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https://github.com/wpilibsuite/allwpilib
synced 2026-07-01 02:41:48 +00:00
[epilogue] Improve support for robot base classes in epilogue (#8886)
Generate an `update` method for any logged Robot class, not just TimedRobot Continue to generate a `bind` method for TimedRobot subclasses Also removes unnecessary import statements for generated loggers, since they're using fully-qualified names in the generated Epilogue class now.
This commit is contained in:
Sam Carlberg
@@ -382,9 +382,12 @@ public class AnnotationProcessor extends AbstractProcessor {
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List<String> loggerClassNames = new ArrayList<>();
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var mainRobotClasses = new ArrayList<TypeElement>();
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var timedRobotClasses = new ArrayList<TypeElement>();
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// Used to check for a main robot class
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var robotBaseClass =
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processingEnv.getElementUtils().getTypeElement("org.wpilib.framework.RobotBase").asType();
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var timedRobotClass =
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processingEnv.getElementUtils().getTypeElement("org.wpilib.framework.TimedRobot").asType();
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boolean validFields = validateFields(annotatedElements);
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@@ -403,6 +406,9 @@ public class AnnotationProcessor extends AbstractProcessor {
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if (processingEnv.getTypeUtils().isAssignable(clazz.getSuperclass(), robotBaseClass)) {
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mainRobotClasses.add(clazz);
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}
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if (processingEnv.getTypeUtils().isAssignable(clazz.getSuperclass(), timedRobotClass)) {
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timedRobotClasses.add(clazz);
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}
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loggerClassNames.add(StringUtils.loggerClassName(clazz));
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} catch (IOException e) {
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@@ -417,8 +423,10 @@ public class AnnotationProcessor extends AbstractProcessor {
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}
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// Sort alphabetically
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mainRobotClasses.sort(Comparator.comparing(c -> c.getSimpleName().toString()));
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m_epilogueGenerator.writeEpilogueFile(loggerClassNames, mainRobotClasses);
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loggerClassNames.sort(Comparator.naturalOrder());
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mainRobotClasses.sort(Comparator.comparing(TypeElement::toString));
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timedRobotClasses.sort(Comparator.comparing(TypeElement::toString));
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m_epilogueGenerator.writeEpilogueFile(loggerClassNames, mainRobotClasses, timedRobotClasses);
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}
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private void warnOfNonLoggableElements(TypeElement clazz) {
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@@ -38,12 +38,16 @@ public class EpilogueGenerator {
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*
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* @param loggerClassNames the names of the generated logger classes. Each of these will be
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* instantiated in a public static field on the Epilogue class.
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* @param mainRobotClasses the main robot classes. May be empty. Used to generate a {@code bind()}
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* method to add a callback hook to a TimedRobot to log itself.
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* @param mainRobotClasses the main robot classes. May be empty. Used to generate a {@code
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* update()} method for an easy entry point.
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* @param timedRobotClasses the main robot classes that extend from TimedRobot. Used to generate a
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* {@code bind()} method to add a callback hook to a TimedRobot to log itself.
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*/
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@SuppressWarnings("checkstyle:LineLength") // Source code templates exceed the line length limit
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public void writeEpilogueFile(
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List<String> loggerClassNames, Collection<TypeElement> mainRobotClasses) {
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List<String> loggerClassNames,
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Collection<TypeElement> mainRobotClasses,
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Collection<TypeElement> timedRobotClasses) {
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try {
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var centralStore =
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m_processingEnv.getFiler().createSourceFile("org.wpilib.epilogue.Epilogue");
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@@ -58,30 +62,6 @@ public class EpilogueGenerator {
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out.println("import org.wpilib.hardware.hal.HAL;");
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out.println();
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loggerClassNames.stream()
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.sorted()
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.forEach(
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name -> {
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if (!name.contains(".")) {
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// Logger is in the global namespace, don't need to import
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return;
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}
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out.println("import " + name + ";");
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});
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m_customLoggers.values().stream()
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.distinct()
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.forEach(
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loggerType -> {
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var name = loggerType.asElement().toString();
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if (!name.contains(".")) {
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// Logger is in the global namespace, don't need to import
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return;
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}
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out.println("import " + name + ";");
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});
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out.println();
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out.println("public final class Epilogue {");
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// Usage reporting
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@@ -136,56 +116,57 @@ public class EpilogueGenerator {
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"""
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.stripTrailing());
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// Only generate a binding if the robot class is a TimedRobot
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if (!mainRobotClasses.isEmpty()) {
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for (TypeElement mainRobotClass : mainRobotClasses) {
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String robotClassName = mainRobotClass.getQualifiedName().toString();
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for (TypeElement mainRobotClass : mainRobotClasses) {
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String robotClassName = mainRobotClass.getQualifiedName().toString();
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out.println();
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out.print(
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"""
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/**
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* Updates Epilogue. This must be called periodically in order for Epilogue to record
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* new values. Alternatively, {@code bind()} can be used to update at an offset from
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* the main robot loop.
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*/
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""");
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out.println(" public static void update(" + robotClassName + " robot) {");
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out.println(" long start = System.nanoTime();");
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out.println(
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" "
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+ StringUtils.loggerFieldName(mainRobotClass)
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+ ".tryUpdate(config.backend.getNested(config.root), robot, config.errorHandler);");
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out.println(
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" config.backend.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);");
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out.println(" }");
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out.println();
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out.print(
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"""
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/**
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* Updates Epilogue. This must be called periodically in order for Epilogue to record
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* new values. Alternatively, {@code bind()} can be used to update at an offset from
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* the main robot loop.
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*/
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""");
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out.println(" public static void update(" + robotClassName + " robot) {");
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out.println(" long start = System.nanoTime();");
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out.println(
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" "
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+ StringUtils.loggerFieldName(mainRobotClass)
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+ ".tryUpdate(config.backend.getNested(config.root), robot, config.errorHandler);");
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out.println(
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" config.backend.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);");
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out.println(" }");
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}
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out.println();
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out.print(
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"""
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/**
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* Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
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* same update rate as the robot's loop function, but will be offset by a full phase
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* (for example, a 20ms update rate but 10ms offset from the main loop invocation) to
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* help avoid high CPU loads. However, this does mean that any logged data that reads
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* directly from sensors will be slightly different from data used in the main robot
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* loop.
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*/
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""");
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out.println(" public static void bind(" + robotClassName + " robot) {");
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out.println(" if (config.loggingPeriod == null) {");
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out.println(" config.loggingPeriod = Seconds.of(robot.getPeriod());");
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out.println(" }");
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out.println(" if (config.loggingPeriodOffset == null) {");
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out.println(" config.loggingPeriodOffset = config.loggingPeriod.div(2);");
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out.println(" }");
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out.println();
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out.println(" robot.addPeriodic(() -> {");
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out.println(" update(robot);");
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out.println(
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" }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));");
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out.println(" }");
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}
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for (TypeElement timedRobotClass : timedRobotClasses) {
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String robotClassName = timedRobotClass.getQualifiedName().toString();
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out.println();
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out.print(
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"""
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/**
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* Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
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* same update rate as the robot's loop function, but will be offset by a full phase
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* (for example, a 20ms update rate but 10ms offset from the main loop invocation) to
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* help avoid high CPU loads. However, this does mean that any logged data that reads
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* directly from sensors will be slightly different from data used in the main robot
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* loop.
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*/
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""");
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out.println(" public static void bind(" + robotClassName + " robot) {");
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out.println(" if (config.loggingPeriod == null) {");
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out.println(" config.loggingPeriod = Seconds.of(robot.getPeriod());");
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out.println(" }");
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out.println(" if (config.loggingPeriodOffset == null) {");
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out.println(" config.loggingPeriodOffset = config.loggingPeriod.div(2);");
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out.println(" }");
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out.println();
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out.println(" robot.addPeriodic(() -> {");
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out.println(" update(robot);");
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out.println(
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" }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));");
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out.println(" }");
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}
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out.println("}");
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