Add better reporting

src/main/java/frc4388/robot/Constants.java

@@ -24,6 +24,8 @@ import frc4388.utility.LEDPatterns;
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+    public static final String CANBUS_NAME = "rio";
+    
     public static final class SwerveDriveConstants {
 
         public static final double MAX_ROT_SPEED        = 3.5;
@@ -33,8 +35,6 @@ public final class Constants {
         public static       double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
         public static       double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
 
-        public static final String CANBUS_NAME = "IDK";
-    
         public static final double CORRECTION_MIN = 10;
         public static final double CORRECTION_MAX = 50;
         

src/main/java/frc4388/robot/Robot.java

@@ -12,6 +12,9 @@ import java.util.Base64;
 import java.util.List;
 import java.util.logging.Level;
 
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.CANBus.CANBusStatus;
+
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,7 +23,6 @@ import frc4388.utility.DeferredBlock;
 import frc4388.utility.RobotTime;
 import frc4388.utility.Status;
 import frc4388.utility.Subsystem;
-import frc4388.utility.DeviceFinder;
 import frc4388.utility.Status.Report;
 import frc4388.utility.Status.ReportLevel;
 //import frc4388.robot.subsystems.LED;
@@ -162,6 +164,20 @@ public class Robot extends TimedRobot {
     // CAN header
     System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWliDilpfiloTilpYg4paX4paWICDilpfilpYK4paQ4paMICAg4paQ4paMIOKWkOKWjOKWkOKWm+KWmuKWluKWkOKWjArilpDilowgICDilpDilpviloDilpzilozilpDilowg4pad4pac4paMCuKWneKWmuKWhOKWhOKWluKWkOKWjCDilpDilozilpDilowgIOKWkOKWjCh0KQ==")));
     
+    CANBusStatus canInfo = CANBus.getStatus(Constants.CANBUS_NAME);
+    
+    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++){
 
@@ -177,7 +193,7 @@ public class Robot extends TimedRobot {
       }
     }
 
-    System.out.println("Found CAN devices: " + new DeviceFinder().Find());
+    // System.out.println("Found CAN devices: " + new DeviceFinder().Find());
     
     if(errors.size() > 0) {
       // Errors header

src/main/java/frc4388/utility/DeviceFinder.java

@@ -1,161 +0,0 @@
-package frc4388.utility;
-
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Set;
-import java.util.TreeSet;
-
-import edu.wpi.first.hal.can.CANJNI;
-
-// https://github.com/FRC3620/FRC3620_2018_CoffeePi/blob/6ab2776ce0ee83cf8e127a7c50337ff17f01b249/FRC3620_2018_CoffeePi/src/org/usfirst/frc3620/misc/CANDeviceFinder.java#
-
-public class DeviceFinder {
-
-    ArrayList<String> deviceList = new ArrayList<String>();
-
-    public ArrayList<String> Find() {
-        return deviceList;
-    }
-
-    private boolean pdpIsPresent = false;
-    private Set<Integer> srxs = new TreeSet<>();
-    private Set<Integer> spxs = new TreeSet<>();
-    private Set<Integer> pcms = new TreeSet<>();
-
-    public DeviceFinder() {
-        super();
-        find();
-    }
-
-    public boolean isPDPPresent() {
-        return pdpIsPresent;
-    }
-
-    public boolean isSRXPresent(int i) {
-        return srxs.contains(i);
-    }
-
-    public boolean isSPXPresent(int i) {
-        return spxs.contains(i);
-    }
-
-    public boolean isPCMPresent(int i) {
-        return pcms.contains(i);
-    }
-    
-    public boolean isDevicePresent(String s) {
-    	return deviceList.contains(s);
-    }
-
-    /**
-     * 
-     * @return ArrayList of strings holding the names of devices we've found.
-     */
-    public List<String> getDeviceList() {
-        return deviceList;
-    }
-    
-    /**
-     * polls for received framing to determine if a device is present. This is
-     * meant to be used once initially (and not periodically) since this steals
-     * cached messages from the robot API.
-     */
-    void find() {
-        deviceList.clear();
-        pdpIsPresent = false;
-        srxs.clear();
-        pcms.clear();
-
-        /* get timestamp0 for each device */
-        long pdp0_timeStamp0; // only look for PDP at '0'
-        long[] pcm_timeStamp0 = new long[63];
-        long[] srx_timeStamp0 = new long[63];
-        long[] spx_timeStamp0 = new long[63];
-
-        pdp0_timeStamp0 = checkMessage(0x08041400, 0);
-        for (int i = 0; i < 63; ++i) {
-            pcm_timeStamp0[i] = checkMessage(0x09041400, i);
-            srx_timeStamp0[i] = checkMessage(0x02041400, i);
-            spx_timeStamp0[i] = checkMessage(0x01041400, i);
-        }
-
-        /* wait 200ms */
-        try {
-            Thread.sleep(200);
-        } catch (InterruptedException e) {
-            e.printStackTrace();
-        }
-
-        /* get timestamp1 for each device */
-        long pdp0_timeStamp1; // only look for PDP at '0'
-        long[] pcm_timeStamp1 = new long[63];
-        long[] srx_timeStamp1 = new long[63];
-        long[] spx_timeStamp1 = new long[63];
-
-        pdp0_timeStamp1 = checkMessage(0x08041400, 0);
-        for (int i = 0; i < 63; ++i) {
-            pcm_timeStamp1[i] = checkMessage(0x09041400, i);
-            srx_timeStamp1[i] = checkMessage(0x02041400, i);
-            spx_timeStamp1[i] = checkMessage(0x01041400, i);
-        }
-
-        /*
-         * compare, if timestamp0 is good and timestamp1 is good, and they are
-         * different, device is healthy
-         */
-        if (pdp0_timeStamp0 >= 0 && pdp0_timeStamp1 >= 0
-                && pdp0_timeStamp0 != pdp0_timeStamp1) {
-            deviceList.add("PDP 0");
-            pdpIsPresent = true;
-        }
-
-        for (int i = 0; i < 63; ++i) {
-            if (pcm_timeStamp0[i] >= 0 && pcm_timeStamp1[i] >= 0
-                    && pcm_timeStamp0[i] != pcm_timeStamp1[i]) {
-                deviceList.add("PCM " + i);
-                pcms.add(i);
-            }
-        }
-        for (int i = 0; i < 63; ++i) {
-            if (srx_timeStamp0[i] >= 0 && srx_timeStamp1[i] >= 0
-                    && srx_timeStamp0[i] != srx_timeStamp1[i]) {
-                deviceList.add("SRX " + i);
-                srxs.add(i);
-            }
-        }
-        for (int i = 0; i < 63; ++i) {
-            if (spx_timeStamp0[i] >= 0 && spx_timeStamp1[i] >= 0
-                    && spx_timeStamp0[i] != spx_timeStamp1[i]) {
-                deviceList.add("SPX " + i);
-                spxs.add(i);
-            }
-        }
-    }
-
-    private ByteBuffer targetID = ByteBuffer.allocateDirect(4);
-    private ByteBuffer timeStamp = ByteBuffer.allocateDirect(4);
-
-    /** helper routine to get last received message for a given ID */
-    private long checkMessage(int fullId, int deviceID) {
-        try {
-            targetID.clear();
-            targetID.order(ByteOrder.LITTLE_ENDIAN);
-            targetID.asIntBuffer().put(0, fullId | deviceID);
-
-            timeStamp.clear();
-            timeStamp.order(ByteOrder.LITTLE_ENDIAN);
-            timeStamp.asIntBuffer().put(0, 0x00000000);
-
-            CANJNI.FRCNetCommCANSessionMuxReceiveMessage(
-                    targetID.asIntBuffer(), 0x1fffffff, timeStamp);
-
-            long retval = timeStamp.getInt();
-            retval &= 0xFFFFFFFF; /* undo sign-extension */
-            return retval;
-        } catch (Exception e) {
-            return -1;
-        }
-    }
-}