Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[epilogue] Allow configuring logging period and logging period offset (#6893)

Browse Source
This commit is contained in:
Jade
2024-08-15 00:26:48 +08:00
committed by GitHub
parent dece2391f5
commit 70fa41c69e
4 changed files with 64 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java
View File

@@ -52,6 +52,9 @@ public class EpilogueGenerator {
out.println("package edu.wpi.first.epilogue;");
out.println();
out.println("import static edu.wpi.first.units.Units.Seconds;");
out.println();
loggerClassNames.stream()
.sorted()
.forEach(
@@ -150,6 +153,13 @@ public class EpilogueGenerator {
*/
""");
out.println(" public static void bind(" + robotClassName + " robot) {");
out.println(" if (config.loggingPeriod == null) {");
out.println(" config.loggingPeriod = Seconds.of(robot.getPeriod());");
out.println(" }");
out.println(" if (config.loggingPeriodOffset == null) {");
out.println(" config.loggingPeriodOffset = config.loggingPeriod.divide(2);");
out.println(" }");
out.println();
out.println(" robot.addPeriodic(() -> {");
out.println(" long start = System.nanoTime();");
out.println(
@@ -158,7 +168,8 @@ public class EpilogueGenerator {
+ ".tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);");
out.println(
" edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry(\"Epilogue/Stats/Last Run\").setDouble((System.nanoTime() - start) / 1e6);");
out.println(" }, robot.getPeriod(), robot.getPeriod() / 2);");
out.println(
" }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));");
out.println(" }");
}
}

37
epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java
View File

@@ -30,6 +30,8 @@ class EpilogueGeneratorTest {
"""
package edu.wpi.first.epilogue;
import static edu.wpi.first.units.Units.Seconds;
import edu.wpi.first.epilogue.ExampleLogger;
public final class Epilogue {
@@ -77,6 +79,8 @@ class EpilogueGeneratorTest {
"""
package edu.wpi.first.epilogue;
import static edu.wpi.first.units.Units.Seconds;
import edu.wpi.first.epilogue.ExampleLogger;
public final class Epilogue {
@@ -119,6 +123,8 @@ class EpilogueGeneratorTest {
"""
package edu.wpi.first.epilogue;
import static edu.wpi.first.units.Units.Seconds;
import edu.wpi.first.epilogue.ExampleLogger;
public final class Epilogue {
@@ -150,11 +156,18 @@ class EpilogueGeneratorTest {
* loop.
*/
public static void bind(edu.wpi.first.epilogue.Example robot) {
if (config.loggingPeriod == null) {
config.loggingPeriod = Seconds.of(robot.getPeriod());
}
if (config.loggingPeriodOffset == null) {
config.loggingPeriodOffset = config.loggingPeriod.divide(2);
}
robot.addPeriodic(() -> {
long start = System.nanoTime();
exampleLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
}, robot.getPeriod(), robot.getPeriod() / 2);
}, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
}
}
""";
@@ -179,6 +192,8 @@ class EpilogueGeneratorTest {
"""
package edu.wpi.first.epilogue;
import static edu.wpi.first.units.Units.Seconds;
import edu.wpi.first.epilogue.AlphaBotLogger;
import edu.wpi.first.epilogue.BetaBotLogger;
@@ -212,11 +227,18 @@ class EpilogueGeneratorTest {
* loop.
*/
public static void bind(edu.wpi.first.epilogue.AlphaBot robot) {
if (config.loggingPeriod == null) {
config.loggingPeriod = Seconds.of(robot.getPeriod());
}
if (config.loggingPeriodOffset == null) {
config.loggingPeriodOffset = config.loggingPeriod.divide(2);
}
robot.addPeriodic(() -> {
long start = System.nanoTime();
alphaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
}, robot.getPeriod(), robot.getPeriod() / 2);
}, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
}
/**
@@ -228,11 +250,18 @@ class EpilogueGeneratorTest {
* loop.
*/
public static void bind(edu.wpi.first.epilogue.BetaBot robot) {
if (config.loggingPeriod == null) {
config.loggingPeriod = Seconds.of(robot.getPeriod());
}
if (config.loggingPeriodOffset == null) {
config.loggingPeriodOffset = config.loggingPeriod.divide(2);
}
robot.addPeriodic(() -> {
long start = System.nanoTime();
betaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
}, robot.getPeriod(), robot.getPeriod() / 2);
}, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
}
}
""";
@@ -272,6 +301,8 @@ class EpilogueGeneratorTest {
"""
package edu.wpi.first.epilogue;
import static edu.wpi.first.units.Units.Seconds;
import edu.wpi.first.epilogue.ExampleLogger;
import edu.wpi.first.epilogue.CustomLogger;

14
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
View File

@@ -9,6 +9,8 @@ import edu.wpi.first.epilogue.logging.NTDataLogger;
import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
import edu.wpi.first.epilogue.logging.errors.ErrorPrinter;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
/**
* A configuration object to be used by the generated {@code Epilogue} class to customize its
@@ -23,6 +25,18 @@ public class EpilogueConfiguration {
*/
public DataLogger dataLogger = new NTDataLogger(NetworkTableInstance.getDefault());
/**
* The period Epilogue will log at. By default this is the period that the robot runs at. This is
* the field used by bind to configure speed when adding the periodic logging function
*/
public Measure<Time> loggingPeriod;
/**
* The offset from the periodic run that Epilogue will log at. By default this will be half of the
* robots period. This is the field used by bind when adding the periodic logging function
*/
public Measure<Time> loggingPeriodOffset;
/**
* The minimum importance level of data to be logged. Defaults to debug, which logs data of all
* importance levels. Any data tagged with an importance level lower than this will not be logged.

4
styleguide/spotbugs-exclude.xml
View File

@@ -160,4 +160,8 @@
<Match>
<Bug pattern="EQ_DOESNT_OVERRIDE_EQUALS" />
</Match>
<Match>
<Bug pattern="UUF_UNUSED_PUBLIC_OR_PROTECTED_FIELD" />
<Class name="edu.wpi.first.epilogue.EpilogueConfiguration" />
</Match>
</FindBugsFilter>