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added arm sim, got around issue w/ advatagekit not detecting wpilib b…
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,136 @@ | ||
| package org.littletonrobotics.junction | ||
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| import edu.wpi.first.hal.DriverStationJNI | ||
| import edu.wpi.first.hal.FRCNetComm | ||
| import edu.wpi.first.hal.HAL | ||
| import edu.wpi.first.hal.NotifierJNI | ||
| import edu.wpi.first.wpilibj.IterativeRobotBase | ||
| import org.littletonrobotics.junction.AutoLogOutputManager | ||
| import org.littletonrobotics.junction.CheckInstall | ||
| import org.littletonrobotics.junction.Logger | ||
| import java.lang.management.GarbageCollectorMXBean | ||
| import java.lang.management.ManagementFactory | ||
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| /** | ||
| * LoggedRobot implements the IterativeRobotBase robot program framework. | ||
| * | ||
| * | ||
| * | ||
| * The LoggedRobot class is intended to be subclassed by a user creating a robot | ||
| * program, and will call all required AdvantageKit periodic methods. | ||
| * | ||
| * | ||
| * | ||
| * periodic() functions from the base class are called on an interval by a | ||
| * Notifier instance. | ||
| */ | ||
| open class MyLoggedRobot protected constructor(period: Double = defaultPeriodSecs) : | ||
| IterativeRobotBase(period) { | ||
| private val notifier = NotifierJNI.initializeNotifier() | ||
| private val periodUs = (period * 1000000).toLong() | ||
| private var nextCycleUs: Long = 0 | ||
| private val gcStatsCollector = GcStatsCollector() | ||
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| private var useTiming = true | ||
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| /** | ||
| * Constructor for LoggedRobot. | ||
| * | ||
| * @param period Period in seconds. | ||
| */ | ||
| /** Constructor for LoggedRobot. */ | ||
| init { | ||
| NotifierJNI.setNotifierName(notifier, "LoggedRobot") | ||
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| HAL.report(FRCNetComm.tResourceType.kResourceType_Framework, FRCNetComm.tInstances.kFramework_AdvantageKit) | ||
| } | ||
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| protected fun finalize() { | ||
| NotifierJNI.stopNotifier(notifier) | ||
| NotifierJNI.cleanNotifier(notifier) | ||
| } | ||
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| /** Provide an alternate "main loop" via startCompetition(). */ | ||
| override fun startCompetition() { | ||
| // Robot init methods | ||
| val initStart = Logger.getRealTimestamp() | ||
| robotInit() | ||
| if (isSimulation()) { | ||
| simulationInit() | ||
| } | ||
| val initEnd = Logger.getRealTimestamp() | ||
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| // Register auto logged outputs | ||
| AutoLogOutputManager.registerFields(this) | ||
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| // Save data from init cycle | ||
| Logger.periodicAfterUser(initEnd - initStart, 0) | ||
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| // Tell the DS that the robot is ready to be enabled | ||
| println("********** Robot program startup complete **********") | ||
| DriverStationJNI.observeUserProgramStarting() | ||
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| // Loop forever, calling the appropriate mode-dependent function | ||
| while (true) { | ||
| if (useTiming) { | ||
| val currentTimeUs = Logger.getRealTimestamp() | ||
| if (nextCycleUs < currentTimeUs) { | ||
| // Loop overrun, start next cycle immediately | ||
| nextCycleUs = currentTimeUs | ||
| } else { | ||
| // Wait before next cycle | ||
| NotifierJNI.updateNotifierAlarm(notifier, nextCycleUs) | ||
| NotifierJNI.waitForNotifierAlarm(notifier) | ||
| } | ||
| nextCycleUs += periodUs | ||
| } | ||
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| val periodicBeforeStart = Logger.getRealTimestamp() | ||
| Logger.periodicBeforeUser() | ||
| val userCodeStart = Logger.getRealTimestamp() | ||
| loopFunc() | ||
| val userCodeEnd = Logger.getRealTimestamp() | ||
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| gcStatsCollector.update() | ||
| Logger.periodicAfterUser(userCodeEnd - userCodeStart, userCodeStart - periodicBeforeStart) | ||
| } | ||
| } | ||
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| /** Ends the main loop in startCompetition(). */ | ||
| override fun endCompetition() { | ||
| NotifierJNI.stopNotifier(notifier) | ||
| } | ||
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| /** Sets whether to use standard timing or run as fast as possible. */ | ||
| fun setUseTiming(useTiming: Boolean) { | ||
| this.useTiming = useTiming | ||
| } | ||
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| private class GcStatsCollector { | ||
| private val gcBeans: List<GarbageCollectorMXBean> = ManagementFactory.getGarbageCollectorMXBeans() | ||
| private val lastTimes = LongArray(gcBeans.size) | ||
| private val lastCounts = LongArray(gcBeans.size) | ||
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| fun update() { | ||
| var accumTime: Long = 0 | ||
| var accumCounts: Long = 0 | ||
| for (i in gcBeans.indices) { | ||
| val gcTime = gcBeans[i].collectionTime | ||
| val gcCount = gcBeans[i].collectionCount | ||
| accumTime += gcTime - lastTimes[i] | ||
| accumCounts += gcCount - lastCounts[i] | ||
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| lastTimes[i] = gcTime | ||
| lastCounts[i] = gcCount | ||
| } | ||
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| Logger.recordOutput("LoggedRobot/GCTimeMS", accumTime.toDouble()) | ||
| Logger.recordOutput("LoggedRobot/GCCounts", accumCounts.toDouble()) | ||
| } | ||
| } | ||
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| companion object { | ||
| const val defaultPeriodSecs: Double = 0.02 | ||
| } | ||
| } |
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