumber = currentMatchNumber; + } + if (currentReplayNumber != oldReplayNumber) { + replayNumber.setDouble(currentReplayNumber); + oldReplayNumber = currentReplayNumber; + } + if (currentMatchType != oldMatchType) { + matchType.setDouble(currentMatchType); + oldMatchType = currentMatchType; + } + if (currentControlWord != oldControlWord) { + controlWord.setDouble(currentControlWord); + oldControlWord = currentControlWord; + } + } + } + + private static DriverStation instance = new DriverStation(); + + // Joystick User Data + private static HALJoystickAxes[] m_joystickAxes = new HALJoystickAxes[kJoystickPorts]; + private static HALJoystickPOVs[] m_joystickPOVs = new HALJoystickPOVs[kJoystickPorts]; + private static HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts]; + private static MatchInfoData m_matchInfo = new MatchInfoData(); + + // Joystick Cached Data + private static HALJoystickAxes[] m_joystickAxesCache = new HALJoystickAxes[kJoystickPorts]; + private static HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts]; + private static HALJoystickButtons[] m_joystickButtonsCache = + new HALJoystickButtons[kJoystickPorts]; + private static MatchInfoData m_matchInfoCache = new MatchInfoData(); + + // Joystick button rising/falling edge flags + private static int[] m_joystickButtonsPressed = new int[kJoystickPorts]; + private static int[] m_joystickButtonsReleased = new int[kJoystickPorts]; + + // preallocated byte buffer for button count + private static final ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1); + + private static final MatchDataSender m_matchDataSender; + + // Internal Driver Station thread + private static Thread m_thread; + + private static volatile boolean m_threadKeepAlive = true; + + private static final ReentrantLock m_cacheDataMutex = new ReentrantLock(); + + private static final Lock m_waitForDataMutex; + private static final Condition m_waitForDataCond; + private static int m_waitForDataCount; + private static final ThreadLocal m_lastCount = ThreadLocal.withInitial(() -> 0); + + private static boolean m_silenceJoystickWarning; + + // Robot state status variables + private static boolean m_userInDisabled; + private static boolean m_userInAutonomous; + private static boolean m_userInTeleop; + private static boolean m_userInTest; + + // Control word variables + private static final ReentrantLock m_controlWordMutex = new ReentrantLock(); + private static final ControlWord m_controlWordCache; + private static long m_lastControlWordUpdate; + + /** + * Gets an instance of the DriverStation. + * + * @return The DriverStation. + * @deprecated Use the static methods + */ + @Deprecated + public static DriverStation getInstance() { + return DriverStation.instance; + } + + /** + * DriverStation constructor. + * + *

The single DriverStation instance is created statically with the instance static member + * variable. + */ + private DriverStation() {} + + static { + HAL.initialize(500, 0); + m_waitForDataCount = 0; + m_waitForDataMutex = new ReentrantLock(); + m_waitForDataCond = m_waitForDataMutex.newCondition(); + + for (int i = 0; i < kJoystickPorts; i++) { + m_joystickButtons[i] = new HALJoystickButtons(); + m_joystickAxes[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes); + m_joystickPOVs[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs); + + m_joystickButtonsCache[i] = new HALJoystickButtons(); + m_joystickAxesCache[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes); + m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs); + } + + m_controlWordCache = new ControlWord(); + m_lastControlWordUpdate = 0; + + m_matchDataSender = new MatchDataSender(); + + m_thread = new Thread(new DriverStationTask(), "FRCDriverStation"); + m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2); + + m_thread.start(); + } + + /** Kill the thread. */ + public static synchronized void release() { + m_threadKeepAlive = false; + if (m_thread != null) { + try { + m_thread.join(); + } catch (InterruptedException ex) { + Thread.currentThread().interrupt(); + } + m_thread = null; + } + } + + /** + * Report error to Driver Station. Optionally appends Stack trace to error message. + * + * @param error The error to report. + * @param printTrace If true, append stack trace to error string + */ + public static void reportError(String error, boolean printTrace) { + reportErrorImpl(true, 1, error, printTrace); + } + + /** + * Report error to Driver Station. Appends provided stack trace to error message. + * + * @param error The error to report. + * @param stackTrace The stack trace to append + */ + public static void reportError(String error, StackTraceElement[] stackTrace) { + reportErrorImpl(true, 1, error, stackTrace); + } + + /** + * Report warning to Driver Station. Optionally appends Stack trace to warning message. + * + * @param warning The warning to report. + * @param printTrace If true, append stack trace to warning string + */ + public static void reportWarning(String warning, boolean printTrace) { + reportErrorImpl(false, 1, warning, printTrace); + } + + /** + * Report warning to Driver Station. Appends provided stack trace to warning message. + * + * @param warning The warning to report. + * @param stackTrace The stack trace to append + */ + public static void reportWarning(String warning, StackTraceElement[] stackTrace) { + reportErrorImpl(false, 1, warning, stackTrace); + } + + private static void reportErrorImpl(boolean isError, int code, String error, boolean printTrace) { + reportErrorImpl(isError, code, error, printTrace, Thread.currentThread().getStackTrace(), 3); + } + + private static void reportErrorImpl( + boolean isError, int code, String error, StackTraceElement[] stackTrace) { + reportErrorImpl(isError, code, error, true, stackTrace, 0); + } + + private static void reportErrorImpl( + boolean isError, + int code, + String error, + boolean printTrace, + StackTraceElement[] stackTrace, + int stackTraceFirst) { + // 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); + // for (StackTraceElement traceElement : stackTrace) + // System.err.println("\tat " + traceElement); + 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); + } + + /** + * The state of one joystick button. Button indexes begin at 1. + * + * @param stick The joystick to read. + * @param button The button index, beginning at 1. + * @return The state of the joystick button. + */ + public static boolean getStickButton(final int stick, final int button) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + if (button <= 0) { + reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n"); + return false; + } + + m_cacheDataMutex.lock(); + try { + if (button <= m_joystickButtons[stick].m_count) { + return (m_joystickButtons[stick].m_buttons & 1 << (button - 1)) != 0; + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick Button " + + button + + " on port " + + stick + + " not available, check if controller is plugged in"); + return false; + } + + /** + * Whether one joystick button was pressed since the last check. Button indexes begin at 1. + * + * @param stick The joystick to read. + * @param button The button index, beginning at 1. + * @return Whether the joystick button was pressed since the last check. + */ + public static boolean getStickButtonPressed(final int stick, final int button) { + if (button <= 0) { + reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n"); + return false; + } + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + if (button <= m_joystickButtons[stick].m_count) { + // If button was pressed, clear flag and return true + if ((m_joystickButtonsPressed[stick] & 1 << (button - 1)) != 0) { + m_joystickButtonsPressed[stick] &= ~(1 << (button - 1)); + return true; + } else { + return false; + } + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick Button " + + button + + " on port " + + stick + + " not available, check if controller is plugged in"); + return false; + } + + /** + * Whether one joystick button was released since the last check. Button indexes begin at 1. + * + * @param stick The joystick to read. + * @param button The button index, beginning at 1. + * @return Whether the joystick button was released since the last check. + */ + public static boolean getStickButtonReleased(final int stick, final int button) { + if (button <= 0) { + reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n"); + return false; + } + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + if (button <= m_joystickButtons[stick].m_count) { + // If button was released, clear flag and return true + if ((m_joystickButtonsReleased[stick] & 1 << (button - 1)) != 0) { + m_joystickButtonsReleased[stick] &= ~(1 << (button - 1)); + return true; + } else { + return false; + } + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick Button " + + button + + " on port " + + stick + + " not available, check if controller is plugged in"); + return false; + } + + /** + * Get the value of the axis on a joystick. This depends on the mapping of the joystick connected + * to the specified port. + * + * @param stick The joystick to read. + * @param axis The analog axis value to read from the joystick. + * @return The value of the axis on the joystick. + */ + public static double getStickAxis(int stick, int axis) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + if (axis < 0 || axis >= HAL.kMaxJoystickAxes) { + throw new IllegalArgumentException("Joystick axis is out of range"); + } + + m_cacheDataMutex.lock(); + try { + if (axis < m_joystickAxes[stick].m_count) { + return m_joystickAxes[stick].m_axes[axis]; + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick axis " + + axis + + " on port " + + stick + + " not available, check if controller is plugged in"); + return 0.0; + } + + /** + * Get the state of a POV on the joystick. + * + * @param stick The joystick to read. + * @param pov The POV to read. + * @return the angle of the POV in degrees, or -1 if the POV is not pressed. + */ + public static int getStickPOV(int stick, int pov) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + if (pov < 0 || pov >= HAL.kMaxJoystickPOVs) { + throw new IllegalArgumentException("Joystick POV is out of range"); + } + + m_cacheDataMutex.lock(); + try { + if (pov < m_joystickPOVs[stick].m_count) { + return m_joystickPOVs[stick].m_povs[pov]; + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick POV " + + pov + + " on port " + + stick + + " not available, check if controller is plugged in"); + return -1; + } + + /** + * The state of the buttons on the joystick. + * + * @param stick The joystick to read. + * @return The state of the buttons on the joystick. + */ + public static int getStickButtons(final int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + return m_joystickButtons[stick].m_buttons; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Returns the number of axes on a given joystick port. + * + * @param stick The joystick port number + * @return The number of axes on the indicated joystick + */ + public static int getStickAxisCount(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + return m_joystickAxes[stick].m_count; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Returns the number of POVs on a given joystick port. + * + * @param stick The joystick port number + * @return The number of POVs on the indicated joystick + */ + public static int getStickPOVCount(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + return m_joystickPOVs[stick].m_count; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Gets the number of buttons on a joystick. + * + * @param stick The joystick port number + * @return The number of buttons on the indicated joystick + */ + public static int getStickButtonCount(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + return m_joystickButtons[stick].m_count; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Gets the value of isXbox on a joystick. + * + * @param stick The joystick port number + * @return A boolean that returns the value of isXbox + */ + public static boolean getJoystickIsXbox(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + return HAL.getJoystickIsXbox((byte) stick) == 1; + } + + /** + * Gets the value of type on a joystick. + * + * @param stick The joystick port number + * @return The value of type + */ + public static int getJoystickType(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + return HAL.getJoystickType((byte) stick); + } + + /** + * Gets the name of the joystick at a port. + * + * @param stick The joystick port number + * @return The value of name + */ + public static String getJoystickName(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + return HAL.getJoystickName((byte) stick); + } + + /** + * Returns the types of Axes on a given joystick port. + * + * @param stick The joystick port number + * @param axis The target axis + * @return What type of axis the axis is reporting to be + */ + public static int getJoystickAxisType(int stick, int axis) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + return HAL.getJoystickAxisType((byte) stick, (byte) axis); + } + + /** + * Returns if a joystick is connected to the Driver Station. + * + *

This makes a best effort guess by looking at the reported number of axis, buttons, and POVs + * attached. + * + * @param stick The joystick port number + * @return true if a joystick is connected + */ + public static boolean isJoystickConnected(int stick) { + return getStickAxisCount(stick) > 0 + || getStickButtonCount(stick) > 0 + || getStickPOVCount(stick) > 0; + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be enabled. + * + * @return True if the robot is enabled, false otherwise. + */ + public static boolean isEnabled() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getEnabled() && m_controlWordCache.getDSAttached(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be disabled. + * + * @return True if the robot should be disabled, false otherwise. + */ + public static boolean isDisabled() { + return !isEnabled(); + } + + /** + * Gets a value indicating whether the Robot is e-stopped. + * + * @return True if the robot is e-stopped, false otherwise. + */ + public static boolean isEStopped() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getEStop(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * autonomous mode. + * + * @return True if autonomous mode should be enabled, false otherwise. + */ + public static boolean isAutonomous() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getAutonomous(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * autonomous mode and enabled. + * + * @return True if autonomous should be set and the robot should be enabled. + */ + public static boolean isAutonomousEnabled() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getAutonomous() && m_controlWordCache.getEnabled(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * operator-controlled mode. + * + * @return True if operator-controlled mode should be enabled, false otherwise. + * @deprecated Use isTeleop() instead. + */ + @Deprecated(since = "2022", forRemoval = true) + public static boolean isOperatorControl() { + return isTeleop(); + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * operator-controlled mode. + * + * @return True if operator-controlled mode should be enabled, false otherwise. + */ + public static boolean isTeleop() { + return !(isAutonomous() || isTest()); + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * operator-controller mode and enabled. + * + * @return True if operator-controlled mode should be set and the robot should be enabled. + * @deprecated Use isTeleopEnabled() instead. + */ + @Deprecated(since = "2022", forRemoval = true) + public static boolean isOperatorControlEnabled() { + return isTeleopEnabled(); + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * operator-controller mode and enabled. + * + * @return True if operator-controlled mode should be set and the robot should be enabled. + */ + public static boolean isTeleopEnabled() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return !m_controlWordCache.getAutonomous() + && !m_controlWordCache.getTest() + && m_controlWordCache.getEnabled(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in test + * mode. + * + * @return True if test mode should be enabled, false otherwise. + */ + public static boolean isTest() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getTest(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station is attached. + * + * @return True if Driver Station is attached, false otherwise. + */ + public static boolean isDSAttached() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getDSAttached(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets if a new control packet from the driver station arrived since the last time this function + * was called. + * + * @return True if the control data has been updated since the last call. + */ + public static boolean isNewControlData() { + m_waitForDataMutex.lock(); + try { + int currentCount = m_waitForDataCount; + if (m_lastCount.get() != currentCount) { + m_lastCount.set(currentCount); + return true; + } + } finally { + m_waitForDataMutex.unlock(); + } + return false; + } + + /** + * Gets if the driver station attached to a Field Management System. + * + * @return true if the robot is competing on a field being controlled by a Field Management System + */ + public static boolean isFMSAttached() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getFMSAttached(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Get the game specific message. + * + * @return the game specific message + */ + public static String getGameSpecificMessage() { + m_cacheDataMutex.lock(); + try { + return m_matchInfo.gameSpecificMessage; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Get the event name. + * + * @return the event name + */ + public static String getEventName() { + m_cacheDataMutex.lock(); + try { + return m_matchInfo.eventName; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Get the match type. + * + * @return the match type + */ + public static MatchType getMatchType() { + int matchType; + m_cacheDataMutex.lock(); + try { + matchType = m_matchInfo.matchType; + } finally { + m_cacheDataMutex.unlock(); + } + switch (matchType) { + case 1: + return MatchType.Practice; + case 2: + return MatchType.Qualification; + case 3: + return MatchType.Elimination; + default: + return MatchType.None; + } + } + + /** + * Get the match number. + * + * @return the match number + */ + public static int getMatchNumber() { + m_cacheDataMutex.lock(); + try { + return m_matchInfo.matchNumber; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Get the replay number. + * + * @return the replay number + */ + public static int getReplayNumber() { + m_cacheDataMutex.lock(); + try { + return m_matchInfo.replayNumber; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Get the current alliance from the FMS. + * + * @return the current alliance + */ + public static Alliance getAlliance() { + AllianceStationID allianceStationID = HAL.getAllianceStation(); + if (allianceStationID == null) { + return Alliance.Invalid; + } + + switch (allianceStationID) { + case Red1: + case Red2: + case Red3: + return Alliance.Red; + + case Blue1: + case Blue2: + case Blue3: + return Alliance.Blue; + + default: + return Alliance.Invalid; + } + } + + /** + * Gets the location of the team's driver station controls. + * + * @return the location of the team's driver station controls: 1, 2, or 3 + */ + public static int getLocation() { + AllianceStationID allianceStationID = HAL.getAllianceStation(); + if (allianceStationID == null) { + return 0; + } + switch (allianceStationID) { + case Red1: + case Blue1: + return 1; + + case Red2: + case Blue2: + return 2; + + case Blue3: + case Red3: + return 3; + + default: + return 0; + } + } + + /** + * Wait for new data from the driver station. + * + *

Checks if new control data has arrived since the last waitForData call on the current + * thread. If new data has not arrived, returns immediately. + */ + public static void waitForData() { + waitForData(0); + } + + /** + * Wait for new data or for timeout, which ever comes first. If timeout is 0, wait for new data + * only. + * + *

Checks if new control data has arrived since the last waitForData call on the current + * thread. If new data has not arrived, returns immediately. + * + * @param timeoutSeconds The maximum time in seconds to wait. + * @return true if there is new data, otherwise false + */ + public static boolean waitForData(double timeoutSeconds) { + long startTimeMicroS = RobotController.getFPGATime(); + long timeoutMicroS = (long) (timeoutSeconds * 1e6); + m_waitForDataMutex.lock(); + try { + int currentCount = m_waitForDataCount; + if (m_lastCount.get() != currentCount) { + m_lastCount.set(currentCount); + return true; + } + while (m_waitForDataCount == currentCount) { + if (timeoutMicroS > 0) { + long nowMicroS = RobotController.getFPGATime(); + if (nowMicroS < startTimeMicroS + timeoutMicroS) { + // We still have time to wait + boolean signaled = + m_waitForDataCond.await( + startTimeMicroS + timeoutMicroS - nowMicroS, TimeUnit.MICROSECONDS); + if (!signaled) { + // Return false if a timeout happened + return false; + } + } else { + // Time has elapsed. + return false; + } + } else { + m_waitForDataCond.await(); + } + } + m_lastCount.set(m_waitForDataCount); + // Return true if we have received a proper signal + return true; + } catch (InterruptedException ex) { + // return false on a thread interrupt + Thread.currentThread().interrupt(); + return false; + } finally { + m_waitForDataMutex.unlock(); + } + } + + /** + * Return the approximate match time. The FMS does not send an official match time to the robots, + * but does send an approximate match time. The value will count down the time remaining in the + * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to + * dispute ref calls or guarantee that a function will trigger before the match ends) The Practice + * Match function of the DS approximates the behavior seen on the field. + * + * @return Time remaining in current match period (auto or teleop) in seconds + */ + public static double getMatchTime() { + return HAL.getMatchTime(); + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting disabled code; if false, leaving disabled code + */ + public static void inDisabled(boolean entering) { + m_userInDisabled = entering; + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting autonomous code; if false, leaving autonomous code + */ + public static void inAutonomous(boolean entering) { + m_userInAutonomous = entering; + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting teleop code; if false, leaving teleop code + * @deprecated Use {@link #inTeleop(boolean)} instead. + */ + @Deprecated(since = "2022", forRemoval = true) + public static void inOperatorControl(boolean entering) { + m_userInTeleop = entering; + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting teleop code; if false, leaving teleop code + */ + public static void inTeleop(boolean entering) { + m_userInTeleop = entering; + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting test code; if false, leaving test code + */ + public static void inTest(boolean entering) { + m_userInTest = entering; + } + + /** Forces waitForData() to return immediately. */ + public static void wakeupWaitForData() { + m_waitForDataMutex.lock(); + try { + m_waitForDataCount++; + m_waitForDataCond.signalAll(); + } finally { + m_waitForDataMutex.unlock(); + } + } + + /** + * Allows the user to specify whether they want joystick connection warnings to be printed to the + * console. This setting is ignored when the FMS is connected -- warnings will always be on in + * that scenario. + * + * @param silence Whether warning messages should be silenced. + */ + public static void silenceJoystickConnectionWarning(boolean silence) { + m_silenceJoystickWarning = silence; + } + + /** + * Returns whether joystick connection warnings are silenced. This will always return false when + * connected to the FMS. + * + * @return Whether joystick connection warnings are silenced. + */ + public static boolean isJoystickConnectionWarningSilenced() { + return !isFMSAttached() && m_silenceJoystickWarning; + } + + /** + * Copy data from the DS task for the user. If no new data exists, it will just be returned, + * otherwise the data will be copied from the DS polling loop. + */ + protected static void getData() { + // Get the status of all of the joysticks + for (byte stick = 0; stick < kJoystickPorts; stick++) { + m_joystickAxesCache[stick].m_count = + HAL.getJoystickAxes(stick, m_joystickAxesCache[stick].m_axes); + m_joystickPOVsCache[stick].m_count = + HAL.getJoystickPOVs(stick, m_joystickPOVsCache[stick].m_povs); + m_joystickButtonsCache[stick].m_buttons = HAL.getJoystickButtons(stick, m_buttonCountBuffer); + m_joystickButtonsCache[stick].m_count = m_buttonCountBuffer.get(0); + } + + HAL.getMatchInfo(m_matchInfoCache); + + m_controlWordMutex.lock(); + try { + // Force a control word update, to make sure the data is the newest. + updateControlWord(true); + } finally { + m_controlWordMutex.unlock(); + } + + // lock joystick mutex to swap cache data + m_cacheDataMutex.lock(); + try { + for (int i = 0; i < kJoystickPorts; i++) { + // If buttons weren't pressed and are now, set flags in m_buttonsPressed + m_joystickButtonsPressed[i] |= + ~m_joystickButtons[i].m_buttons & m_joystickButtonsCache[i].m_buttons; + + // If buttons were pressed and aren't now, set flags in m_buttonsReleased + m_joystickButtonsReleased[i] |= + m_joystickButtons[i].m_buttons & ~m_joystickButtonsCache[i].m_buttons; + } + + // move cache to actual data + HALJoystickAxes[] currentAxes = m_joystickAxes; + m_joystickAxes = m_joystickAxesCache; + m_joystickAxesCache = currentAxes; + + HALJoystickButtons[] currentButtons = m_joystickButtons; + m_joystickButtons = m_joystickButtonsCache; + m_joystickButtonsCache = currentButtons; + + HALJoystickPOVs[] currentPOVs = m_joystickPOVs; + m_joystickPOVs = m_joystickPOVsCache; + m_joystickPOVsCache = currentPOVs; + + MatchInfoData currentInfo = m_matchInfo; + m_matchInfo = m_matchInfoCache; + m_matchInfoCache = currentInfo; + } finally { + m_cacheDataMutex.unlock(); + } + + wakeupWaitForData(); + m_matchDataSender.sendMatchData(); + } + + /** + * Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm + * the DS. + */ + private static void reportJoystickUnpluggedError(String message) { + double currentTime = Timer.getFPGATimestamp(); + if (currentTime > m_nextMessageTime) { + reportError(message, false); + m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL; + } + } + + /** + * Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm + * the DS. + */ + private static void reportJoystickUnpluggedWarning(String message) { + if (isFMSAttached() || !m_silenceJoystickWarning) { + double currentTime = Timer.getFPGATimestamp(); + if (currentTime > m_nextMessageTime) { + reportWarning(message, false); + m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL; + } + } + } + + /** Provides the service routine for the DS polling m_thread. */ + private static void run() { + int safetyCounter = 0; + while (m_threadKeepAlive) { + HAL.waitForDSData(); + getData(); + + if (isDisabled()) { + safetyCounter = 0; + } + + safetyCounter++; + if (safetyCounter >= 4) { + MotorSafety.checkMotors(); + safetyCounter = 0; + } + if (m_userInDisabled) { + HAL.observeUserProgramDisabled(); + } + if (m_userInAutonomous) { + HAL.observeUserProgramAutonomous(); + } + if (m_userInTeleop) { + HAL.observeUserProgramTeleop(); + } + if (m_userInTest) { + HAL.observeUserProgramTest(); + } + } + } + + /** + * Forces a control word cache update, and update the passed in control word. + * + * @param word Word to update. + */ + public static void updateControlWordFromCache(ControlWord word) { + m_controlWordMutex.lock(); + try { + updateControlWord(true); + word.update(m_controlWordCache); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Updates the data in the control word cache. Updates if the force parameter is set, or if 50ms + * have passed since the last update. + * + *

Must be called with m_controlWordMutex lock held. + * + * @param force True to force an update to the cache, otherwise update if 50ms have passed. + */ + private static void updateControlWord(boolean force) { + long now = System.currentTimeMillis(); + if (now - m_lastControlWordUpdate > 50 || force) { + HAL.getControlWord(m_controlWordCache); + m_lastControlWordUpdate = now; + } + } +} diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index bdeb320..6aa7365 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -71,11 +71,13 @@ public final class Constants { // swerve auto constants public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0); public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0); - public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( - 15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); - - public static final double MAX_VEL = 5.0; - public static final double MAX_ACC = 5.0; + public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController (15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); + public static final boolean PATH_RECORD_VELOCITY = true; + public static final double PATH_MAX_VELOCITY = 5.0; + public static final double PATH_MAX_ACCELERATION = 5.0; + public static final double MIN_WAYPOINT_ANGLE = 20; + public static final double MIN_WAYPOINT_DISTANCE = 0.1; + public static final double MIN_WAYPOINT_VELOCITY = 0.1; // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; @@ -127,7 +129,7 @@ public final class Constants { /* PID Constants Shooter */ public static final int CLOSED_LOOP_TIME_MS = 1; - public static final int SHOOTER_TIMEOUT_MS = 32; + public static final int SHOOTER_TIMEOUT_MS = 32; public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); @@ -173,11 +175,11 @@ public final class Constants { } public static final class VisionConstants { - public static final double TURN_P_VALUE = 0.8; - public static final double X_ANGLE_ERROR = 0.5; - public static final double GRAV = 385.83; - public static final double TARGET_HEIGHT = 67.5; - public static final double FOV = 29.8; //Field of view limelight - public static final double LIME_ANGLE = 24.7; - } + public static final double TURN_P_VALUE = 0.8; + public static final double X_ANGLE_ERROR = 0.5; + public static final double GRAV = 385.83; + public static final double TARGET_HEIGHT = 67.5; + public static final double FOV = 29.8; //Field of view limelight + public static final double LIME_ANGLE = 24.7; + } } diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java index fdb3853..9fbaf8f 100644 --- a/src/main/java/frc4388/robot/Main.java +++ b/src/main/java/frc4388/robot/Main.java @@ -5,6 +5,12 @@ package frc4388.robot; +import java.util.logging.Level; +import java.util.logging.Logger; + +import com.diffplug.common.base.DurianPlugins; +import com.diffplug.common.base.Errors; + import edu.wpi.first.wpilibj.RobotBase; import frc4388.utility.AnsiLogging; @@ -24,6 +30,7 @@ public final class Main { */ public static void main(String... args) { AnsiLogging.systemInstall(); + 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)); RobotBase.startRobot(Robot::new); } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index debf72c..c4edf74 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -4,14 +4,22 @@ package frc4388.robot; +import java.io.File; +import java.nio.file.Files; +import java.nio.file.Path; import java.util.logging.Level; import java.util.logging.Logger; +import java.util.stream.IntStream; + +import com.diffplug.common.base.Errors; 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 edu.wpi.first.wpilibj2.command.RunCommand; import frc4388.utility.RobotTime; /** @@ -22,7 +30,7 @@ import frc4388.utility.RobotTime; * project. */ public class Robot extends TimedRobot { - private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); + private static final Logger LOGGER = Logger.getLogger(Robot.class.getSimpleName()); Command m_autonomousCommand; private RobotTime m_robotTime = RobotTime.getInstance(); @@ -34,20 +42,51 @@ public class Robot extends TimedRobot { */ @Override public void robotInit() { - if (org.fusesource.jansi.Ansi.isEnabled()) { - LOGGER.log(Level.ALL, "Logging Test 1/8"); - LOGGER.log(Level.SEVERE, "Logging Test 2/8"); - LOGGER.log(Level.WARNING, "Logging Test 3/8"); - LOGGER.log(Level.INFO, "Logging Test 4/8"); - LOGGER.log(Level.CONFIG, "Logging Test 5/8"); - LOGGER.log(Level.FINE, "Logging Test 6/8"); - LOGGER.log(Level.FINER, "Logging Test 7/8"); - LOGGER.log(Level.FINEST, "Logging Test 8/8"); - } + LOGGER.log(Level.ALL, "Logging Test 1/8"); + LOGGER.log(Level.SEVERE, "Logging Test 2/8"); + LOGGER.log(Level.WARNING, "Logging Test 3/8"); + LOGGER.log(Level.INFO, "Logging Test 4/8"); + LOGGER.log(Level.CONFIG, "Logging Test 5/8"); + LOGGER.log(Level.FINE, "Logging Test 6/8"); + LOGGER.log(Level.FINER, "Logging Test 7/8"); + LOGGER.log(Level.FINEST, "Logging Test 8/8"); + Errors.log().run(() -> { throw new Throwable("Exception Test"); }); + + // var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile()); + // LOGGER.finest(path::toString); LOGGER.fine("robotInit()"); + // LOGGER.fine("Sssssssssh."); + // DriverStation.silenceJoystickConnectionWarning(true); // 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"; + } + }); } /** @@ -82,6 +121,15 @@ public class Robot extends TimedRobot { public void disabledInit() { LOGGER.fine("disabledInit()"); m_robotTime.endMatchTime(); + if (isTest()) { + // 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()); + } } @Override @@ -132,6 +180,11 @@ public class Robot extends TimedRobot { public void teleopPeriodic() { } + @Override + public void testInit() { + CommandScheduler.getInstance().cancelAll(); + } + /** * This function is called periodically during test mode. */ diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 3d56eca..bf1cec5 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,36 +4,59 @@ package frc4388.robot; -import com.ctre.phoenix.motorcontrol.TalonFXControlMode; -import com.ctre.phoenix.motorcontrol.can.TalonFX; - -import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.InstantCommand; - +import java.io.File; +import java.io.IOException; +import java.io.StringWriter; +import java.nio.file.FileSystems; +import java.nio.file.Path; +import java.nio.file.StandardWatchEventKinds; +import java.nio.file.WatchEvent; +import java.nio.file.WatchKey; +import java.time.Clock; +import java.time.ZoneId; +import java.time.ZonedDateTime; +import java.time.format.DateTimeFormatter; import java.util.ArrayList; +import java.util.Arrays; +import java.util.Comparator; +import java.util.List; import java.util.Objects; +import java.util.Optional; +import java.util.function.Function; +import java.util.logging.Level; +import java.util.logging.Logger; +import java.util.regex.Matcher; +import java.util.regex.Pattern; +import java.util.stream.Collectors; -import com.ctre.phoenix.motorcontrol.TalonFXControlMode; -import com.ctre.phoenix.motorcontrol.can.TalonFX; +import com.diffplug.common.base.Errors; import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; import com.pathplanner.lib.commands.PPSwerveControllerCommand; +import edu.wpi.first.math.Pair; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import edu.wpi.first.wpilibj2.command.NotifierCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.JoystickButton; - -import frc4388.robot.Constants.*; +import frc4388.robot.Constants.LEDConstants; +import frc4388.robot.Constants.OIConstants; +import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.commands.AimToCenter; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; @@ -42,6 +65,9 @@ import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.Turret; import frc4388.robot.subsystems.Vision; import frc4388.utility.LEDPatterns; +import frc4388.utility.ListeningSendableChooser; +import frc4388.utility.PathPlannerUtil; +import frc4388.utility.PathPlannerUtil.Path.Waypoint; import frc4388.utility.controller.DeadbandedXboxController; /** @@ -52,17 +78,12 @@ import frc4388.utility.controller.DeadbandedXboxController; * commands, and button mappings) should be declared here. */ public class RobotContainer { + private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getSimpleName()); /* RobotMap */ private final RobotMap m_robotMap = new RobotMap(); /* Subsystems */ - public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, - m_robotMap.leftBack, - m_robotMap.rightFront, - m_robotMap.rightBack, - m_robotMap.gyro); - - private final TalonFX m_testMotor = new TalonFX(23); + public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); private final LED m_robotLED = new LED(m_robotMap.LEDController); private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); @@ -73,6 +94,18 @@ public class RobotContainer { private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); + /* Autonomous */ + private PathPlannerTrajectory loadedPathTrajectory = null; + private final ListeningSendableChooser autoChooser = new ListeningSendableChooser<>(this::loadPath); + private final List pathPoints = new ArrayList<>(); + private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault(); + private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording"); + + private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH:mm:ss.SSS'.path'"); + private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault()); + private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner"); + private static final Function PATH_EXTENSION_REMOVER = ((Function) Pattern.compile(".path")::matcher).andThen(m -> m.replaceFirst("")); + /** * The container for the robot. Contains subsystems, OI devices, and commands. */ @@ -89,15 +122,17 @@ public class RobotContainer { m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( - getDriverController().getLeftX(), - getDriverController().getLeftY(), - getDriverController().getRightX(), - getDriverController().getRightY(), - true), - m_robotSwerveDrive)); + getDriverController().getLeftX(), + getDriverController().getLeftY(), + getDriverController().getRightX(), + getDriverController().getRightY(), + true), + m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand")); // continually sends updates to the Blinkin LED controller to keep the lights on - m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); + m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand")); + autoInit(); + recordInit(); } /** @@ -110,21 +145,18 @@ public class RobotContainer { /* Driver Buttons */ // "XboxController.Button.kBack" was undefined yet, 7 works just fine new JoystickButton(getDriverController(), 7) - .whenPressed(() -> m_robotSwerveDrive.resetGyro()); + .whenPressed(m_robotSwerveDrive::resetGyro); new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) - .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); - + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) + .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) - .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); - - new JoystickButton(getDriverController(), XboxController.Button.kA.value) + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) + .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); - .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); - //.whenPressed(this::resetOdometry); + new JoystickButton(getDriverController(), XboxController.Button.kA.value) + .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); /* Operator Buttons */ // activates "Lit Mode" @@ -141,81 +173,33 @@ public class RobotContainer { .whenReleased(() -> m_robotHood.runHood(0.d)); } - /** - * Generate autonomous - * @param maxVel max velocity for the path (null to override default value of 5.0) - * @param maxAccel max acceleration for the path (null to override default value of 5.0) - * @param inputs strings (path names) or commands you want to run (in order) - * @return array of commands, which can then be processed in a command group - */ - public Command[] buildAuto(Double maxVel, Double maxAccel, Object... inputs) { - - // default vel and acc - maxVel = Objects.requireNonNullElse(maxVel, SwerveDriveConstants.MAX_VEL); - maxAccel = Objects.requireNonNullElse(maxAccel, SwerveDriveConstants.MAX_ACC); - - ArrayList commands = new ArrayList(); - commands.add(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset())); - - // pids controlling the path - PIDController xController = SwerveDriveConstants.X_CONTROLLER; - PIDController yController = SwerveDriveConstants.Y_CONTROLLER; - ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; - thetaController.enableContinuousInput(-Math.PI, Math.PI); - - // parse input - for (int i=0; i m_robotSwerveDrive.resetOdometry(new Pose2d(initState.poseMeters.getTranslation(), initState.holonomicRotation)))); - commands.add(new PPSwerveControllerCommand( - traj, - m_robotSwerveDrive::getOdometry, - m_robotSwerveDrive.m_kinematics, - xController, - yController, - thetaController, - m_robotSwerveDrive::setModuleStates, - m_robotSwerveDrive)); - } - - // if command, just add it to the array - if (inputs[i] instanceof Command) { - commands.add((Command) inputs[i]); - } - } - - commands.add(new InstantCommand(() -> m_robotSwerveDrive.stopModules())); - Command[] ret = new Command[commands.size()]; - ret = commands.toArray(ret); - return ret; - } - /** * Use this to pass the autonomous command to the main {@link Robot} class. * * @return the command to run in autonomous */ public Command getAutonomousCommand() { - // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki - return new ParallelCommandGroup( - buildAuto( - null, - null, - new SequentialCommandGroup(buildAuto(0.5, 0.5, "Move Forward", "Move Down")), - new InstantCommand(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.2)) - ) - ); + if (loadedPathTrajectory != null) { + PIDController xController = SwerveDriveConstants.X_CONTROLLER; + PIDController yController = SwerveDriveConstants.Y_CONTROLLER; + ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; + thetaController.enableContinuousInput(-Math.PI, Math.PI); + + PathPlannerState initialState = loadedPathTrajectory.getInitialState(); + Pose2d initialPosition = new Pose2d(initialState.poseMeters.getTranslation(), initialState.holonomicRotation); + return new SequentialCommandGroup( + new InstantCommand(m_robotSwerveDrive.m_gyro::reset), + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(initialPosition)), + new PPSwerveControllerCommand(loadedPathTrajectory, m_robotSwerveDrive::getOdometry, + m_robotSwerveDrive.m_kinematics, xController, yController, thetaController, + m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive), + new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path"); + } else { + LOGGER.severe("No auto selected."); + return new RunCommand(() -> {}).withName("No Autonomous Path"); + } } - /** - * Add your docs here. - */ public XboxController getDriverController() { return m_driverXbox; } @@ -235,10 +219,144 @@ public class RobotContainer { public void resetOdometry(Pose2d pose) { m_robotSwerveDrive.resetOdometry(pose); } - /** - * Add your docs here. - */ + public XboxController getOperatorController() { return m_operatorXbox; } + + private void autoInit() { + try { + WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE); + // TODO: Store this and other commands as fields so they can be rescheduled. + new NotifierCommand(() -> updateAutoChooser(watchKey), 0.5) { + @Override + public boolean runsWhenDisabled() { + return true; + } + }.withName("Path Watcher").schedule(); + } catch (IOException exception) { + LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception); + } + Arrays.stream(PATHPLANNER_DIRECTORY.toFile().listFiles()) + .filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified)) + .forEachOrdered(file -> autoChooser.addOption(file.getName(), file)); + SmartDashboard.putData("Auto Chooser", autoChooser); + } + + public void recordInit() { + SmartDashboard.putData("Recording", + new RunCommand(this::recordPeriodic) { + @Override + public void end(boolean interupted) { + new InstantCommand(RobotContainer.this::saveRecording) { + @Override + public boolean runsWhenDisabled() { + return true; + } + }.withName("Save Recording").schedule(); + } + }.withName("Record Path (Cancel to Save)")); + } + + private void updateAutoChooser(WatchKey watchKey) { + List> watchEvents = watchKey.pollEvents(); + if (!watchEvents.isEmpty()) { + List> pathWatchEvents = watchEvents.stream().filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList()); + for (WatchEvent pathWatchEvent : pathWatchEvents) { + Path watchEventPath = (Path) pathWatchEvent.context(); + File watchEventFile = watchEventPath.toFile(); + String watchEventFileName = watchEventFile.getName(); + if (watchEventFileName.endsWith(".path")) { + if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) { + LOGGER.log(Level.WARNING, "PathPlanner file {0} created. Options added to SendableChooser.", watchEventFileName); + autoChooser.addOption(watchEventFile.getName(), watchEventFile); + } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) { + LOGGER.log(Level.WARNING, "PathPlanner file {0} modified.", watchEventFileName); + if (watchEventFileName.equals(autoChooser.getSelected().getName())) { + LOGGER.log(Level.SEVERE, "PathPlanner file {0} already selected. Reloading path.", watchEventFileName); + loadPath(watchEventFileName); + } + } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) { + LOGGER.log(Level.SEVERE, "PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.", watchEventFileName); + } + } + } + } + if (!watchKey.reset()) + LOGGER.severe("File watch key invalid."); + } + + private void loadPath(String pathName) { + LOGGER.warning("Loading path " + pathName); + loadedPathTrajectory = null; + loadedPathTrajectory = PathPlanner.loadPath(PATH_EXTENSION_REMOVER.apply(Objects.requireNonNullElse(pathName, "")), SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION); + LOGGER.info("Done loading"); + } + + private void saveRecording() { + // IMPORTANT: Had to chown the pathplanner folder in order to save autos. + File outputFile = PATHPLANNER_DIRECTORY.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile(); + LOGGER.log(Level.WARNING, "Creating path {0}.", outputFile.getPath()); + if (!pathPoints.isEmpty() && Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { + // TODO: Change to use measured maximum velocity and acceleration. + var path = createPath(null, null, false); + if (RobotBase.isReal()) + path.write(outputFile); + StringWriter writer = new StringWriter(); + path.write(writer); + recordingNetworkTable.getEntry(outputFile.getName()).setString(writer.toString()); + autoChooser.setDefaultOption(outputFile.getName(), outputFile); + LOGGER.log(Level.INFO, "Recorded path to {0}.", outputFile.getPath()); + } else + LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath()); + } + + public void recordPeriodic() { + Translation2d position = m_robotSwerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation(); + Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d(); + // FIXME: Chassis speeds are created from joystick inputs and do not reflect actual robot velocity. + Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond); + Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false); + pathPoints.add(waypoint); + } + + public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { + // Remove points whose angles to neighboring points are less than 10 degrees apart. + int j = 0; + for (int i = 1; i < pathPoints.size() - 1; i++) { + var prev = pathPoints.get(j).anchorPoint.orElseThrow(); + var current = pathPoints.get(i).anchorPoint.orElseThrow(); + var next = pathPoints.get(i + 1).anchorPoint.orElseThrow(); + var fromPrevious = current.minus(prev); + var toNext = next.minus(current); + var angleFromPrevious = new Rotation2d(fromPrevious.getX(), fromPrevious.getY()); + var angleToNext = new Rotation2d(toNext.getX(), toNext.getY()); + if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < SwerveDriveConstants.MIN_WAYPOINT_ANGLE || (next.getDistance(prev) < SwerveDriveConstants.MIN_WAYPOINT_DISTANCE && pathPoints.get(i).velOverride.map(v -> v < SwerveDriveConstants.MIN_WAYPOINT_VELOCITY).orElse(false))) + pathPoints.set(i, null); + else + j = i; + } + pathPoints.removeIf(Objects::isNull); + // Make control points + pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(), pathPoints.get(1).anchorPoint.orElseThrow()).getSecond()); + for (int i = 1; i < pathPoints.size() - 1; i++) { + var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(), pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow()); + pathPoints.get(i).prevControl = Optional.of(controls.getFirst()); + pathPoints.get(i).nextControl = Optional.of(controls.getSecond()); + } + pathPoints.get(pathPoints.size() - 1).prevControl = Optional.of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(), pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst()); + // Create the path + PathPlannerUtil.Path path = new PathPlannerUtil.Path(); + path.waypoints = Optional.ofNullable(pathPoints.toArray(PathPlannerUtil.Path.Waypoint[]::new)); + path.maxVelocity = Optional.ofNullable(maxVelocity); + path.maxAcceleration = Optional.ofNullable(maxAcceleration); + path.isReversed = Optional.ofNullable(isReversed); + pathPoints.clear(); + return path; + } + + private static Pair makeControlPoints(Translation2d prev, Translation2d current, Translation2d next) { + var line = Objects.requireNonNullElse(next, current).minus(Objects.requireNonNullElse(prev, current)).div(4); + return Pair.of(current.minus(line), current.plus(line)); + } } diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 54fc697..6692940 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -10,6 +10,7 @@ import java.util.Comparator; import java.util.Map; import java.util.Optional; import java.util.function.Function; +import java.util.logging.Logger; import java.util.regex.Pattern; import java.util.stream.IntStream; @@ -24,82 +25,81 @@ import frc4388.utility.CSV; import frc4388.utility.Gains; public class BoomBoom extends SubsystemBase { -public WPI_TalonFX m_shooterFalconLeft; -public WPI_TalonFX m_shooterFalconRight; -public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; -public static BoomBoom m_boomBoom; + private static final Logger LOGGER = Logger.getLogger(BoomBoom.class.getSimpleName()); + public WPI_TalonFX m_shooterFalconLeft; + public WPI_TalonFX m_shooterFalconRight; + public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; + public static BoomBoom m_boomBoom; -double velP; -double input; + double velP; + double input; -public boolean m_isDrumReady = false; -public double m_fireVel; + public boolean m_isDrumReady = false; + public double m_fireVel; -public Hood m_hoodSubsystem; -public Turret m_turretSubsystem; + public Hood m_hoodSubsystem; + public Turret m_turretSubsystem; -// SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later + // SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values + // later -public static class ShooterTableEntry { - public Double distance, hoodExt, drumVelocity; -} - -private ShooterTableEntry[] m_shooterTable; - -/** - * Creates a new BoomBoom subsystem, which has the drum shooter. - * @param shooterFalconLeft The left drum motor. - * @param shooterFalconRight The right drum motor. - */ -public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { - m_shooterFalconLeft = shooterFalconLeft; - m_shooterFalconRight = shooterFalconRight; - - try { - CSV csv = new CSV<>(ShooterTableEntry::new) { - private final Pattern parentheses = Pattern.compile("\\([^\\)]*+\\)"); - - @Override - protected String headerSanitizer(final String header) { - return super.headerSanitizer(parentheses.matcher(header).replaceAll("")); - } - - }; - m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "Robot Data - Distances.csv").toPath()); - new Thread(() -> System.out.println(CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start(); - } catch (final IOException e) { - e.printStackTrace(); - // throw new RuntimeException(e); + public static class ShooterTableEntry { + public Double distance, hoodExt, drumVelocity; } -} -public Double getVelocity(final Double distance) { - return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.drumVelocity).doubleValue(); -} + private ShooterTableEntry[] m_shooterTable; -public Double getHood(final Double distance) { - return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue(); -} + /* + * Creates new BoomBoom subsystem, has drum shooter and angle adjuster + */ + /** Creates a new BoomBoom. */ + public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { + m_shooterFalconLeft = shooterFalconLeft; + m_shooterFalconRight = shooterFalconRight; -// TODO: @nathanrsxtn pls java doc your shooter tables code + try { + CSV csv = new CSV<>(ShooterTableEntry::new) { + private final Pattern parentheses = Pattern.compile("\\([^\\)]*+\\)"); -private static Number linearInterpolate(final E[] table, final Number lookupValue, final Function lookupGetter, final Function targetGetter) { - final Map.Entry closestEntry = lookup(table, lookupValue.doubleValue(), lookupGetter, false).orElse(Map.entry(table.length - 1, table[table.length - 1])); - final E closestRecord = closestEntry.getValue(); - final int closestRecordIndex = closestEntry.getKey(); - final E neighborRecord = table[lookupValue.doubleValue() <= lookupGetter.apply(closestRecord).doubleValue() ? Math.max(closestRecordIndex == 0 ? 1 : 0, closestRecordIndex - 1) : Math.min(closestRecordIndex + 1, table.length - (closestRecordIndex == table.length - 1 ? 2 : 1))]; - return lerp2(lookupValue, lookupGetter.apply(closestRecord), targetGetter.apply(closestRecord), lookupGetter.apply(neighborRecord), targetGetter.apply(neighborRecord)); -} + @Override + protected String headerSanitizer(final String header) { + return super.headerSanitizer(parentheses.matcher(header).replaceAll("")); + } -private static Optional> lookup(final E[] table, final Number value, final Function valueGetter, final boolean exactMatch) { - final Optional> match = IntStream.range(0, table.length).mapToObj(i -> Map.entry(i, table[i])).min(Comparator.comparingDouble(e -> Math.abs(valueGetter.apply(e.getValue()).doubleValue() - value.doubleValue()))); - return !exactMatch || match.map(e -> valueGetter.apply(e.getValue()).equals(value)).orElse(false) ? match : Optional.empty(); -} + }; + m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "ShooterData.csv").toPath()); + new Thread(() -> LOGGER.fine(CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start(); + } catch (final IOException e) { + e.printStackTrace(); + // throw new RuntimeException(e); + } + } -private static Number lerp2(final Number x, final Number x0, final Number y0, final Number x1, final Number y1) { - final Number f = (x.doubleValue() - x0.doubleValue()) / (x1.doubleValue() - x0.doubleValue()); - return (1.0 - f.doubleValue()) * y0.doubleValue() + f.doubleValue() * y1.doubleValue(); -} + public Double getVelocity(final Double distance) { + return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.drumVelocity).doubleValue(); + } + + public Double getHood(final Double distance) { + return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue(); + } + + private static Number linearInterpolate(final E[] table, final Number lookupValue, final Function lookupGetter, final Function targetGetter) { + final Map.Entry closestEntry = lookup(table, lookupValue.doubleValue(), lookupGetter, false).orElse(Map.entry(table.length - 1, table[table.length - 1])); + final E closestRecord = closestEntry.getValue(); + final int closestRecordIndex = closestEntry.getKey(); + final E neighborRecord = table[lookupValue.doubleValue() <= lookupGetter.apply(closestRecord).doubleValue() ? Math.max(closestRecordIndex == 0 ? 1 : 0, closestRecordIndex - 1) : Math.min(closestRecordIndex + 1, table.length - (closestRecordIndex == table.length - 1 ? 2 : 1))]; + return lerp2(lookupValue, lookupGetter.apply(closestRecord), targetGetter.apply(closestRecord), lookupGetter.apply(neighborRecord), targetGetter.apply(neighborRecord)); + } + + private static Optional> lookup(final E[] table, final Number value, final Function valueGetter, final boolean exactMatch) { + final Optional> match = IntStream.range(0, table.length).mapToObj(i -> Map.entry(i, table[i])).min(Comparator.comparingDouble(e -> Math.abs(valueGetter.apply(e.getValue()).doubleValue() - value.doubleValue()))); + return !exactMatch || match.map(e -> valueGetter.apply(e.getValue()).equals(value)).orElse(false) ? match : Optional.empty(); + } + + private static Number lerp2(final Number x, final Number x0, final Number y0, final Number x1, final Number y1) { + final Number f = (x.doubleValue() - x0.doubleValue()) / (x1.doubleValue() - x0.doubleValue()); + return (1.0 - f.doubleValue()) * y0.doubleValue() + f.doubleValue() * y1.doubleValue(); + } @Override public void periodic() { @@ -111,33 +111,34 @@ private static Number lerp2(final Number x, final Number x0, final Number y0, fi m_hoodSubsystem = subsystem0; m_turretSubsystem = subsystem1; } -/** - * Runs the Drum motor at a given speed - * @param speed percent output form -1.0 to 1.0 - */ -public void runDrumShooter(double speed) { - m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); - - } -public void setShooterGains() { - m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX); - m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); -} + /** + * Runs the Drum motor at a given speed + * @param speed percent output form -1.0 to 1.0 + */ + public void runDrumShooter(double speed) { + m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); + + } + + public void setShooterGains() { + m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX); + m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); + } public void runDrumShooterVelocityPID(double targetVel) { - m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init + m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); // Init m_shooterFalconRight.follow(m_shooterFalconLeft); - // New BoomBoom controller stuff - //Controls a motor with the output of the BangBang controller - //Controls a motor with the output of the BangBang conroller and a feedforward - //Shrinks the feedforward slightly to avoid over speeding the shooter - - - // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); + // New BoomBoom controller stuff + // Controls a motor with the output of the BangBang controller + // Controls a motor with the output of the BangBang conroller and a feedforward + // Shrinks the feedforward slightly to avoid over speeding the shooter + + // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * + // feedforward.calculate(targetVel)); // m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java index eaab9dd..e46be14 100644 --- a/src/main/java/frc4388/robot/subsystems/LED.java +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -27,7 +27,7 @@ public class LED extends SubsystemBase { m_LEDController = LEDController; setPattern(LEDConstants.DEFAULT_PATTERN); updateLED(); - Logger.getLogger(LED.class.getName()).finer("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); + Logger.getLogger(LED.class.getSimpleName()).finer("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); } @Override diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index f945d3c..a764043 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,10 +4,8 @@ package frc4388.robot.subsystems; -import java.util.ArrayList; - -import com.ctre.phoenix.sensors.WPI_PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus; +import com.ctre.phoenix.sensors.WPI_PigeonIMU; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; @@ -19,11 +17,9 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; - import frc4388.robot.Constants.OIConstants; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; @@ -59,6 +55,7 @@ public class SwerveDrive extends SubsystemBase { public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; public Rotation2d rotTarget = new Rotation2d(); + public ChassisSpeeds chassisSpeeds = new ChassisSpeeds(); private final Field2d m_field = new Field2d(); @@ -112,6 +109,7 @@ public class SwerveDrive extends SubsystemBase { : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); setModuleStates(states); } + public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) { ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; @@ -122,11 +120,12 @@ public class SwerveDrive extends SubsystemBase { double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians(); double xSpeedMetersPerSecond = -speed.getX(); double ySpeedMetersPerSecond = speed.getY(); + chassisSpeeds = fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED); SwerveModuleState[] states = m_kinematics.toSwerveModuleStates( - fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED)); + chassisSpeeds); setModuleStates(states); } @@ -143,7 +142,7 @@ public class SwerveDrive extends SubsystemBase { } // modules[0].setDesiredState(desiredStates[0], false); } - + @Override public void periodic() { diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java index 1b6c6c6..901e2d7 100644 --- a/src/main/java/frc4388/utility/AnsiLogging.java +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -9,6 +9,8 @@ import java.io.PrintWriter; import java.io.StringWriter; 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.Level; @@ -24,68 +26,76 @@ import org.fusesource.jansi.AnsiConsole; public class AnsiLogging extends ConsoleHandler { public static void systemInstall() { try { - // Configures java.util.logging.Logger to output additional colored information. + // Configure java.util.logging.Logger to output additional colored information. LogManager.getLogManager().updateConfiguration(key -> (o, n) -> { switch (key) { - case ".level": return Level.ALL.getName(); - case "handlers": return AnsiColorConsoleHandler.class.getName(); - default: return n; + case ".level": + return Level.ALL.getName(); + case "handlers": + return AnsiColorConsoleHandler.class.getName(); + default: + return n; } }); - // Replaces standard output streams with org.fusesource.jansi.AnsiPrintStreams. + // Replace standard output streams with org.fusesource.jansi.AnsiPrintStreams. AnsiConsole.systemInstall(); - // Replaces standard output stream with java.util.logging.Logger. + // Replace standard output stream with java.util.logging.Logger. System.setOut(printStreamLogger(Logger.getGlobal(), Level.INFO)); - // Replaces standard error output stream with java.util.logging.Logger. + // Replace standard error output stream with java.util.logging.Logger. System.setErr(printStreamLogger(Logger.getGlobal(), Level.SEVERE)); } catch (IOException exception) { exception.printStackTrace(AnsiConsole.sysErr()); } } - + public static class AnsiColorConsoleHandler extends ConsoleHandler { @Override public void publish(LogRecord logRecord) { AnsiConsole.err().print(getFormatter().format(logRecord)); AnsiConsole.err().flush(); } + @Override public Formatter getFormatter() { return formatter; } + private static final Formatter formatter = new Formatter() { + private final ZoneId zoneId = ZoneId.systemDefault(); + // Specify and prepare formats for messages + private final Map levelColors = Map.of( + Level.OFF.intValue(), "", + Level.SEVERE.intValue(), makeMessageFormatString(ansi().fgBright(Color.RED)), + Level.WARNING.intValue(), makeMessageFormatString(ansi().fgBright(Color.YELLOW)), + Level.INFO.intValue(), makeMessageFormatString(ansi().fg(Color.GREEN)), + Level.CONFIG.intValue(), makeMessageFormatString(ansi().fgBright(Color.BLUE)), + Level.FINE.intValue(), makeMessageFormatString(ansi().fg(Color.CYAN)), + Level.FINER.intValue(), makeMessageFormatString(ansi().fg(Color.MAGENTA)), + Level.FINEST.intValue(), makeMessageFormatString(ansi().fgBright(Color.BLACK)), + Level.ALL.intValue(), makeMessageFormatString(ansi().fg(Color.DEFAULT)) + ); + + private String makeMessageFormatString(Ansi base) { + 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(); + } + + private String makeStackTraceString(Throwable throwable) { + StringWriter stringWriter = new StringWriter(); + try (PrintWriter printWriter = new PrintWriter(stringWriter)) { + printWriter.println(); + throwable.printStackTrace(printWriter); + } + return stringWriter.toString(); + } + @Override public String format(LogRecord logRecord) { - ZonedDateTime zdt = ZonedDateTime.ofInstant(logRecord.getInstant(), ZoneId.systemDefault()); - String source; - if (logRecord.getSourceClassName() != null && !logRecord.getSourceClassName().startsWith(AnsiLogging.class.getName())) { - source = logRecord.getSourceClassName(); - if (logRecord.getSourceMethodName() != null) { - source += " " + logRecord.getSourceMethodName(); - } - } else - source = logRecord.getLoggerName(); + ZonedDateTime time = ZonedDateTime.ofInstant(logRecord.getInstant(), zoneId); + String source = Optional.ofNullable(logRecord.getLoggerName()).or(() -> Optional.ofNullable(logRecord.getSourceClassName())).map(s -> s + " ").orElse("") + Optional.ofNullable(logRecord.getSourceMethodName()).orElse(""); String message = formatMessage(logRecord); - String throwable = ""; - if (logRecord.getThrown() != null) { - StringWriter sw = new StringWriter(); - try (PrintWriter pw = new PrintWriter(sw)) { - pw.println(); - logRecord.getThrown().printStackTrace(pw); - } - throwable = sw.toString(); - } - Ansi ansi; - if (logRecord.getLevel() == Level.SEVERE) ansi = ansi().fgBright(Color.RED); - else if (logRecord.getLevel() == Level.WARNING) ansi = ansi().fgBright(Color.YELLOW); - else if (logRecord.getLevel() == Level.INFO) ansi = ansi().fg(Color.GREEN); - else if (logRecord.getLevel() == Level.CONFIG) ansi = ansi().fgBright(Color.BLUE); - else if (logRecord.getLevel() == Level.FINE) ansi = ansi().fg(Color.CYAN); - else if (logRecord.getLevel() == Level.FINER) ansi = ansi().fg(Color.MAGENTA); - else if (logRecord.getLevel() == Level.FINEST) ansi = ansi().fgBright(Color.BLACK); - else ansi = ansi().fg(Color.DEFAULT); - String format = ansi.bold().a(Attribute.UNDERLINE).a("%1$tb %1$td, %1$tY %1$tl:%1$tM:%1$tS %1$Tp %2$s %4$s:").boldOff().a(Attribute.UNDERLINE_OFF).a("%n%5$s%6$s").reset().a("%n").toString(); - return String.format(format, zdt, source, logRecord.getLoggerName(), logRecord.getLevel().getLocalizedName(), message, throwable); + String throwable = Optional.ofNullable(logRecord.getThrown()).map(this::makeStackTraceString).orElse(""); + String format = levelColors.getOrDefault(logRecord.getLevel().intValue(), levelColors.get(Level.ALL.intValue())); + return String.format(format, time, source, logRecord.getLevel().getLocalizedName(), message.lines().count() > 1 ? System.lineSeparator() : " ", message.contains("\033") ? "\033[0m" + message : message, throwable); } }; } @@ -95,7 +105,7 @@ public class AnsiLogging extends ConsoleHandler { private final StringBuilder stringBuilder = new StringBuilder(); @Override - public final void write(int i) throws IOException { + public void write(int i) throws IOException { if (i == '\n') { logger.log(level, stringBuilder::toString); stringBuilder.setLength(0); diff --git a/src/main/java/frc4388/utility/CSV.java b/src/main/java/frc4388/utility/CSV.java index 522980a..45ac768 100644 --- a/src/main/java/frc4388/utility/CSV.java +++ b/src/main/java/frc4388/utility/CSV.java @@ -1,10 +1,3 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - package frc4388.utility; import java.awt.Color; diff --git a/src/main/java/frc4388/utility/DataLogging.java b/src/main/java/frc4388/utility/DataLogging.java deleted file mode 100644 index 730da4c..0000000 --- a/src/main/java/frc4388/utility/DataLogging.java +++ /dev/null @@ -1,12 +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; - -/** Add your docs here. */ -public class DataLogging { - public DataLogging() { - - } -} diff --git a/src/main/java/frc4388/utility/ListeningSendableChooser.java b/src/main/java/frc4388/utility/ListeningSendableChooser.java new file mode 100644 index 0000000..c0f3432 --- /dev/null +++ b/src/main/java/frc4388/utility/ListeningSendableChooser.java @@ -0,0 +1,182 @@ +// 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 edu.wpi.first.wpilibj.smartdashboard; +package frc4388.utility; + +import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; + +import edu.wpi.first.networktables.NTSendable; +import edu.wpi.first.networktables.NTSendableBuilder; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.util.sendable.SendableRegistry; +import java.util.ArrayList; +import java.util.LinkedHashMap; +import java.util.List; +import java.util.Map; +import java.util.concurrent.atomic.AtomicInteger; +import java.util.concurrent.locks.ReentrantLock; +import java.util.function.Consumer; + +/** + * The {@link ListeningSendableChooser} class is a useful tool for presenting a selection of options to the + * {@link SmartDashboard}. + * + *

For instance, you may wish to be able to select between multiple autonomous modes. You can do + * this by putting every possible Command you want to run as an autonomous into a {@link + * ListeningSendableChooser} and then put it into the {@link SmartDashboard} to have a list of options appear + * on the laptop. Once autonomous starts, simply ask the {@link ListeningSendableChooser} what the selected + * value is. + * + * @param The type of the values to be stored + */ +public class ListeningSendableChooser implements NTSendable, AutoCloseable { + /** The key for the default value. */ + private static final String DEFAULT = "default"; + /** The key for the selected option. */ + private static final String SELECTED = "selected"; + /** The key for the active option. */ + private static final String ACTIVE = "active"; + /** The key for the option array. */ + private static final String OPTIONS = "options"; + /** The key for the instance number. */ + private static final String INSTANCE = ".instance"; + /** A map linking strings to the objects the represent. */ + private final Map m_map = new LinkedHashMap<>(); + + private String m_defaultChoice = ""; + private final int m_instance; + private static final AtomicInteger s_instances = new AtomicInteger(); + + private Consumer m_consumer; + + /** Instantiates a {@link ListeningSendableChooser}. */ + public ListeningSendableChooser(Consumer consumer) { + m_consumer = consumer; + m_instance = s_instances.getAndIncrement(); + SendableRegistry.add(this, "SendableChooser", m_instance); + } + + @Override + public void close() { + SendableRegistry.remove(this); + } + + /** + * Adds the given object to the list of options. On the {@link SmartDashboard} on the desktop, the + * object will appear as the given name. + * + * @param name the name of the option + * @param object the option + */ + public void addOption(String name, V object) { + m_map.put(name, object); + } + + /** + * Adds the given object to the list of options. + * + * @param name the name of the option + * @param object the option + * @deprecated Use {@link #addOption(String, Object)} instead. + */ + @Deprecated + public void addObject(String name, V object) { + addOption(name, object); + } + + /** + * Adds the given object to the list of options and marks it as the default. Functionally, this is + * very close to {@link #addOption(String, Object)} except that it will use this as the default + * option if none other is explicitly selected. + * + * @param name the name of the option + * @param object the option + */ + public void setDefaultOption(String name, V object) { + requireNonNullParam(name, "name", "setDefaultOption"); + + m_defaultChoice = name; + addOption(name, object); + } + + /** + * Adds the given object to the list of options and marks it as the default. + * + * @param name the name of the option + * @param object the option + * @deprecated Use {@link #setDefaultOption(String, Object)} instead. + */ + @Deprecated + public void addDefault(String name, V object) { + setDefaultOption(name, object); + } + + /** + * Returns the selected option. If there is none selected, it will return the default. If there is + * none selected and no default, then it will return {@code null}. + * + * @return the option selected + */ + public V getSelected() { + m_mutex.lock(); + try { + if (m_selected != null) { + return m_map.get(m_selected); + } else { + return m_map.get(m_defaultChoice); + } + } finally { + m_mutex.unlock(); + } + } + + private String m_selected; + private final List m_activeEntries = new ArrayList<>(); + private final ReentrantLock m_mutex = new ReentrantLock(); + + @Override + public void initSendable(NTSendableBuilder builder) { + builder.setSmartDashboardType("String Chooser"); + builder.getEntry(INSTANCE).setDouble(m_instance); + builder.addStringProperty(DEFAULT, () -> m_defaultChoice, null); + builder.addStringArrayProperty(OPTIONS, () -> m_map.keySet().toArray(new String[0]), null); + builder.addStringProperty( + ACTIVE, + () -> { + m_mutex.lock(); + try { + if (m_selected != null) { + return m_selected; + } else { + return m_defaultChoice; + } + } finally { + m_mutex.unlock(); + } + }, + null); + m_mutex.lock(); + try { + m_activeEntries.add(builder.getEntry(ACTIVE)); + } finally { + m_mutex.unlock(); + } + builder.addStringProperty( + SELECTED, + null, + val -> { + m_mutex.lock(); + try { + m_selected = val; + m_consumer.accept(val); + for (NetworkTableEntry entry : m_activeEntries) { + entry.setString(val); + } + } finally { + m_mutex.unlock(); + } + }); + } +} diff --git a/src/main/java/frc4388/utility/PathPlannerUtil.java b/src/main/java/frc4388/utility/PathPlannerUtil.java new file mode 100644 index 0000000..09df037 --- /dev/null +++ b/src/main/java/frc4388/utility/PathPlannerUtil.java @@ -0,0 +1,63 @@ +package frc4388.utility; + +import java.io.File; +import java.io.OutputStream; +import java.io.Writer; +import java.util.Optional; + +import com.diffplug.common.base.Errors; +import com.fasterxml.jackson.annotation.JsonInclude.Include; +import com.fasterxml.jackson.databind.ObjectMapper; +import com.fasterxml.jackson.datatype.jdk8.Jdk8Module; + +import edu.wpi.first.math.geometry.Translation2d; + +public final class PathPlannerUtil { + public static final class Path { + public Optional waypoints; + public Optional maxVelocity; + public Optional maxAcceleration; + public Optional isReversed; + + private static final ObjectMapper objectMapper = new ObjectMapper(); + static { + objectMapper.registerModule(new Jdk8Module()); + objectMapper.setSerializationInclusion(Include.ALWAYS); + } + + public static Path read(File src) { + return Errors.log().getWithDefault(() -> objectMapper.readValue(src, Path.class), null); + } + + public void write(File resultFile) { + Errors.log().run(() -> objectMapper.writeValue(resultFile, this)); + } + + public void write(Writer writer) { + Errors.log().run(() -> objectMapper.writeValue(writer, this)); + } + + public static final class Waypoint { + public Optional anchorPoint; + public Optional prevControl; + public Optional nextControl; + public Optional holonomicAngle; + public Optional isReversal; + public Optional velOverride; + public Optional isLocked; + + public Waypoint() { + } + + public Waypoint(Translation2d anchorPoint, Translation2d prevControl, Translation2d nextControl, Double holonomicAngle, Boolean isReversal, Double velOverride, Boolean isLocked) { + this.anchorPoint = Optional.ofNullable(anchorPoint); + this.prevControl = Optional.ofNullable(prevControl); + this.nextControl = Optional.ofNullable(nextControl); + this.holonomicAngle = Optional.ofNullable(holonomicAngle); + this.isReversal = Optional.ofNullable(isReversal); + this.velOverride = Optional.ofNullable(velOverride); + this.isLocked = Optional.ofNullable(isLocked); + } + } + } +} diff --git a/src/main/java/frc4388/utility/RobotGyro.java.old b/src/main/java/frc4388/utility/RobotGyro.java.old deleted file mode 100644 index 56390d4..0000000 --- a/src/main/java/frc4388/utility/RobotGyro.java.old +++ /dev/null @@ -1,245 +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 com.ctre.phoenix.sensors.PigeonIMU; -import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode; -import com.kauailabs.navx.frc.AHRS; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.util.sendable.Sendable; -import edu.wpi.first.util.sendable.SendableBuilder; -import edu.wpi.first.wpilibj.PIDSource; -import edu.wpi.first.wpilibj.PIDSourceType; -import edu.wpi.first.wpilibj.interfaces.Gyro; - -/** - * Gyro class that allows for interchangeable use between a pigeon and a navX - */ -public class RobotGyro implements Gyro, PIDSource, Sendable { - private RobotTime m_robotTime = RobotTime.getInstance(); - - private PigeonIMU m_pigeon = null; - private AHRS m_navX = null; - public boolean m_isGyroAPigeon; // true if pigeon, false if navX - - private double m_lastPigeonAngle; - private double m_deltaPigeonAngle; - - /** - * Creates a Gyro based on a pigeon - * - * @param gyro the gyroscope to use for Gyro - */ - public RobotGyro(PigeonIMU gyro) { - m_pigeon = gyro; - m_isGyroAPigeon = true; - } - - /** - * Creates a Gyro based on a navX - * - * @param gyro the gyroscope to use for Gyro - */ - public RobotGyro(AHRS gyro) { - m_navX = gyro; - m_isGyroAPigeon = false; - } - - /** - * Run in periodic if you are using a pigeon. Updates a delta angle so that it - * can calculate getRate(). Note - * that the getRate() method for a navX will likely be much more accurate than - * for a pigeon. - */ - public void updatePigeonDeltas() { - double currentPigeonAngle = getAngle(); - m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle; - m_lastPigeonAngle = currentPigeonAngle; - } - - /** - *

- * NavX: - *

- * Calibrate the gyro by running for a number of samples and computing the - * center value. Then use - * the center value as the Accumulator center value for subsequent measurements. - * It's important to - * make sure that the robot is not moving while the centering calculations are - * in progress, this - * is typically done when the robot is first turned on while it's sitting at - * rest before the - * competition starts. - * - *

- * Pigeon: - *

- * Calibrate the gyro by collecting data at a range of tempuratures. Allow - * pigeon to cool, then boot - * into calibration mode. For faster calibration, use a heat lamp to heat up the - * pigeon. Once the pigeon - * has seen a reasonable range of tempuratures, it will exit calibration mode. - * It's important to - * make sure that the robot is not moving while the tempurature calculations are - * in progress, this - * is typically done when the robot is first turned on while it's sitting at - * rest before the - * competition starts. - */ - @Override - public void calibrate() { - if (m_isGyroAPigeon) - m_pigeon.enterCalibrationMode(CalibrationMode.Temperature); - else - m_navX.calibrate(); - } - - @Override - public void reset() { - if (m_isGyroAPigeon) - m_pigeon.setYaw(0); - else - m_navX.reset(); - } - - /** - * Get Yaw, Pitch, and Roll data. - * - * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data. - * Yaw is within [-368,640, +368,640] degrees. - * Pitch is within [-90,+90] degrees. - * Roll is within [-90,+90] degrees. - */ - private double[] getPigeonAngles() { - double[] angles = new double[3]; - m_pigeon.getYawPitchRoll(angles); - return angles; - } - - @Override - public double getAngle() { - if (m_isGyroAPigeon) { - return getPigeonAngles()[0]; - } else { - return m_navX.getAngle(); - } - } - - /** - * Gets an absolute heading of the robot - * - * @return heading from -180 to 180 degrees - */ - public double getHeading() { - return getHeading(getAngle()); - } - - /** - * Gets an absolute heading of the robot - * - * @return heading from -180 to 180 degrees - */ - public double getHeading(double angle) { - return Math.IEEEremainder(angle, 360); - } - - /** - * Returns the current pitch value (in degrees, from -90 to 90) - * reported by the sensor. Pitch is a measure of rotation around - * the Y Axis. - * - * @return The current pitch value in degrees (-90 to 90). - */ - public double getPitch() { - if (m_isGyroAPigeon) { - return MathUtil.clamp(getPigeonAngles()[1], -90, 90); - } else { - return MathUtil.clamp(m_navX.getPitch(), -90, 90); - } - } - - /** - * Returns the current roll value (in degrees, from -90 to 90) - * reported by the sensor. Roll is a measure of rotation around - * the X Axis. - * - * @return The current roll value in degrees (-90 to 90). - */ - public double getRoll() { - if (m_isGyroAPigeon) { - return MathUtil.clamp(getPigeonAngles()[2], -90, 90); - } else { - return MathUtil.clamp(m_navX.getRoll(), -90, 90); - } - } - - @Override - public double getRate() { - if (m_isGyroAPigeon) { - return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000; - } else { - return m_navX.getRate(); - } - } - - public PigeonIMU getPigeon() { - return m_pigeon; - } - - public AHRS getNavX() { - return m_navX; - } - - @Override - public void close() throws Exception { - - } - - // Begin old GyroBase class - private PIDSourceType m_pidSource = PIDSourceType.kDisplacement; - - /** - * Set which parameter of the gyro you are using as a process control variable. - * The Gyro class - * supports the rate and displacement parameters - * - * @param pidSource An enum to select the parameter. - */ - @Override - public void setPIDSourceType(PIDSourceType pidSource) { - m_pidSource = pidSource; - } - - @Override - public PIDSourceType getPIDSourceType() { - return m_pidSource; - } - - /** - * Get the output of the gyro for use with PIDControllers. May be the angle or - * rate depending on - * the set PIDSourceType - * - * @return the output according to the gyro - */ - @Override - public double pidGet() { - switch (m_pidSource) { - case kRate: - return getRate(); - case kDisplacement: - return getAngle(); - default: - return 0.0; - } - } - - @Override - public void initSendable(SendableBuilder builder) { - builder.setSmartDashboardType("Gyro"); - builder.addDoubleProperty("Value", this::getAngle, null); - } -} diff --git a/sysid/config.json b/sysid/config.json deleted file mode 100644 index 691b96e..0000000 --- a/sysid/config.json +++ /dev/null @@ -1,52 +0,0 @@ -{ - "counts per rotation": 2048.0, - "encoder type": "Built-in", - "encoding": false, - "gearing denominator": 1.0, - "gearing numerator": 5.12, - "gyro": "Pigeon", - "gyro ctor": "14", - "is drivetrain": false, - "motor controllers": [ - "TalonFX", - "TalonFX", - "TalonFX", - "TalonFX" - ], - "number of samples per average": 1, - "primary encoder inverted": false, - "primary encoder ports": [ - 10, - 1 - ], - "primary motor ports": [ - 3, - 5, - 7, - 9 - ], - "primary motors inverted": [ - false, - false, - false, - false - ], - "secondary encoder inverted": false, - "secondary encoder ports": [ - 2, - 13 - ], - "secondary motor ports": [ - 5, - 9, - 5, - 7 - ], - "secondary motors inverted": [ - false, - false, - false, - false - ], - "velocity measurement period": 100 -} \ No newline at end of file diff --git a/sysid/sysid_data20220128-203000.json b/sysid/sysid_data20220128-203000.json deleted file mode 100644 index c230a47..0000000 --- a/sysid/sysid_data20220128-203000.json +++ /dev/null @@ -1,68731 +0,0 @@ -{ - "fast-backward": [ - [ - 1485.811544, - 0.0, - 0.0, - 290.325195, - 209.665527, - 0.0, - 0.0, - 299.926758, - -0.001064 - ], - [ - 1485.816315, - 7.0, - 7.0, - 290.325195, - 209.665527, - 0.0, - 0.0, - 299.926758, - -0.001064 - ], - [ - 1485.821305, - 7.0, - 7.0, - 290.325195, - 209.665527, - 0.0, - 0.0, - 299.926758, - -0.001064 - ], - [ - 1485.826337, - 7.0, - 7.0, - 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