sim swap

build.gradle

@@ -2,6 +2,7 @@ plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
     id "com.peterabeles.gversion" version "1.10"
+    id "com.dorongold.task-tree" version "4.0.0"
 }
 
 java {
@@ -127,7 +128,6 @@ jar {
     from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
-    finalizedBy("addProfiling")
 }
 
 // Configure jar and deploy tasks
@@ -161,8 +161,12 @@ gversion {
     indent       = "  "
 }
 
-task(addProfiling, dependsOn: "jar", type: JavaExec) {
-    mainClass = "frc.tools.AddProfiling"
+classes {
+    finalizedBy("addProfiling")
+}
+
+task(addProfiling, dependsOn: "classes", type: JavaExec) {
+    mainClass = "frc.tools.ModifyClasses"
     classpath = sourceSets.tools.runtimeClasspath
     systemProperties["java.library.path"] = new File(project.projectDir, "build/jni/release")
 }

src/main/java/frc/lib/sim/TalonFX.java

@@ -0,0 +1,57 @@
+package frc.lib.sim;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+
+public class TalonFX implements MotorController, Sendable, AutoCloseable {
+
+    public TalonFX(int deviceId, String canbus) {
+
+    }
+
+    public TalonFX(int deviceId) {
+        this(deviceId, "*");
+    }
+
+    @Override
+    public void close() throws Exception {
+        throw new UnsupportedOperationException("Unimplemented method 'close'");
+    }
+
+    @Override
+    public void initSendable(SendableBuilder builder) {
+        throw new UnsupportedOperationException("Unimplemented method 'initSendable'");
+    }
+
+    @Override
+    public void set(double speed) {
+        throw new UnsupportedOperationException("Unimplemented method 'set'");
+    }
+
+    @Override
+    public double get() {
+        throw new UnsupportedOperationException("Unimplemented method 'get'");
+    }
+
+    @Override
+    public void setInverted(boolean isInverted) {
+        throw new UnsupportedOperationException("Unimplemented method 'setInverted'");
+    }
+
+    @Override
+    public boolean getInverted() {
+        throw new UnsupportedOperationException("Unimplemented method 'getInverted'");
+    }
+
+    @Override
+    public void disable() {
+        throw new UnsupportedOperationException("Unimplemented method 'disable'");
+    }
+
+    @Override
+    public void stopMotor() {
+        throw new UnsupportedOperationException("Unimplemented method 'stopMotor'");
+    }
+
+}

src/main/java/frc/lib/util/swerve/SwerveModuleReal.java

@@ -35,6 +35,8 @@ public SwerveModuleReal(int moduleNumber, int driveMotorID, int angleMotorID, in
         mDriveMotor = new TalonFX(driveMotorID, "canivore");
         mAngleMotor = new TalonFX(angleMotorID, "canivore");
 
+        System.out.println(mDriveMotor.getClass().getCanonicalName());
+
         configAngleEncoder();
         configAngleMotor();
         configDriveMotor();

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

@@ -150,20 +150,6 @@ public void robotPeriodic() {
         profiler.startTick();
         profiler.push("robotPeriodic()");
         profiler.push("draw_state_to_shuffleboard");
-        if (hasStarted) {
-            profiler.endTick();
-            if (profileTimer.advanceIfElapsed(1)) {
-                if (hasDoneSomething) {
-                    profiler.save();
-                    profiler.reset();
-                }
-            }
-        } else {
-            hasStarted = true;
-        }
-        profiler.startTick();
-        profiler.push("robotPeriodic()");
-        profiler.push("draw_state_to_shuffleboard");
         robotContainer.operatorState.setString(OperatorState.getCurrentState().displayName);
         robotContainer.operatorManualMode.setBoolean(OperatorState.manualModeEnabled());
         robotContainer.matchTime.setDouble(Timer.getMatchTime());

src/main/java/frc/robot/RobotContainer.java

@@ -154,7 +154,7 @@ public RobotContainer(RobotRunType runtimeType) {
                 elevatorWrist = new ElevatorWrist(new ElevatorWristReal(), operator);
                 break;
             case kSimulation:
-                s_Swerve = new Swerve(new SwerveIO() {}, cameras);
+                s_Swerve = new Swerve(new SwerveReal(), cameras);
                 shooter = new Shooter(new ShooterIO() {});
                 intake = new Intake(new IntakeIO() {});
                 elevatorWrist = new ElevatorWrist(new ElevatorWristIO() {}, operator);

src/tools/java/frc/tools/ModifyClasses.java

@@ -0,0 +1,39 @@
+package frc.tools;
+
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.StandardOpenOption;
+import java.util.List;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
+import frc.tools.modify.ClassTransformer;
+import frc.tools.modify.SimReplace;
+
+/** Class file modifier that adds profiling commands, replaces hardware in sim mode. */
+public class ModifyClasses {
+
+    /** Entrypoint */
+    public static void main(String[] args) throws IOException {
+        ClassTransformer transformer = new ClassTransformer();
+        if (true) {
+            transformer.add(SimReplace::new);
+        }
+
+        List<Path> result;
+        try (Stream<Path> walk = Files.walk(Path.of("build/classes/java/main"))) {
+            result = walk.filter(Files::isRegularFile)
+                .filter(p -> p.getFileName().toString().endsWith(".class"))
+                .filter(p -> !p.getFileName().toString().endsWith("Robot$1.class"))
+                .collect(Collectors.toList());
+        }
+
+        for (Path p : result) {
+            byte[] input = Files.readAllBytes(p);
+            byte[] output = transformer.transform(input);
+            Files.write(p, output, StandardOpenOption.WRITE, StandardOpenOption.TRUNCATE_EXISTING);
+        }
+
+    }
+
+}