Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Slightly overhaul status system

Browse Source
This commit is contained in:
Michael Mikovsky
2025-07-11 17:58:22 -06:00
parent bf4da44338
commit c183c08a3d
19 changed files with 698 additions and 194 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Robot.java
+4 -95
View File
@@ -7,10 +7,6 @@
package frc4388.robot;
import java.util.ArrayList;
import java.util.Base64;
import java.util.List;
// Advantagekit
import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.LoggedRobot;
@@ -19,23 +15,16 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.CANBus.CANBusStatus;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.robot.constants.BuildConstants;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.utility.DeferredBlock;
import frc4388.utility.DeferredBlockMulti;
import frc4388.utility.Trim;
import frc4388.utility.compute.RobotTime;
import frc4388.utility.status.CanDevice;
import frc4388.utility.status.Status;
import frc4388.utility.status.Subsystem;
import frc4388.utility.status.Status.Report;
import frc4388.utility.status.Status.ReportLevel;
import frc4388.utility.status.FaultReporter;
//import frc4388.robot.subsystems.LED;
/**
* The VM is configured to automatically run this class, and to call the
@@ -63,23 +52,7 @@ public class Robot extends LoggedRobot {
// Create a shuffleboard update thread, that will periodically update the values on shuffleboard
new Thread() {
public void run() {
try{
while(!this.isInterrupted() && this.isAlive()){
Thread.sleep(500);
for(int i=0;i<Subsystem.subsystems.size(); i++){
Subsystem.subsystems.get(i).queryStatus();
}
// System.out.println("Updated statuses!");
}
}catch(Exception e){
e.printStackTrace();
}
}
}.start();
FaultReporter.startThread();
}
/**
@@ -189,71 +162,7 @@ public class Robot extends LoggedRobot {
@Override
public void testInit() {
List<String> errors = new ArrayList<>();
// Subsystems header
System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWluKWl+KWliDilpfilpbilpfiloTiloTilpYgIOKWl+KWhOKWhOKWluKWl+KWliAg4paX4paW4paX4paE4paE4paW4paX4paE4paE4paE4paW4paX4paE4paE4paE4paW4paX4paWICDilpfilpYg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMICAgIOKWneKWmuKWnuKWmOKWkOKWjCAgICAg4paIICDilpDilowgICDilpDilpvilprilp7ilpzilozilpDilowgICAKIOKWneKWgOKWmuKWluKWkOKWjCDilpDilozilpDilpviloDilprilpYg4pad4paA4paa4paWICDilpDilowgIOKWneKWgOKWmuKWliAg4paIICDilpDilpviloDiloDilpjilpDilowgIOKWkOKWjCDilp3iloDilprilpYK4paX4paE4paE4pae4paY4pad4paa4paE4pae4paY4paQ4paZ4paE4pae4paY4paX4paE4paE4pae4paYICDilpDilowg4paX4paE4paE4pae4paYICDiloggIOKWkOKWmeKWhOKWhOKWluKWkOKWjCAg4paQ4paM4paX4paE4paE4pae4paY")));
for(int i=0;i< Subsystem.subsystems.size();i++){
Subsystem subsystem = Subsystem.subsystems.get(i);
System.out.println("** Subsystem diagnostic report for " + subsystem.getName() + ":");
Status status = subsystem.diagnosticStatus();
for(int a=0;a<status.reports.size();a++){
Report r = status.reports.get(a);
if(r.reportLevel == ReportLevel.ERROR)
errors.add(subsystem.getName() + " - " + r.toString());
subsystem.Log(r.toString());
}
}
// CAN header
System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWliDilpfiloTilpYg4paX4paWICDilpfilpYK4paQ4paMICAg4paQ4paMIOKWkOKWjOKWkOKWm+KWmuKWluKWkOKWjArilpDilowgICDilpDilpviloDilpzilozilpDilowg4pad4pac4paMCuKWneKWmuKWhOKWhOKWluKWkOKWjCDilpDilozilpDilowgIOKWkOKWjCh0KQ==")));
CANBus canBus = new CANBus(Constants.CANBUS_NAME);
CANBusStatus canInfo = canBus.getStatus();
System.out.println("CANInfo BusOffCount - " + canInfo.BusOffCount);
System.out.println("CANInfo BusUtilization - " + canInfo.BusUtilization);
System.out.println("CANInfo RX Errors count - " + canInfo.REC);
System.out.println("CANInfo TX Errors count - " + canInfo.TEC);
System.out.println("CANInfo Transmit buffer full count - " + canInfo.TxFullCount);
// Broken turniary operator
ReportLevel canReportLevel = canInfo.Status.isOK() ? (canInfo.Status.isWarning() ? ReportLevel.WARNING : ReportLevel.ERROR) : ReportLevel.INFO;
String canStatus = "CAN " + canReportLevel.name() + " - " + canInfo.Status.getName() + " (" + canInfo.Status.getDescription() + ")";
if(canReportLevel == ReportLevel.ERROR) {
errors.add(canStatus);
}
System.out.println(canStatus);
for(int i=0;i<CanDevice.devices.size();i++){
CanDevice device = CanDevice.devices.get(i);
System.out.println("** CAN diagnostic report for " + device.name + ":");
Status status = device.diagnosticStatus();
for(int a=0;a<status.reports.size();a++){
Report r = status.reports.get(a);
if(r.reportLevel == ReportLevel.ERROR)
errors.add(device.getName() + " - " + r.toString());
device.Log(r.toString());
}
}
// System.out.println("Found CAN devices: " + new DeviceFinder().Find());
if(errors.size() > 0) {
// Errors header
System.out.println(new String(Base64.getDecoder().decode("4paX4paE4paE4paE4paW4paX4paE4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilpDilowgICAK4paQ4pab4paA4paA4paY4paQ4pab4paA4paa4paW4paQ4pab4paA4paa4paW4paQ4paMIOKWkOKWjOKWkOKWm+KWgOKWmuKWliDilp3iloDilprilpYK4paQ4paZ4paE4paE4paW4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilp3ilpriloTilp7ilpjilpDilowg4paQ4paM4paX4paE4paE4pae4paY")));
for(int i=0;i<errors.size(); i++){
System.out.println(errors.get(i));
}
}
FaultReporter.printReport();
}