mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-25 06:51:40 +00:00
Fixed NetworkAlerts
This commit is contained in:
thenetworkgrinch
213
swervelib/telemetry/Alert.java
Normal file
213
swervelib/telemetry/Alert.java
Normal file
@@ -0,0 +1,213 @@
|
||||
// Copyright (c) 2023 FRC 6328
|
||||
// http://github.com/Mechanical-Advantage
|
||||
//
|
||||
// Use of this source code is governed by an MIT-style
|
||||
// license that can be found below.
|
||||
|
||||
// MIT License
|
||||
//
|
||||
// Copyright (c) 2023 FRC 6328
|
||||
//
|
||||
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
// of this software and associated documentation files (the "Software"), to deal
|
||||
// in the Software without restriction, including without limitation the rights
|
||||
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
// copies of the Software, and to permit persons to whom the Software is
|
||||
// furnished to do so, subject to the following conditions:
|
||||
//
|
||||
// The above copyright notice and this permission notice shall be included in all
|
||||
// copies or substantial portions of the Software.
|
||||
//
|
||||
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
// SOFTWARE.
|
||||
|
||||
package swervelib.telemetry;
|
||||
|
||||
import edu.wpi.first.util.sendable.Sendable;
|
||||
import edu.wpi.first.util.sendable.SendableBuilder;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.Timer;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import java.util.ArrayList;
|
||||
import java.util.Comparator;
|
||||
import java.util.HashMap;
|
||||
import java.util.List;
|
||||
import java.util.Map;
|
||||
import java.util.function.Predicate;
|
||||
|
||||
/**
|
||||
* Class for managing persistent alerts to be sent over NetworkTables.
|
||||
*/
|
||||
public class Alert
|
||||
{
|
||||
|
||||
private static Map<String, SendableAlerts> groups = new HashMap<String, SendableAlerts>();
|
||||
|
||||
private final AlertType type;
|
||||
private boolean active = false;
|
||||
private double activeStartTime = 0.0;
|
||||
private String text;
|
||||
|
||||
/**
|
||||
* Creates a new Alert in the default group - "Alerts". If this is the first to be instantiated, the appropriate
|
||||
* entries will be added to NetworkTables.
|
||||
*
|
||||
* @param text Text to be displayed when the alert is active.
|
||||
* @param type Alert level specifying urgency.
|
||||
*/
|
||||
public Alert(String text, AlertType type)
|
||||
{
|
||||
this("Alerts", text, type);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a new Alert. If this is the first to be instantiated in its group, the appropriate entries will be added to
|
||||
* NetworkTables.
|
||||
*
|
||||
* @param group Group identifier, also used as NetworkTables title
|
||||
* @param text Text to be displayed when the alert is active.
|
||||
* @param type Alert level specifying urgency.
|
||||
*/
|
||||
public Alert(String group, String text, AlertType type)
|
||||
{
|
||||
if (!groups.containsKey(group))
|
||||
{
|
||||
groups.put(group, new SendableAlerts());
|
||||
SmartDashboard.putData(group, groups.get(group));
|
||||
}
|
||||
|
||||
this.text = text;
|
||||
this.type = type;
|
||||
groups.get(group).alerts.add(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets whether the alert should currently be displayed. When activated, the alert text will also be sent to the
|
||||
* console.
|
||||
*/
|
||||
public void set(boolean active)
|
||||
{
|
||||
if (active && !this.active)
|
||||
{
|
||||
activeStartTime = Timer.getFPGATimestamp();
|
||||
switch (type)
|
||||
{
|
||||
case ERROR:
|
||||
DriverStation.reportError(text, false);
|
||||
break;
|
||||
case ERROR_TRACE:
|
||||
DriverStation.reportError(text, true);
|
||||
break;
|
||||
case WARNING:
|
||||
DriverStation.reportWarning(text, false);
|
||||
break;
|
||||
case WARNING_TRACE:
|
||||
DriverStation.reportWarning(text, true);
|
||||
break;
|
||||
case INFO:
|
||||
System.out.println(text);
|
||||
break;
|
||||
}
|
||||
}
|
||||
this.active = active;
|
||||
}
|
||||
|
||||
/**
|
||||
* Updates current alert text.
|
||||
*/
|
||||
public void setText(String text)
|
||||
{
|
||||
if (active && !text.equals(this.text))
|
||||
{
|
||||
switch (type)
|
||||
{
|
||||
case ERROR:
|
||||
DriverStation.reportError(text, false);
|
||||
break;
|
||||
case ERROR_TRACE:
|
||||
DriverStation.reportError(text, true);
|
||||
break;
|
||||
case WARNING:
|
||||
DriverStation.reportWarning(text, false);
|
||||
break;
|
||||
case WARNING_TRACE:
|
||||
DriverStation.reportWarning(text, true);
|
||||
break;
|
||||
case INFO:
|
||||
System.out.println(text);
|
||||
break;
|
||||
}
|
||||
}
|
||||
this.text = text;
|
||||
}
|
||||
|
||||
/**
|
||||
* Represents an alert's level of urgency.
|
||||
*/
|
||||
public static enum AlertType
|
||||
{
|
||||
/**
|
||||
* High priority alert - displayed first on the dashboard with a red "X" symbol. Use this type for problems which
|
||||
* will seriously affect the robot's functionality and thus require immediate attention.
|
||||
*/
|
||||
ERROR,
|
||||
/**
|
||||
* High priority alert - displayed first on the dashboard with a red "X" symbol. Use this type for problems which
|
||||
* will seriously affect the robot's functionality and thus require immediate attention. Trace printed to driver
|
||||
* station console.
|
||||
*/
|
||||
ERROR_TRACE,
|
||||
|
||||
/**
|
||||
* Medium priority alert - displayed second on the dashboard with a yellow "!" symbol. Use this type for problems
|
||||
* which could affect the robot's functionality but do not necessarily require immediate attention.
|
||||
*/
|
||||
WARNING,
|
||||
/**
|
||||
* Medium priority alert - displayed second on the dashboard with a yellow "!" symbol. Use this type for problems
|
||||
* which could affect the robot's functionality but do not necessarily require immediate attention. Trace printed to
|
||||
* driver station console.
|
||||
*/
|
||||
WARNING_TRACE,
|
||||
/**
|
||||
* Low priority alert - displayed last on the dashboard with a green "i" symbol. Use this type for problems which
|
||||
* are unlikely to affect the robot's functionality, or any other alerts which do not fall under "ERROR" or
|
||||
* "WARNING".
|
||||
*/
|
||||
INFO
|
||||
}
|
||||
|
||||
private static class SendableAlerts implements Sendable
|
||||
{
|
||||
|
||||
public final List<Alert> alerts = new ArrayList<>();
|
||||
|
||||
public String[] getStrings(AlertType type)
|
||||
{
|
||||
Predicate<Alert> activeFilter = (Alert x) -> x.type == type && x.active;
|
||||
Comparator<Alert> timeSorter =
|
||||
(Alert a1, Alert a2) -> (int) (a2.activeStartTime - a1.activeStartTime);
|
||||
return alerts.stream()
|
||||
.filter(activeFilter)
|
||||
.sorted(timeSorter)
|
||||
.map((Alert a) -> a.text)
|
||||
.toArray(String[]::new);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initSendable(SendableBuilder builder)
|
||||
{
|
||||
builder.setSmartDashboardType("Alerts");
|
||||
builder.addStringArrayProperty("errors", () -> getStrings(AlertType.ERROR), null);
|
||||
builder.addStringArrayProperty("errors", () -> getStrings(AlertType.ERROR_TRACE), null);
|
||||
builder.addStringArrayProperty("warnings", () -> getStrings(AlertType.WARNING), null);
|
||||
builder.addStringArrayProperty("warnings", () -> getStrings(AlertType.WARNING_TRACE), null);
|
||||
builder.addStringArrayProperty("infos", () -> getStrings(AlertType.INFO), null);
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user