feat(logging): implement AdvantageKit support for Robot.java

src/main/java/frc/robot/Robot.java

@@ -4,17 +4,25 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
  * each mode, as described in the TimedRobot documentation. If you change the name of this class or
  * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
   private Command autonomousCommand;
 
   private RobotContainer robotContainer;
@@ -25,6 +33,21 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotInit() {
+    Logger.recordMetadata("ProjectName", "MyProject"); // Set a metadata value
+
+    if (isReal()) {
+      Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
+      Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+      new PowerDistribution(1, PowerDistribution.ModuleType.kRev); // Enables power distribution logging
+    } else {
+      setUseTiming(false); // Run as fast as possible
+      String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
+      Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
+      Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
+    }
+
+// Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the "Understanding Data Flow" page
+    Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may be added.
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     robotContainer = new RobotContainer();
@@ -46,14 +69,20 @@ public void robotPeriodic() {
     CommandScheduler.getInstance().run();
   }
 
-  /** This function is called once each time the robot enters Disabled mode. */
+  /**
+   * This function is called once each time the robot enters Disabled mode.
+   */
   @Override
-  public void disabledInit() {}
+  public void disabledInit() {
+  }
 
   @Override
-  public void disabledPeriodic() {}
+  public void disabledPeriodic() {
+  }
 
-  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
+  /**
+   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+   */
   @Override
   public void autonomousInit() {
     autonomousCommand = robotContainer.getAutonomousCommand();
@@ -64,9 +93,12 @@ public void autonomousInit() {
     }
   }
 
-  /** This function is called periodically during autonomous. */
+  /**
+   * This function is called periodically during autonomous.
+   */
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+  }
 
   @Override
   public void teleopInit() {
@@ -79,17 +111,23 @@ public void teleopInit() {
     }
   }
 
-  /** This function is called periodically during operator control. */
+  /**
+   * This function is called periodically during operator control.
+   */
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+  }
 
   @Override
   public void testInit() {
     // Cancels all running commands at the start of test mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /**
+   * This function is called periodically during test mode.
+   */
   @Override
-  public void testPeriodic() {}
+  public void testPeriodic() {
+  }
 }