From 5c95966d44f29140772b913936be8943ebcd4a0d Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Sat, 7 Dec 2024 13:56:05 -0500
Subject: [PATCH] Fix epilogue loading optional types from the newcommands
 vendordep (#7505)

---
 .../epilogue/processor/SendableHandler.java   | 44 +++++++++++++------
 1 file changed, 30 insertions(+), 14 deletions(-)

diff --git a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/SendableHandler.java b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/SendableHandler.java
index 3e9af00801..d25ce09d31 100644
--- a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/SendableHandler.java
+++ b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/SendableHandler.java
@@ -4,24 +4,32 @@
 
 package edu.wpi.first.epilogue.processor;
 
+import java.util.Optional;
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.TypeMirror;
 
 public class SendableHandler extends ElementHandler {
-  private final TypeMirror m_sendableType;
-  private final TypeMirror m_commandType;
-  private final TypeMirror m_subsystemType;
+  private final Optional<TypeMirror> m_sendableType;
+  private final Optional<TypeMirror> m_commandType;
+  private final Optional<TypeMirror> m_subsystemType;
 
   protected SendableHandler(ProcessingEnvironment processingEnv) {
     super(processingEnv);
 
     m_sendableType =
-        lookupTypeElement(processingEnv, "edu.wpi.first.util.sendable.Sendable").asType();
+        Optional.ofNullable(
+                lookupTypeElement(processingEnv, "edu.wpi.first.util.sendable.Sendable"))
+            .map(TypeElement::asType);
     m_commandType =
-        lookupTypeElement(processingEnv, "edu.wpi.first.wpilibj2.command.Command").asType();
+        Optional.ofNullable(
+                lookupTypeElement(processingEnv, "edu.wpi.first.wpilibj2.command.Command"))
+            .map(TypeElement::asType);
     m_subsystemType =
-        lookupTypeElement(processingEnv, "edu.wpi.first.wpilibj2.command.SubsystemBase").asType();
+        Optional.ofNullable(
+                lookupTypeElement(processingEnv, "edu.wpi.first.wpilibj2.command.SubsystemBase"))
+            .map(TypeElement::asType);
   }
 
   @Override
@@ -30,20 +38,28 @@ public class SendableHandler extends ElementHandler {
 
     // Accept any sendable type. However, the log invocation will return null
     // for sendable types that should not be logged (commands, subsystems)
-    return m_processingEnv.getTypeUtils().isAssignable(dataType, m_sendableType);
+    return m_sendableType
+        .map(t -> m_processingEnv.getTypeUtils().isAssignable(dataType, t))
+        .orElse(false);
   }
 
   @Override
   public String logInvocation(Element element) {
     var dataType = dataType(element);
 
-    if (m_processingEnv.getTypeUtils().isAssignable(dataType, m_commandType)
-        || m_processingEnv.getTypeUtils().isAssignable(dataType, m_subsystemType)) {
-      // Do not log commands or subsystems via their sendable implementations
-      // We accept all sendable objects to prevent them from being reported as not loggable,
-      // but their sendable implementations do not include helpful information.
-      // Users are free to provide custom logging implementations for commands, and tag their
-      // subsystems with @Logged to log their contents automatically
+    // Do not log commands or subsystems via their sendable implementations
+    // We accept all sendable objects to prevent them from being reported as not loggable,
+    // but their sendable implementations do not include helpful information.
+    // Users are free to provide custom logging implementations for commands, and tag their
+    // subsystems with @Logged to log their contents automatically
+    if (m_commandType
+        .map(t -> m_processingEnv.getTypeUtils().isAssignable(dataType, t))
+        .orElse(false)) {
+      return null;
+    }
+    if (m_subsystemType
+        .map(t -> m_processingEnv.getTypeUtils().isAssignable(dataType, t))
+        .orElse(false)) {
       return null;
     }