[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.

epilogue-processor/src/main/java/org/wpilib/epilogue/processor/AnnotationProcessor.java

@@ -382,9 +382,12 @@ public class AnnotationProcessor extends AbstractProcessor {
 
     List<String> loggerClassNames = new ArrayList<>();
     var mainRobotClasses = new ArrayList<TypeElement>();
+    var timedRobotClasses = new ArrayList<TypeElement>();
 
     // Used to check for a main robot class
     var robotBaseClass =
+        processingEnv.getElementUtils().getTypeElement("org.wpilib.framework.RobotBase").asType();
+    var timedRobotClass =
         processingEnv.getElementUtils().getTypeElement("org.wpilib.framework.TimedRobot").asType();
 
     boolean validFields = validateFields(annotatedElements);
@@ -403,6 +406,9 @@ public class AnnotationProcessor extends AbstractProcessor {
         if (processingEnv.getTypeUtils().isAssignable(clazz.getSuperclass(), robotBaseClass)) {
           mainRobotClasses.add(clazz);
         }
+        if (processingEnv.getTypeUtils().isAssignable(clazz.getSuperclass(), timedRobotClass)) {
+          timedRobotClasses.add(clazz);
+        }
 
         loggerClassNames.add(StringUtils.loggerClassName(clazz));
       } catch (IOException e) {
@@ -417,8 +423,10 @@ public class AnnotationProcessor extends AbstractProcessor {
     }
 
     // Sort alphabetically
-    mainRobotClasses.sort(Comparator.comparing(c -> c.getSimpleName().toString()));
+    loggerClassNames.sort(Comparator.naturalOrder());
-    m_epilogueGenerator.writeEpilogueFile(loggerClassNames, mainRobotClasses);
+    mainRobotClasses.sort(Comparator.comparing(TypeElement::toString));
+    timedRobotClasses.sort(Comparator.comparing(TypeElement::toString));
+    m_epilogueGenerator.writeEpilogueFile(loggerClassNames, mainRobotClasses, timedRobotClasses);
   }
 
   private void warnOfNonLoggableElements(TypeElement clazz) {

epilogue-processor/src/main/java/org/wpilib/epilogue/processor/EpilogueGenerator.java

@@ -38,12 +38,16 @@ public class EpilogueGenerator {
    *
    * @param loggerClassNames the names of the generated logger classes. Each of these will be
    *     instantiated in a public static field on the Epilogue class.
-   * @param mainRobotClasses the main robot classes. May be empty. Used to generate a {@code bind()}
+   * @param mainRobotClasses the main robot classes. May be empty. Used to generate a {@code
-   *     method to add a callback hook to a TimedRobot to log itself.
+   *     update()} method for an easy entry point.
+   * @param timedRobotClasses the main robot classes that extend from TimedRobot. Used to generate a
+   *     {@code bind()} method to add a callback hook to a TimedRobot to log itself.
    */
   @SuppressWarnings("checkstyle:LineLength") // Source code templates exceed the line length limit
   public void writeEpilogueFile(
-      List<String> loggerClassNames, Collection<TypeElement> mainRobotClasses) {
+      List<String> loggerClassNames,
+      Collection<TypeElement> mainRobotClasses,
+      Collection<TypeElement> timedRobotClasses) {
     try {
       var centralStore =
           m_processingEnv.getFiler().createSourceFile("org.wpilib.epilogue.Epilogue");
@@ -58,30 +62,6 @@ public class EpilogueGenerator {
         out.println("import org.wpilib.hardware.hal.HAL;");
         out.println();
 
-        loggerClassNames.stream()
-            .sorted()
-            .forEach(
-                name -> {
-                  if (!name.contains(".")) {
-                    // Logger is in the global namespace, don't need to import
-                    return;
-                  }
-
-                  out.println("import " + name + ";");
-                });
-        m_customLoggers.values().stream()
-            .distinct()
-            .forEach(
-                loggerType -> {
-                  var name = loggerType.asElement().toString();
-                  if (!name.contains(".")) {
-                    // Logger is in the global namespace, don't need to import
-                    return;
-                  }
-                  out.println("import " + name + ";");
-                });
-        out.println();
-
         out.println("public final class Epilogue {");
 
         // Usage reporting
@@ -136,56 +116,57 @@ public class EpilogueGenerator {
             """
                 .stripTrailing());
 
-        // Only generate a binding if the robot class is a TimedRobot
+        for (TypeElement mainRobotClass : mainRobotClasses) {
-        if (!mainRobotClasses.isEmpty()) {
+          String robotClassName = mainRobotClass.getQualifiedName().toString();
-          for (TypeElement mainRobotClass : mainRobotClasses) {
-            String robotClassName = mainRobotClass.getQualifiedName().toString();
 
-            out.println();
+          out.println();
-            out.print(
+          out.print(
-                """
+              """
-                  /**
+                /**
-                   * Updates Epilogue. This must be called periodically in order for Epilogue to record
+                 * Updates Epilogue. This must be called periodically in order for Epilogue to record
-                   * new values. Alternatively, {@code bind()} can be used to update at an offset from
+                 * new values. Alternatively, {@code bind()} can be used to update at an offset from
-                   * the main robot loop.
+                 * the main robot loop.
-                   */
+                 */
-                """);
+              """);
-            out.println("  public static void update(" + robotClassName + " robot) {");
+          out.println("  public static void update(" + robotClassName + " robot) {");
-            out.println("    long start = System.nanoTime();");
+          out.println("    long start = System.nanoTime();");
-            out.println(
+          out.println(
-                "    "
+              "    "
-                    + StringUtils.loggerFieldName(mainRobotClass)
+                  + StringUtils.loggerFieldName(mainRobotClass)
-                    + ".tryUpdate(config.backend.getNested(config.root), robot, config.errorHandler);");
+                  + ".tryUpdate(config.backend.getNested(config.root), robot, config.errorHandler);");
-            out.println(
+          out.println(
-                "    config.backend.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);");
+              "    config.backend.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);");
-            out.println("  }");
+          out.println("  }");
+        }
 
-            out.println();
+        for (TypeElement timedRobotClass : timedRobotClasses) {
-            out.print(
+          String robotClassName = timedRobotClass.getQualifiedName().toString();
-                """
+
-                  /**
+          out.println();
-                   * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
+          out.print(
-                   * same update rate as the robot's loop function, but will be offset by a full phase
+              """
-                   * (for example, a 20ms update rate but 10ms offset from the main loop invocation) to
+                /**
-                   * help avoid high CPU loads. However, this does mean that any logged data that reads
+                 * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
-                   * directly from sensors will be slightly different from data used in the main robot
+                 * same update rate as the robot's loop function, but will be offset by a full phase
-                   * loop.
+                 * (for example, a 20ms update rate but 10ms offset from the main loop invocation) to
-                   */
+                 * help avoid high CPU loads. However, this does mean that any logged data that reads
-                """);
+                 * directly from sensors will be slightly different from data used in the main robot
-            out.println("  public static void bind(" + robotClassName + " robot) {");
+                 * loop.
-            out.println("    if (config.loggingPeriod == null) {");
+                 */
-            out.println("      config.loggingPeriod = Seconds.of(robot.getPeriod());");
+              """);
-            out.println("    }");
+          out.println("  public static void bind(" + robotClassName + " robot) {");
-            out.println("    if (config.loggingPeriodOffset == null) {");
+          out.println("    if (config.loggingPeriod == null) {");
-            out.println("      config.loggingPeriodOffset = config.loggingPeriod.div(2);");
+          out.println("      config.loggingPeriod = Seconds.of(robot.getPeriod());");
-            out.println("    }");
+          out.println("    }");
-            out.println();
+          out.println("    if (config.loggingPeriodOffset == null) {");
-            out.println("    robot.addPeriodic(() -> {");
+          out.println("      config.loggingPeriodOffset = config.loggingPeriod.div(2);");
-            out.println("      update(robot);");
+          out.println("    }");
-            out.println(
+          out.println();
-                "    }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));");
+          out.println("    robot.addPeriodic(() -> {");
-            out.println("  }");
+          out.println("      update(robot);");
-          }
+          out.println(
+              "    }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));");
+          out.println("  }");
         }
 
         out.println("}");

epilogue-processor/src/test/java/org/wpilib/epilogue/processor/EpilogueGeneratorTest.java

@@ -35,8 +35,6 @@ class EpilogueGeneratorTest {
 
         import org.wpilib.hardware.hal.HAL;
 
-        import org.wpilib.epilogue.ExampleLogger;
-
         public final class Epilogue {
           static {
             HAL.reportUsage("Epilogue", "");
@@ -90,8 +88,6 @@ class EpilogueGeneratorTest {
 
         import org.wpilib.hardware.hal.HAL;
 
-        import org.wpilib.epilogue.ExampleLogger;
-
         public final class Epilogue {
           static {
             HAL.reportUsage("Epilogue", "");
@@ -115,6 +111,17 @@ class EpilogueGeneratorTest {
           public static boolean shouldLog(Logged.Importance importance) {
             return importance.compareTo(config.minimumImportance) >= 0;
           }
+
+          /**
+           * Updates Epilogue. This must be called periodically in order for Epilogue to record
+           * new values. Alternatively, {@code bind()} can be used to update at an offset from
+           * the main robot loop.
+           */
+          public static void update(org.wpilib.epilogue.Example robot) {
+            long start = System.nanoTime();
+            org_wpilib_epilogue_ExampleLogger.tryUpdate(config.backend.getNested(config.root), robot, config.errorHandler);
+            config.backend.log("Epilogue/Stats/Last Run", (System.nanoTime() - start) / 1e6);
+          }
         }
         """;
 
@@ -140,8 +147,6 @@ class EpilogueGeneratorTest {
 
         import org.wpilib.hardware.hal.HAL;
 
-        import org.wpilib.epilogue.ExampleLogger;
-
         public final class Epilogue {
           static {
             HAL.reportUsage("Epilogue", "");
@@ -224,9 +229,6 @@ class EpilogueGeneratorTest {
 
         import org.wpilib.hardware.hal.HAL;
 
-        import org.wpilib.epilogue.AlphaBotLogger;
-        import org.wpilib.epilogue.BetaBotLogger;
-
         public final class Epilogue {
           static {
             HAL.reportUsage("Epilogue", "");
@@ -263,6 +265,17 @@ class EpilogueGeneratorTest {
             config.backend.log("Epilogue/Stats/Last Run", (System.nanoTime() - start) / 1e6);
           }
 
+          /**
+           * Updates Epilogue. This must be called periodically in order for Epilogue to record
+           * new values. Alternatively, {@code bind()} can be used to update at an offset from
+           * the main robot loop.
+           */
+          public static void update(org.wpilib.epilogue.BetaBot robot) {
+            long start = System.nanoTime();
+            org_wpilib_epilogue_BetaBotLogger.tryUpdate(config.backend.getNested(config.root), robot, config.errorHandler);
+            config.backend.log("Epilogue/Stats/Last Run", (System.nanoTime() - start) / 1e6);
+          }
+
           /**
            * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
            * same update rate as the robot's loop function, but will be offset by a full phase
@@ -284,17 +297,6 @@ class EpilogueGeneratorTest {
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
 
-          /**
-           * Updates Epilogue. This must be called periodically in order for Epilogue to record
-           * new values. Alternatively, {@code bind()} can be used to update at an offset from
-           * the main robot loop.
-           */
-          public static void update(org.wpilib.epilogue.BetaBot robot) {
-            long start = System.nanoTime();
-            org_wpilib_epilogue_BetaBotLogger.tryUpdate(config.backend.getNested(config.root), robot, config.errorHandler);
-            config.backend.log("Epilogue/Stats/Last Run", (System.nanoTime() - start) / 1e6);
-          }
-
           /**
            * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
            * same update rate as the robot's loop function, but will be offset by a full phase
@@ -357,9 +359,6 @@ class EpilogueGeneratorTest {
 
         import org.wpilib.hardware.hal.HAL;
 
-        import org.wpilib.epilogue.ExampleLogger;
-        import org.wpilib.epilogue.CustomLogger;
-
         public final class Epilogue {
           static {
             HAL.reportUsage("Epilogue", "");