[wpilibj] PowerDistribution Logger #7131
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I think we really need to discuss how this (and other automatic telemetry facilities) fit in to the overall ecosystem. There's currently several different ways that wpilib enables logging like this (sendable, DS logging, implicit FMS data logging, epilogue), and it's going to be confusing for users. |
| /** | ||
| * Sets the log windup value, this value determines how many calls to {@link #log()} are required | ||
| * before the data is logged. This is available to prevent needless JNI calls when no new data is | ||
| * available. | ||
| * | ||
| * <p>For example, if this value is set to 5, the data will only be logged every 5 calls to {@link | ||
| * #log()}. | ||
| * | ||
| * <p>The {@link PowerDistribution} refreshes it's data every 80ms. | ||
| * | ||
| * @param windup The number of calls to {@link #log()} required before the data is logged | ||
| */ | ||
| public void setLogWindup(int windup) { | ||
| m_logWindup = windup; | ||
| } |
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This is way premature optimization implemented in a confusing way; updating the log is a handful of JNI functions so it really shouldn't be that much overhead.
If reducing JNI overhead is a concern the entire thing could be shunted to JNI.
Another interesting option would be to utilize the CAN streaming APIs available for power distribution. This would allow all data to be logged as it arrived, with no wasted log entries.
Adds a
PowerDistributionLoggerclass that can log data to nt or datalog in the form of 2 structs. TheStatsstruct contains transient data like voltage, temp and current.Statsare intended to be continually updated over the lifetime of the robot program. TheMetastruct contains static information like canId, module type and version info.Metainfo is only logged once on logger instantiation.I decided to add a new class over modifying the
PowerDistributionclass to keepPowerDistributioncompletely immutable.I plan on doing more pr to add struct support for pneumatics, robot controller and more but this is a good start.