[epilogue] Add an annotation-based logging framework for Java programs (#6584)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java

@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj.examples.rapidreactcommandbot;
 
 import static edu.wpi.first.wpilibj2.command.Commands.parallel;
 
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.ShooterConstants;
@@ -24,6 +25,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
  * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
  * subsystems, commands, and button mappings) should be declared here.
  */
+@Logged(name = "Rapid React Command Robot Container")
 public class RapidReactCommandBot {
   // The robot's subsystems
   private final Drive m_drive = new Drive();

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java

@@ -4,6 +4,9 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot;
 
+import edu.wpi.first.epilogue.Epilogue;
+import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -14,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
  * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
+@Logged(name = "Rapid React Command Robot")
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
@@ -27,6 +31,10 @@ public class Robot extends TimedRobot {
   public void robotInit() {
     // Configure default commands and condition bindings on robot startup
     m_robot.configureBindings();
+
+    // Initialize data logging.
+    DataLogManager.start();
+    Epilogue.bind(this);
   }
 
   /**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
 
+import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.epilogue.NotLogged;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -13,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import java.util.function.DoubleSupplier;
 
+@Logged
 public class Drive extends SubsystemBase {
   // The motors on the left side of the drive.
   private final PWMSparkMax m_leftLeader = new PWMSparkMax(DriveConstants.kLeftMotor1Port);
@@ -23,6 +26,7 @@ public class Drive extends SubsystemBase {
   private final PWMSparkMax m_rightFollower = new PWMSparkMax(DriveConstants.kRightMotor2Port);
 
   // The robot's drive
+  @NotLogged // Would duplicate motor data, there's no point sending it twice
   private final DifferentialDrive m_drive =
       new DifferentialDrive(m_leftLeader::set, m_rightLeader::set);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Intake.java

@@ -6,12 +6,14 @@ package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
 
 import static edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.IntakeConstants;
 
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+@Logged
 public class Intake extends SubsystemBase {
   private final PWMSparkMax m_motor = new PWMSparkMax(IntakeConstants.kMotorPort);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java

@@ -4,14 +4,15 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
 
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /** Subsystem for managing the compressor, pressure sensor, etc. */
+@Logged
 public class Pneumatics extends SubsystemBase {
   // External analog pressure sensor
   // product-specific voltage->pressure conversion, see product manual
@@ -26,17 +27,12 @@ public class Pneumatics extends SubsystemBase {
   // Compressor connected to a PCM with a default CAN ID (0)
   private final Compressor m_compressor = new Compressor(PneumaticsModuleType.CTREPCM);
 
-  public Pneumatics() {
-    var tab = Shuffleboard.getTab("Pneumatics");
-    tab.addDouble("External Pressure [PSI]", this::getPressure);
-  }
-
   /**
    * Query the analog pressure sensor.
    *
    * @return the measured pressure, in PSI
    */
-  private double getPressure() {
+  public double getPressure() {
     // Get the pressure (in PSI) from an analog pressure sensor connected to the RIO.
     return m_pressureTransducer.get();
   }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Shooter.java

@@ -9,6 +9,7 @@ import static edu.wpi.first.units.Units.Volts;
 import static edu.wpi.first.wpilibj2.command.Commands.parallel;
 import static edu.wpi.first.wpilibj2.command.Commands.waitUntil;
 
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.Encoder;
@@ -17,6 +18,7 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+@Logged
 public class Shooter extends SubsystemBase {
   private final PWMSparkMax m_shooterMotor = new PWMSparkMax(ShooterConstants.kShooterMotorPort);
   private final PWMSparkMax m_feederMotor = new PWMSparkMax(ShooterConstants.kFeederMotorPort);

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
 
+import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.epilogue.NotLogged;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.StorageConstants;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
@@ -11,13 +13,16 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
+@Logged
 public class Storage extends SubsystemBase {
   private final PWMSparkMax m_motor = new PWMSparkMax(StorageConstants.kMotorPort);
+  @NotLogged // We'll log a more meaningful boolean instead
   private final DigitalInput m_ballSensor = new DigitalInput(StorageConstants.kBallSensorPort);
 
   // Expose trigger from subsystem to improve readability and ease
   // inter-subsystem communications
   /** Whether the ball storage is full. */
+  @Logged(name = "Has Cargo")
   @SuppressWarnings("checkstyle:MemberName")
   public final Trigger hasCargo = new Trigger(m_ballSensor::get);