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[wpilibc] Clean up C++ SysId routine (#6160)

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This commit is contained in:
Tyler Veness
2024-01-05 15:22:52 -08:00
committed by GitHub
parent 4595f84719
commit 6bed82a18e
3 changed files with 69 additions and 57 deletions
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24
wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
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@@ -5,6 +5,7 @@
#pragma once
#include <string>
#include <string_view>
#include <unordered_map>
#include <units/acceleration.h>
@@ -40,11 +41,10 @@ class SysIdRoutineLog {
public:
class MotorLog {
public:
MotorLog(const std::string& motorName, const std::string& logName,
MotorLog(std::string_view motorName, std::string_view logName,
LogEntries* logEntries);
MotorLog& value(const std::string& name, double value,
const std::string& unit);
MotorLog& value(std::string_view name, double value, std::string_view unit);
MotorLog& voltage(units::volt_t voltage) {
return value("voltage", voltage.value(), voltage.name());
@@ -83,15 +83,17 @@ class SysIdRoutineLog {
std::string m_logName;
LogEntries* m_logEntries;
};
/**
* Create a new logging utility for a SysId test routine.
*
* @param logName The name for the test routine in the log. Should be unique
* between complete test routines (quasistatic and dynamic, forward and
* reverse). The current state of this test (e.g. "quasistatic-forward") will
* appear in WPILog under the "sysid-test-state-logName" entry.
* between complete test routines (quasistatic and dynamic, forward and
* reverse). The current state of this test (e.g. "quasistatic-forward")
* will appear in WPILog under the "sysid-test-state-logName" entry.
*/
explicit SysIdRoutineLog(const std::string& logName);
explicit SysIdRoutineLog(std::string_view logName);
/**
* Records the current state of the SysId test routine. Should be called once
* per iteration during tests with the type of the current test, and once upon
@@ -101,13 +103,13 @@ class SysIdRoutineLog {
*/
void RecordState(State state);
MotorLog Motor(const std::string& motorName);
MotorLog Motor(std::string_view motorName);
static std::string StateEnumToString(State state);
private:
LogEntries m_logEntries{};
std::string m_logName{};
wpi::log::StringLogEntry m_state{};
LogEntries m_logEntries;
std::string m_logName;
wpi::log::StringLogEntry m_state;
};
} // namespace frc::sysid