First pass at integrating AdvantageKit into MaroonFramework

build.gradle

@@ -144,6 +144,20 @@ allprojects {
 
         // REV
         maven { url = uri('https://maven.revrobotics.com/') }
+
+        // AdvantageKit
+        maven {
+            url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+            credentials {
+                username = "Mechanical-Advantage-Bot"
+                password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+            }
+        }
+    }
+
+    //AdvantageKit code
+    configurations.all {
+        exclude group: "edu.wpi.first.wpilibj"
     }
 }
 

src/main/java/com/team766/hal/wpilib/RobotMain.java

@@ -4,16 +4,24 @@
 //import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.function.Supplier;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 import com.team766.config.ConfigFileReader;
 import com.team766.framework.Scheduler;
 import com.team766.hal.GenericRobotMain;
 import com.team766.hal.RobotProvider;
 import com.team766.logging.LoggerExceptionUtils;
+
+import edu.wpi.first.wpilibj.DataLogManager;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 
-public class RobotMain extends TimedRobot {
+public class RobotMain extends LoggedRobot {
 	// this file, if present, will be a symlink to one of several config files in the deploy directory.
 	// this allows for the same code to be deployed to multiple physical robots, each with their own
 	// config file with CAN bus port mappings, etc, with the actual file used for a specific robot
@@ -81,6 +89,20 @@ public void robotInit() {
 			RobotProvider.instance = new WPIRobotProvider();
 			robot = new GenericRobotMain();
 
+			DriverStation.startDataLog(DataLogManager.getLog());
+
+			if (isReal()) {
+				DataLogManager.log("Initializing logging.");
+				Logger.getInstance().addDataReceiver(new WPILOGWriter("/U/logs")); // Log to sdcard
+				Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+				new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
+
+			} else {
+				// TODO: add support for simulation logging/replay
+			}
+
+			Logger.getInstance().start();
+
 			robot.robotInit();
 		} catch (Exception e) {
 			e.printStackTrace();

src/main/java/com/team766/logging/Logger.java

@@ -9,8 +9,12 @@
 
 import com.team766.config.ConfigFileReader;
 import com.team766.library.CircularBuffer;
+import edu.wpi.first.wpilibj.DataLogManager;
 
 public final class Logger {
+
+	private static final boolean ALSO_LOG_TO_DATALOG = true;
+
 	private static class LogUncaughtException implements Thread.UncaughtExceptionHandler {
 		public void uncaughtException(final Thread t, final Throwable e) {
 			e.printStackTrace();
@@ -96,15 +100,19 @@ public Collection<LogEntry> recentEntries() {
 	public void logData(final Severity severity, final String format, final Object... args) {
 		var entry = LogEntry.newBuilder().setTime(getTime()).setSeverity(severity)
 				.setCategory(m_category);
-		entry.setMessageStr(String.format(format, args));
+		String message = String.format(format, args);
+		entry.setMessageStr(message);
 		m_recentEntries.add(entry.build());
-		entry.setMessageStr(format);
+
 		for (Object arg : args) {
 			SerializationUtils.valueToProto(arg, entry.addArgBuilder());
 		}
 		if (m_logWriter != null) {
 			m_logWriter.logStoredFormat(entry);
 		}
+		if (ALSO_LOG_TO_DATALOG) {
+			DataLogManager.log(message);
+		}
 	}
 
 	public void logRaw(final Severity severity, final String message) {
@@ -114,6 +122,9 @@ public void logRaw(final Severity severity, final String message) {
 		if (m_logWriter != null) {
 			m_logWriter.log(entry);
 		}
+		if (ALSO_LOG_TO_DATALOG) {
+			DataLogManager.log(message);
+		}
 	}
 
 	void logOnlyInMemory(final Severity severity, final String message) {

vendordeps/AdvantageKit.json

@@ -0,0 +1,41 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "2.2.4",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "mavenUrls": [],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "wpilib-shim",
+            "version": "2.2.4"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "junction-core",
+            "version": "2.2.4"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-api",
+            "version": "2.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-wpilibio",
+            "version": "2.2.4",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}