Change Logger to start transition to Sendables

src/main/java/frc/robot/logging/Loggable.java

@@ -3,16 +3,16 @@
 /** A class for a loggable subsystem. */
 public interface Loggable {
     /**
-     * Sets up all the keys in the given Logger object.
-     *
+     * Sets up all the keys, getters, and setters in the given Logger object.
      * @param logger Logger class to setup keys in
      */
     public abstract void setupLogging(Logger logger);
 
     /**
      * Logs data in the given Logger object.
-     *
      * @param logger Logger class to log data to
+     * @deprecated See {@link Logger#addAttribute(String, Supplier, Consumer)}.
      */
-    public abstract void log(Logger logger);
+    @Deprecated(forRemoval = true)
+    public void log(Logger logger);
 }

src/main/java/frc/robot/logging/LoggableCompressor.java

@@ -14,11 +14,10 @@
 
     @Override
     public void setupLogging(Logger logger) {
-        logger.addAttribute("PH/pressure");
+        logger.addAttribute("PH/pressure", this::getPressure, null);
     }
 
     @Override
     public void log(Logger logger) {
-        logger.log("PH/pressure", this.getPressure());
     }
 }

src/main/java/frc/robot/logging/LoggablePowerDistribution.java

@@ -13,12 +13,11 @@
 
     @Override
     public void setupLogging(Logger logger) {
-        logger.addAttribute("PDH/voltage");
+        logger.addAttribute("PDH/voltage", this::getVoltage, null);
     }
 
     @Override
     public void log(Logger logger) {
-        logger.log("PDH/voltage", this.getVoltage());
     }
 
 }

src/main/java/frc/robot/logging/LoggableTimer.java

@@ -6,12 +6,11 @@
 
     @Override
     public void setupLogging(Logger logger) {
-        logger.addAttribute("Time");
+        logger.addAttribute("Time", this::get, null);
     }
 
     @Override
     public void log(Logger logger) {
-        logger.log("Time", this.get());
     }
 
 }

src/main/java/frc/robot/logging/Logger.java

@@ -2,6 +2,9 @@
 
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.util.function.BooleanConsumer;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import java.io.BufferedWriter;
 import java.io.File;
@@ -12,13 +15,27 @@
 import java.util.LinkedHashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.function.BooleanSupplier;
+import java.util.function.Consumer;
+import java.util.function.DoubleConsumer;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
 
 /** Manages NetworkTable and file logging. */
 public class Logger {
+    private static final String ERROR_MSG_ATTRIBUTE_ALREADY_EXISTS =
+            "Attribute \"%s\" already exists! Skipping!%n";
+    private static final String TABLE_PREFIX = "Logging";
     private String filename;
     private BufferedWriter log = null;
+    private Map<String, Supplier<String>> suppliers;
     private Map<String, String> fields;
     private List<Loggable> loggables;
+    /**
+     * Our NetworkTable instance.
+     * @deprecated Use SmartDashboard Sendables instead.
+     */
+    @Deprecated(forRemoval = true)
     private NetworkTable table;
 
     public Logger() {
@@ -109,16 +126,86 @@
 
     /**
      * Adds an attribute to the logger.
-     *
-     * @param field
-     * @return
+     * @param field The key to add to the logger
+     * @return Whether the attribute was added
      */
     public boolean addAttribute(String field) {
         if (hasAttribute(field)) {
-            // TODO: Output warning
+            System.out.printf(ERROR_MSG_ATTRIBUTE_ALREADY_EXISTS, field);
+            return false; // We already have this attribute
+        }
+        fields.put(field, "");
+
+        return true;
+    }
+
+    /**
+     * Adds an attribute to the logger.
+     * @param field The key to add to the logger
+     * @param getter The function to get the value of the attribute
+     * @param setter The function to set the value of the attribute
+     * @return Whether the attribute was added
+     */
+    public boolean addAttribute(String field, Supplier<String> getter, Consumer<String> setter) {
+        if (hasAttribute(field)) {
+            System.out.printf(ERROR_MSG_ATTRIBUTE_ALREADY_EXISTS, field);
+            return false; // We already have this attribute
+        }
+        SmartDashboard.putData((SendableBuilder builder) -> {
+            builder.setSmartDashboardType(TABLE_PREFIX);
+            builder.addStringProperty(field, getter != null ? getter::get : null,
+                    setter != null ? setter::accept : null);
+        });
+
+        suppliers.put(field, getter::get);
+        fields.put(field, "");
+
+        return true;
+    }
+
+    /**
+     * Adds an attribute to the logger.
+     * @param field The key to add to the logger
+     * @param getter The function to get the value of the attribute
+     * @param setter The function to set the value of the attribute
+     * @return Whether the attribute was added
+     */
+    public boolean addAttribute(String field, DoubleSupplier getter, DoubleConsumer setter) {
+        if (hasAttribute(field)) {
+            System.out.printf(ERROR_MSG_ATTRIBUTE_ALREADY_EXISTS, field);
             return false; // We already have this attribute
         }
+        SmartDashboard.putData((SendableBuilder builder) -> {
+            builder.setSmartDashboardType(TABLE_PREFIX);
+            builder.addDoubleProperty(field, getter != null ? getter::getAsDouble : null,
+                    setter != null ? setter::accept : null);
+        });
 
+        suppliers.put(field, () -> Double.toString(getter.getAsDouble()));
+        fields.put(field, "");
+
+        return true;
+    }
+
+    /**
+     * Adds an attribute to the logger.
+     * @param field The key to add to the logger
+     * @param getter The function to get the value of the attribute
+     * @param setter The function to set the value of the attribute
+     * @return Whether the attribute was added
+     */
+    public boolean addAttribute(String field, BooleanSupplier getter, BooleanConsumer setter) {
+        if (hasAttribute(field)) {
+            System.out.printf(ERROR_MSG_ATTRIBUTE_ALREADY_EXISTS, field);
+            return false; // We already have this attribute
+        }
+        SmartDashboard.putData((SendableBuilder builder) -> {
+            builder.setSmartDashboardType(TABLE_PREFIX);
+            builder.addBooleanProperty(field, getter != null ? getter::getAsBoolean : null,
+                    setter != null ? setter::accept : null);
+        });
+
+        suppliers.put(field, () -> Boolean.toString(getter.getAsBoolean()));
         fields.put(field, "");
 
         return true;
@@ -134,11 +221,12 @@
 
     /**
      * Logs data to the Logger.
-     *
      * @param field Key being logged
      * @param data Number data to log
      * @return Whether the operation succeeded
+     * @deprecated Use {@link #addAttribute(String, DoubleSupplier, DoubleConsumer)} instead
      */
+    @Deprecated(forRemoval = true)
     public boolean log(String field, double data) {
         if (!hasAttribute(field)) {
             return false;
@@ -150,28 +238,29 @@
 
     /**
      * Logs data to the Logger
-     *
      * @param field key being logged
      * @param data String data to log
      * @return whether the operation succeeded
+     * @deprecated Use {@link #addAttribute(String, Supplier, Consumer)} instead
      */
+    @Deprecated(forRemoval = true)
     public boolean log(String field, String data) {
         if (!hasAttribute(field)) {
             return false;
         }
 
-        table.getEntry(field).setString(data);
         fields.put(field, data);
         return true;
     }
 
     /**
      * Logs data to the Logger
-     *
      * @param field key being logged
      * @param data to log
      * @return whether the operation succeeded
+     * @deprecated Use {@link #addAttribute(String, Supplier, Consumer)} instead
      */
+    @Deprecated(forRemoval = true)
     public boolean log(String field, Object data) {
         if (!hasAttribute(field)) {
             return false;
@@ -250,6 +339,9 @@
      * Calls the log method of all currently registered Loggables.
      */
     public void log() {
+        for (Map.Entry<String, Supplier<String>> entry : this.suppliers.entrySet()) {
+            this.fields.put(entry.getKey(), entry.getValue().get());
+        }
         for (Loggable l : loggables) {
             l.log(this);
         }