From 84f8a9f63adf34ff6b7fc6bb116c9e1f6589204b Mon Sep 17 00:00:00 2001
From: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Date: Mon, 22 Jan 2024 17:27:37 -0600
Subject: [PATCH] Added warnings for NavX over serial

---
 swervelib/parser/json/DeviceJson.java | 26 ++++++++++++++++++--------
 1 file changed, 18 insertions(+), 8 deletions(-)

diff --git a/swervelib/parser/json/DeviceJson.java b/swervelib/parser/json/DeviceJson.java
index 0d17ec3..2bdadfb 100644
--- a/swervelib/parser/json/DeviceJson.java
+++ b/swervelib/parser/json/DeviceJson.java
@@ -27,6 +27,7 @@ import swervelib.motors.SwerveMotor;
 import swervelib.motors.TalonFXSwerve;
 import swervelib.motors.TalonSRXSwerve;
 import swervelib.telemetry.Alert;
+import swervelib.telemetry.Alert.AlertType;
 
 /**
  * Device JSON parsed class. Used to access the JSON data.
@@ -37,15 +38,21 @@ public class DeviceJson
   /**
    * An {@link Alert} for if the CAN ID is greater than 40.
    */
-  private final Alert  canIdWarning     = new Alert("JSON",
-                                                    "CAN IDs greater than 40 can cause undefined behaviour, please use a CAN ID below 40!",
-                                                    Alert.AlertType.WARNING);
+  private final Alert  canIdWarning            = new Alert("JSON",
+                                                           "CAN IDs greater than 40 can cause undefined behaviour, please use a CAN ID below 40!",
+                                                           Alert.AlertType.WARNING);
   /**
    * An {@link Alert} for if there is an I2C lockup issue on the roboRIO.
    */
-  private final Alert  i2cLockupWarning = new Alert("IMU",
-                                                    "I2C lockup issue detected on roboRIO. Check console for more information.",
-                                                    Alert.AlertType.WARNING);
+  private final Alert  i2cLockupWarning        = new Alert("IMU",
+                                                           "I2C lockup issue detected on roboRIO. Check console for more information.",
+                                                           Alert.AlertType.WARNING);
+  /**
+   * NavX serial comm issue.
+   */
+  private final Alert  serialCommsIssueWarning = new Alert("IMU",
+                                                           "Serial comms is interrupted with USB and other serial traffic and causes intermittent connected/disconnection issues. Please consider another protocol or be mindful of this.",
+                                                           AlertType.WARNING);
   /**
    * The device type, e.g. pigeon/pigeon2/sparkmax/talonfx/navx
    */
@@ -57,7 +64,7 @@ public class DeviceJson
   /**
    * The CAN bus name which the device resides on if using CAN.
    */
-  public        String canbus           = "";
+  public        String canbus                  = "";
 
   /**
    * Create a {@link SwerveAbsoluteEncoder} from the current configuration.
@@ -124,7 +131,6 @@ public class DeviceJson
       case "analog":
         return new AnalogGyroSwerve(id);
       case "navx":
-      case "navx_mxp_spi":
       case "navx_spi":
         return new NavXSwerve(SPI.Port.kMXP);
       case "navx_i2c":
@@ -136,8 +142,12 @@ public class DeviceJson
         i2cLockupWarning.set(true);
         return new NavXSwerve(I2C.Port.kMXP);
       case "navx_usb":
+        DriverStation.reportWarning("WARNING: There is issues when using USB camera's and the NavX like this!\n" +
+                                    "https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/", false);
+        serialCommsIssueWarning.set(true);
         return new NavXSwerve(Port.kUSB);
       case "navx_mxp_serial":
+        serialCommsIssueWarning.set(true);
         return new NavXSwerve(Port.kMXP);
       case "pigeon":
         return new PigeonSwerve(id);