add new logger system

simgui.json

@@ -31,6 +31,14 @@
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
+      "/LiveWindow/Ungrouped/DigitalInput[10]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[11]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[12]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[13]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[6]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[7]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[8]": "Digital Input",
+      "/LiveWindow/Ungrouped/DigitalInput[9]": "Digital Input",
       "/LiveWindow/Ungrouped/navX-Sensor[4]": "Gyro"
     },
     "windows": {

src/main/java/frc/robot/Climber.java

@@ -424,37 +424,37 @@ public void checkMotorState() {
     }
 
     @Override
-    public void setupLogging(Logger logger) {
-        this.timer.setupLogging(logger);
+    public void logHeaders(Logger logger) {
+        this.timer.logHeaders(logger);
 
         // logger.addLoggable(this.leftFilter);
         // logger.addLoggable(this.rightFilter);
         // this.leftFilter.setupLogging(logger);
         // this.rightFilter.setupLogging(logger);
 
-        logger.addAttribute("Climber/Left/Current");
-        logger.addAttribute("Climber/Right/Current");
+        logger.addHeader("Climber/Left/Current");
+        logger.addHeader("Climber/Right/Current");
 
-        logger.addAttribute("Climber/Speed");
-        logger.addAttribute("Climber/Position");
+        logger.addHeader("Climber/Speed");
+        logger.addHeader("Climber/Position");
 
-        logger.addAttribute("Climber/State/Name");
-        logger.addAttribute("Climber/State/Id");
-        logger.addAttribute("Climber/State/Ordinal");
+        logger.addHeader("Climber/State/Name");
+        logger.addHeader("Climber/State/Id");
+        logger.addHeader("Climber/State/Ordinal");
     }
 
     @Override
-    public void log(Logger logger) {
-        this.timer.log(logger);
-        logger.log("Climber/Left/Current", getLeftCurrent());
-        logger.log("Climber/Right/Current", getRightCurrent());
+    public void logData(Logger logger) {
+        this.timer.logData(logger);
+        logger.addData("Climber/Left/Current", getLeftCurrent());
+        logger.addData("Climber/Right/Current", getRightCurrent());
 
-        logger.log("Climber/Speed", getSpeed());
-        logger.log("Climber/Position", climbingMotor.getSelectedSensorPosition());
+        logger.addData("Climber/Speed", getSpeed());
+        logger.addData("Climber/Position", climbingMotor.getSelectedSensorPosition());
 
-        logger.log("Climber/State/Name", this.currentClimberState.name);
-        logger.log("Climber/State/Id", this.currentClimberState.id);
-        logger.log("Climber/State/Ordinal", this.currentClimberState.ordinal());
+        logger.addData("Climber/State/Name", this.currentClimberState.name);
+        logger.addData("Climber/State/Id", this.currentClimberState.id);
+        logger.addData("Climber/State/Ordinal", this.currentClimberState.ordinal());
     }
 
     public boolean getClimberSolenoidAState() {

src/main/java/frc/robot/ClimberGates.java

@@ -35,16 +35,18 @@ public boolean getC() {
     }
 
     @Override
-    public void setupLogging(Logger logger) {
-        logger.log("GateA", this.getA());
-        logger.log("GateB1", this.getB1());
-        logger.log("GateB2", this.getB2());
-        logger.log("GateC", this.getC());
+    public void logHeaders(Logger logger) {
+        logger.addHeader("GateA");
+        logger.addHeader("GateB1");
+        logger.addHeader("GateB2");
+        logger.addHeader("GateC");
     }
 
     @Override
-    public void log(Logger logger) {
-        // TODO Auto-generated method stub
-
+    public void logData(Logger logger) {
+        logger.addData("GateA", this.getA());
+		logger.addData("GateB1", this.getB1());
+		logger.addData("GateB2", this.getB2());
+		logger.addData("GateC", this.getC());
     }
 }

src/main/java/frc/robot/ClimberSensors.java

@@ -29,15 +29,16 @@ public boolean getC() {
     }
 
     @Override
-    public void setupLogging(Logger logger) {
-        logger.log("TouchA", this.getA());
-        logger.log("TouchB", this.getB());
-        logger.log("TouchC", this.getC());
+    public void logHeaders(Logger logger) {
+        logger.addHeader("TouchA");
+        logger.addHeader("TouchB");
+        logger.addHeader("TouchC");
     }
 
     @Override
-    public void log(Logger logger) {
-        // TODO Auto-generated method stub
-
+    public void logData(Logger logger) {
+        logger.addData("TouchA", this.getA());
+        logger.addData("TouchB", this.getB());
+        logger.addData("TouchC", this.getC());
     }
 }

src/main/java/frc/robot/DriveModule.java

@@ -10,7 +10,7 @@
 
 public class DriveModule implements Loggable {
 
-    private final double VELOCITY_COEFFICIENT = 600 / 2048;
+    // private final double VELOCITY_COEFFICIENT = 600 / 2048;
 
     private TalonFX main;
     private TalonFX sub;
@@ -24,7 +24,7 @@ public class DriveModule implements Loggable {
     /**
      * Constructor.
      *
-     * @param moduleName Name of the attribute to log speed
+     * @param moduleName Name of the attribute to addData speed
      * @param mainID CAN id of the main TalonFX
      * @param subID CAN id of the sub TalonFX
      */
@@ -127,22 +127,22 @@ public double getAverageCurrent() {
     }
 
     @Override
-    public void setupLogging(Logger logger) {
-        logger.addAttribute(this.moduleName + "/MotorPower");
-        logger.addAttribute(this.moduleName + "/Distance");
-        logger.addAttribute(this.moduleName + "/EncoderRate");
-        logger.addAttribute(this.moduleName + "/MotorVelocity");
-        logger.addAttribute(this.moduleName + "/MotorCurrent");
-        logger.addAttribute(this.moduleName + "/MotorAverageCurrent");
+    public void logHeaders(Logger logger) {
+        logger.addHeader(this.moduleName + "/MotorPower");
+        logger.addHeader(this.moduleName + "/Distance");
+        logger.addHeader(this.moduleName + "/EncoderRate");
+        logger.addHeader(this.moduleName + "/MotorVelocity");
+        logger.addHeader(this.moduleName + "/MotorCurrent");
+        logger.addHeader(this.moduleName + "/MotorAverageCurrent");
     }
 
     @Override
-    public void log(Logger logger) {
-        logger.log(this.moduleName + "/MotorPower", power);
-        logger.log(this.moduleName + "/Distance", this.encoder.getDistance());
-        logger.log(this.moduleName + "/EncoderRate", this.encoder.getRate());
-        logger.log(this.moduleName + "/MotorVelocity", getSpeed());
-        logger.log(this.moduleName + "/MotorCurrent", getCurrent());
-        logger.log(this.moduleName + "/MotorAverageCurrent", getAverageCurrent());
+    public void logData(Logger logger) {
+        logger.addData(this.moduleName + "/MotorPower", power);
+        logger.addData(this.moduleName + "/Distance", this.encoder.getDistance());
+        logger.addData(this.moduleName + "/EncoderRate", this.encoder.getRate());
+        logger.addData(this.moduleName + "/MotorVelocity", getSpeed());
+        logger.addData(this.moduleName + "/MotorCurrent", getCurrent());
+        logger.addData(this.moduleName + "/MotorAverageCurrent", getAverageCurrent());
     }
 }

src/main/java/frc/robot/Drivetrain.java

@@ -119,13 +119,13 @@ public void checkGears() {
     }
 
     @Override
-    public void setupLogging(Logger logger) {
+    public void logHeaders(Logger logger) {
         // logger.addLoggable(left);
         // logger.addLoggable(right);
     }
 
     @Override
-    public void log(Logger logger) {
+    public void logData(Logger logger) {
         // TODO Auto-generated method stub
     }
 }

src/main/java/frc/robot/Robot.java

@@ -4,18 +4,21 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.TimedRobot;
 import frc.robot.Climber.MotorStates;
 import frc.robot.logging.LoggableCompressor;
 import frc.robot.logging.LoggableController;
-import frc.robot.logging.LoggableGyro;
+// import frc.robot.logging.LoggableGyro;
 import frc.robot.logging.LoggablePowerDistribution;
 import frc.robot.logging.LoggableTimer;
 import frc.robot.logging.Logger;
 
+import java.io.IOException;
+
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
  * each mode, as described in the TimedRobot documentation. If you change the name of this class or
@@ -24,6 +27,9 @@
  */
 public class Robot extends TimedRobot {
 
+	Notifier notif;
+	Runnable runnable;
+
     Logger logger;
     LoggableTimer timer;
 
@@ -62,11 +68,28 @@ public double deadband(double in) {
     @Override
     public void robotInit() {
         logger = new Logger();
+		runnable = new Runnable() {
+			@Override
+			public void run() {
+				logger.logAll();
+			}
+		};
+
+		notif = new Notifier(runnable);
+
         timer = new LoggableTimer();
         logger.addLoggable(timer);
         // gyro = new LoggableGyro();
 
         pdp = new LoggablePowerDistribution(1, ModuleType.kRev);
+		logger.addLoggable(pdp);
+
+		try {
+			logger.createLog();
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
 
         driver = new LoggableController("Driver", 0);
         operator = new LoggableController("Operator", 1);
@@ -112,6 +135,10 @@ public void robotInit() {
         logger.addLoggable(driver);
         logger.addLoggable(operator);
         logger.addLoggable(compressor);
+
+		logger.logAllHeaders();
+
+		notif.startPeriodic(1/30);
     }
 
     @Override
@@ -129,8 +156,6 @@ public void autonomousInit() {
     @Override
     public void autonomousPeriodic() {
         // Robot code goes here
-        logger.log();
-        logger.writeLine();
     }
 
     @Override
@@ -179,21 +204,17 @@ public void teleopPeriodic() {
             }
             // TODO: Enable this when we're ready to test the climber
         }
-
-        logger.log();
-        logger.writeLine();
     }
 
     @Override
     public void disabledInit() {
-        logger.close();
         timer.stop();
+		notif.stop();
     }
 
     @Override
     public void disabledPeriodic() {
         // Robot code goes here
-        // logger.log();
     }
 
     @Override
@@ -209,16 +230,12 @@ public void testPeriodic() {
         // climber.setPower(operator.getRightY()); // Deadband
         // climber.checkClimbingState();
         // }
-
-        logger.log();
-        logger.writeLine();
     }
 
     private void resetLogging() {
-        logger.open();
-        logger.setup();
-
         timer.reset();
         timer.start();
+
+		logger.logAllHeaders();
     }
 }

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

@@ -1,18 +1,13 @@
 package frc.robot.logging;
 
-/** A class for a loggable subsystem. */
 public interface Loggable {
-    /**
-     * Sets up all the keys in the given Logger object.
-     *
-     * @param logger Logger class to setup keys in
-     */
-    public abstract void setupLogging(Logger logger);
+	/**
+	* Logs all the headers provided by the Loggable object.
+	*/
+	public abstract void logHeaders(Logger logger);
 
-    /**
-     * Logs data in the given Logger object.
-     *
-     * @param logger Logger class to log data to
-     */
-    public abstract void log(Logger logger);
-}
+	/**
+	* Logs all the data provided by the Loggable object.
+	*/
+	public abstract void logData(Logger logger);
+}

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

@@ -13,12 +13,12 @@ public LoggableCompressor(PneumaticsModuleType moduleType) {
     }
 
     @Override
-    public void setupLogging(Logger logger) {
-        logger.addAttribute("PH/pressure");
+    public void logHeaders(Logger logger) {
+        logger.addHeader("PH/pressure");
     }
 
     @Override
-    public void log(Logger logger) {
-        logger.log("PH/pressure", this.getPressure());
+    public void logData(Logger logger) {
+        logger.addData("PH/pressure", this.getPressure());
     }
 }

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

@@ -14,22 +14,22 @@ public LoggableController(String name, int port) {
     /**
      * Sets up logging for the controller.
      */
-    public void setupLogging(Logger logger) {
-        logger.addAttribute(name + "/LeftX");
-        logger.addAttribute(name + "/LeftY");
-        logger.addAttribute(name + "/RightX");
-        logger.addAttribute(name + "/RightY");
+    public void logHeaders(Logger logger) {
+        logger.addHeader(name + "/LeftX");
+        logger.addHeader(name + "/LeftY");
+        logger.addHeader(name + "/RightX");
+        logger.addHeader(name + "/RightY");
     }
 
     @Override
     /**
      * Logs the controller's values.
      */
-    public void log(Logger logger) {
-        logger.log(name + "/LeftX", this.getLeftX());
-        logger.log(name + "/LeftY", this.getLeftY());
-        logger.log(name + "/RightX", this.getRightX());
-        logger.log(name + "/RightY", this.getRightY());
+    public void logData(Logger logger) {
+        logger.addData(name + "/LeftX", this.getLeftX());
+        logger.addData(name + "/LeftY", this.getLeftY());
+        logger.addData(name + "/RightX", this.getRightX());
+        logger.addData(name + "/RightY", this.getRightY());
     }
 
 }