feat(logging): create new telemetry subsystem, add NetworkAlerts inte…

…rface

.gitignore

@@ -31,3 +31,8 @@ src/main/java/frc/robot/BuildConstants.java
 .gradle/8.5/fileHashes/fileHashes.lock
 .gradle/buildOutputCleanup/buildOutputCleanup.lock
 .gradle/
+.gradle/8.5/checksums/checksums.lock
+.gradle/8.5/checksums/md5-checksums.bin
+.gradle/8.5/checksums/sha1-checksums.bin
+.gradle/8.5/fileHashes/fileHashes.lock
+.gradle/buildOutputCleanup/buildOutputCleanup.lock

src/main/java/frc/robot/subsystems/TelemetrySubsystem.java

@@ -0,0 +1,41 @@
+package frc.robot.subsystems;
+
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class TelemetrySubsystem extends SubsystemBase {
+
+  // With eager singleton initialization, any static variables/fields used in the
+  // constructor must appear before the "INSTANCE" variable so that they are initialized
+  // before the constructor is called when the "INSTANCE" variable initializes.
+
+  /**
+   * The Singleton instance of this TelemetrySubsystem. Code should use
+   * the {@link #getInstance()} method to get the single instance (rather
+   * than trying to construct an instance of this class.)
+   */
+  private final static TelemetrySubsystem INSTANCE = new TelemetrySubsystem();
+
+  /**
+   * Returns the Singleton instance of this TelemetrySubsystem. This static method
+   * should be used, rather than the constructor, to get the single instance
+   * of this class. For example: {@code TelemetrySubsystem.getInstance();}
+   */
+  @SuppressWarnings("WeakerAccess")
+  public static TelemetrySubsystem getInstance() {
+    return INSTANCE;
+  }
+
+  /**
+   * Creates a new instance of this TelemetrySubsystem. This constructor
+   * is private since this class is a Singleton. Code should use
+   * the {@link #getInstance()} method to get the singleton instance.
+   */
+  private TelemetrySubsystem() {
+    // TODO: Set the default command, if any, for this subsystem by calling setDefaultCommand(command)
+    //       in the constructor or in the robot coordination class, such as RobotContainer.
+    //       Also, you can call addChild(name, sendableChild) to associate sendables with the subsystem
+    //       such as SpeedControllers, Encoders, DigitalInputs, etc.
+  }
+}
+

src/main/java/frc/robot/util/Alert.java

@@ -0,0 +1,195 @@
+// Copyright (c) 2023 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found below.
+
+// MIT License
+//
+// Copyright (c) 2023 FRC 6328
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+package frc.robot.util;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.ArrayList;
+import java.util.Comparator;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.function.Predicate;
+
+/** Class for managing persistent alerts to be sent over NetworkTables. */
+public class Alert {
+    private static Map<String, SendableAlerts> groups = new HashMap<String, SendableAlerts>();
+
+    private final AlertType type;
+    private boolean active = false;
+    private double activeStartTime = 0.0;
+    private String text;
+
+    /**
+     * Creates a new Alert in the default group - "Alerts". If this is the first to be instantiated,
+     * the appropriate entries will be added to NetworkTables.
+     *
+     * @param text Text to be displayed when the alert is active.
+     * @param type Alert level specifying urgency.
+     */
+    public Alert(String text, AlertType type) {
+        this("Alerts", text, type);
+    }
+
+    /**
+     * Creates a new Alert. If this is the first to be instantiated in its group, the appropriate
+     * entries will be added to NetworkTables.
+     *
+     * @param group Group identifier, also used as NetworkTables title
+     * @param text Text to be displayed when the alert is active.
+     * @param type Alert level specifying urgency.
+     */
+    public Alert(String group, String text, AlertType type) {
+        if (!groups.containsKey(group)) {
+            groups.put(group, new SendableAlerts());
+            SmartDashboard.putData(group, groups.get(group));
+        }
+
+        this.text = text;
+        this.type = type;
+        groups.get(group).alerts.add(this);
+    }
+
+    /**
+     * Sets whether the alert should currently be displayed. When activated, the alert text will also
+     * be sent to the console.
+     */
+    public void set(boolean active) {
+        if (active && !this.active) {
+            activeStartTime = Timer.getFPGATimestamp();
+            switch (type) {
+                case ERROR:
+                    DriverStation.reportError(text, false);
+                    break;
+                case ERROR_TRACE:
+                    DriverStation.reportError(text, true);
+                    break;
+                case WARNING:
+                    DriverStation.reportWarning(text, false);
+                    break;
+                case WARNING_TRACE:
+                    DriverStation.reportWarning(text, true);
+                    break;
+                case INFO:
+                    System.out.println(text);
+                    break;
+            }
+        }
+        this.active = active;
+    }
+
+    /** Updates current alert text. */
+    public void setText(String text) {
+        if (active && !text.equals(this.text)) {
+            switch (type) {
+                case ERROR:
+                    DriverStation.reportError(text, false);
+                    break;
+                case ERROR_TRACE:
+                    DriverStation.reportError(text, true);
+                    break;
+                case WARNING:
+                    DriverStation.reportWarning(text, false);
+                    break;
+                case WARNING_TRACE:
+                    DriverStation.reportWarning(text, true);
+                    break;
+                case INFO:
+                    System.out.println(text);
+                    break;
+            }
+        }
+        this.text = text;
+    }
+
+    private static class SendableAlerts implements Sendable {
+        public final List<Alert> alerts = new ArrayList<>();
+
+        public String[] getStrings(AlertType type) {
+            Predicate<Alert> activeFilter = (Alert x) -> x.type == type && x.active;
+            Comparator<Alert> timeSorter =
+                    (Alert a1, Alert a2) -> (int) (a2.activeStartTime - a1.activeStartTime);
+            return alerts.stream()
+                    .filter(activeFilter)
+                    .sorted(timeSorter)
+                    .map((Alert a) -> a.text)
+                    .toArray(String[]::new);
+        }
+
+        @Override
+        public void initSendable(SendableBuilder builder) {
+            builder.setSmartDashboardType("Alerts");
+            builder.addStringArrayProperty("errors", () -> getStrings(AlertType.ERROR), null);
+            builder.addStringArrayProperty("errors", () -> getStrings(AlertType.ERROR_TRACE), null);
+            builder.addStringArrayProperty("warnings", () -> getStrings(AlertType.WARNING), null);
+            builder.addStringArrayProperty("warnings", () -> getStrings(AlertType.WARNING_TRACE), null);
+            builder.addStringArrayProperty("infos", () -> getStrings(AlertType.INFO), null);
+        }
+    }
+
+    /** Represents an alert's level of urgency. */
+    public static enum AlertType {
+        /**
+         * High priority alert - displayed first on the dashboard with a red "X" symbol. Use this type
+         * for problems which will seriously affect the robot's functionality and thus require immediate
+         * attention.
+         */
+        ERROR,
+        /**
+         * High priority alert - displayed first on the dashboard with a red "X" symbol. Use this type
+         * for problems which will seriously affect the robot's functionality and thus require immediate
+         * attention.
+         * Trace printed to driver station console.
+         */
+        ERROR_TRACE,
+
+        /**
+         * Medium priority alert - displayed second on the dashboard with a yellow "!" symbol. Use this
+         * type for problems which could affect the robot's functionality but do not necessarily require
+         * immediate attention.
+         */
+        WARNING,
+        /**
+         * Medium priority alert - displayed second on the dashboard with a yellow "!" symbol. Use this
+         * type for problems which could affect the robot's functionality but do not necessarily require
+         * immediate attention.
+         * Trace printed to driver station console.
+         */
+        WARNING_TRACE,
+        /**
+         * Low priority alert - displayed last on the dashboard with a green "i" symbol. Use this type
+         * for problems which are unlikely to affect the robot's functionality, or any other alerts
+         * which do not fall under "ERROR" or "WARNING".
+         */
+        INFO
+    }
+}