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SticksDevSticksDev
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struct logging, a lot of refactors, more progress to a stable 1.0.
1 parent e0ded7b commit 71d96d4

23 files changed

Lines changed: 975 additions & 206 deletions

‎TelemetryKit.json‎

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@@ -2,7 +2,7 @@
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"fileName": "TelemetryKit.json",
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"name": "TelemetryKit",
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"version": "1.0.0",
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"frcYear": "2026beta",
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"frcYear": "2026",
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"uuid": "bf2eaa28-c978-45c9-8b1e-206f7620bd79",
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"mavenUrls": [],
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"jsonUrl": "",

‎publish.gradle‎

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@@ -196,7 +196,7 @@ model {
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groupId = artifactGroupId
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version = pubVersion
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}
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java(MavenPublication) {
@@ -219,3 +219,33 @@ model {
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}
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}
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}
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// Task to copy published artifacts to WPILib local maven repository
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task copyToWpilibLocal(type: Copy) {
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description = 'Copies published artifacts to wpilib/{year}/maven for local testing'
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group = 'Publishing'
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dependsOn publish
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// Read FRC year from vendordep JSON during configuration
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def vendorJson = new groovy.json.JsonSlurper().parseText(file(templateVendorFile).text)
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def frcYear = vendorJson.frcYear
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def wpilibMavenPath
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// WPILib location differs by OS:
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// Windows: C:\Users\Public\wpilib\{year}\maven
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// Unix/Mac: ~/wpilib/{year}/maven
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if (System.properties['os.name'].toLowerCase().contains('windows')) {
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wpilibMavenPath = file("C:\\Users\\Public\\wpilib\\${frcYear}\\maven")
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} else {
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wpilibMavenPath = file("${System.properties['user.home']}/wpilib/${frcYear}/maven")
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}
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from releasesRepoUrl
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into wpilibMavenPath
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doLast {
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println "Published ${baseArtifactId} to WPILib local maven: ${wpilibMavenPath}"
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println "Artifacts are now available for local robot projects to use."
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}
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}

src/main/native/cpp/LogTable.cpp renamed to src/main/native/cpp/core/LogTable.cpp

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Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
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#include "telemetrykit/LogTable.h"
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#include "telemetrykit/core/LogTable.h"
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#include <mutex>
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src/main/native/cpp/LogValue.cpp renamed to src/main/native/cpp/core/LogValue.cpp

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Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
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#include "telemetrykit/LogValue.h"
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#include "telemetrykit/core/LogValue.h"
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namespace telemetrykit {
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src/main/native/cpp/Logger.cpp renamed to src/main/native/cpp/core/Logger.cpp

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Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
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#include "telemetrykit/Logger.h"
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#include "telemetrykit/core/Logger.h"
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#include <frc/RobotController.h>
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5-
#include "telemetrykit/LogDataReceiver.h"
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#include "telemetrykit/LoggableInputs.h"
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#include "telemetrykit/receiver/LogDataReceiver.h"
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#include "telemetrykit/core/LoggableInputs.h"
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namespace telemetrykit {
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‎src/main/native/cpp/receiver/ConsoleReceiver.cpp‎

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@@ -0,0 +1,179 @@
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#include "telemetrykit/receiver/ConsoleReceiver.h"
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#include <iomanip>
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#include <sstream>
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#include "telemetrykit/core/LogTable.h"
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namespace telemetrykit {
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ConsoleReceiver::ConsoleReceiver(std::string_view prefix, bool printOnlyChanges)
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: m_prefix(prefix), m_printOnlyChanges(printOnlyChanges), m_output(std::cout) {}
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void ConsoleReceiver::OnStart() {
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m_lastValues.clear();
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m_output << m_prefix << " Logging started" << std::endl;
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}
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void ConsoleReceiver::OnUpdate(const LogTable& table, int64_t timestamp) {
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// Get all entries from the table
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auto entries = table.GetAllEntries();
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// Process each entry
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for (const auto& [key, value] : entries) {
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// Check if value has changed
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bool hasChanged = true;
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auto lastIt = m_lastValues.find(key);
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if (lastIt != m_lastValues.end()) {
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hasChanged = (lastIt->second != value);
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}
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// Skip if unchanged and we only want changes
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if (m_printOnlyChanges && !hasChanged) {
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continue;
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}
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// Print the value
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m_output << m_prefix << " "
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<< std::setw(40) << std::left << key << " = "
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<< FormatValue(value);
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// Add timestamp if changed
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if (hasChanged) {
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m_output << " (t=" << timestamp << ")";
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}
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m_output << std::endl;
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// Update last value
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m_lastValues[key] = value;
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}
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}
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void ConsoleReceiver::OnEnd() {
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m_output << m_prefix << " Logging ended" << std::endl;
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m_lastValues.clear();
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}
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std::string ConsoleReceiver::FormatValue(const LogValue& value) const {
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std::stringstream ss;
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switch (value.GetType()) {
62+
case LogType::kBoolean:
63+
ss << (value.Get<bool>() ? "true" : "false");
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break;
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case LogType::kInt64:
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ss << value.Get<int64_t>();
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break;
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case LogType::kFloat:
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ss << std::fixed << std::setprecision(3) << value.Get<float>();
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break;
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case LogType::kDouble:
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ss << std::fixed << std::setprecision(3) << value.Get<double>();
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break;
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case LogType::kString:
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ss << "\"" << value.Get<std::string>() << "\"";
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break;
81+
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case LogType::kBooleanArray: {
83+
const auto& arr = value.Get<std::vector<bool>>();
84+
ss << "[";
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for (size_t i = 0; i < arr.size(); ++i) {
86+
if (i > 0) ss << ", ";
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ss << (arr[i] ? "true" : "false");
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if (i >= 9 && arr.size() > 10) {
89+
ss << ", ... (" << arr.size() << " total)";
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break;
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}
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}
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ss << "]";
94+
break;
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}
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case LogType::kInt64Array: {
98+
const auto& arr = value.Get<std::vector<int64_t>>();
99+
ss << "[";
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for (size_t i = 0; i < arr.size(); ++i) {
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if (i > 0) ss << ", ";
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ss << arr[i];
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if (i >= 9 && arr.size() > 10) {
104+
ss << ", ... (" << arr.size() << " total)";
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break;
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}
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}
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ss << "]";
109+
break;
110+
}
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112+
case LogType::kFloatArray: {
113+
const auto& arr = value.Get<std::vector<float>>();
114+
ss << "[";
115+
for (size_t i = 0; i < arr.size(); ++i) {
116+
if (i > 0) ss << ", ";
117+
ss << std::fixed << std::setprecision(3) << arr[i];
118+
if (i >= 9 && arr.size() > 10) {
119+
ss << ", ... (" << arr.size() << " total)";
120+
break;
121+
}
122+
}
123+
ss << "]";
124+
break;
125+
}
126+
127+
case LogType::kDoubleArray: {
128+
const auto& arr = value.Get<std::vector<double>>();
129+
ss << "[";
130+
for (size_t i = 0; i < arr.size(); ++i) {
131+
if (i > 0) ss << ", ";
132+
ss << std::fixed << std::setprecision(3) << arr[i];
133+
if (i >= 9 && arr.size() > 10) {
134+
ss << ", ... (" << arr.size() << " total)";
135+
break;
136+
}
137+
}
138+
ss << "]";
139+
break;
140+
}
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142+
case LogType::kStringArray: {
143+
const auto& arr = value.Get<std::vector<std::string>>();
144+
ss << "[";
145+
for (size_t i = 0; i < arr.size(); ++i) {
146+
if (i > 0) ss << ", ";
147+
ss << "\"" << arr[i] << "\"";
148+
if (i >= 4 && arr.size() > 5) {
149+
ss << ", ... (" << arr.size() << " total)";
150+
break;
151+
}
152+
}
153+
ss << "]";
154+
break;
155+
}
156+
157+
case LogType::kRaw: {
158+
const auto& data = value.Get<std::vector<uint8_t>>();
159+
ss << "<raw: " << data.size() << " bytes>";
160+
break;
161+
}
162+
163+
case LogType::kStruct: {
164+
const auto& data = value.Get<std::vector<uint8_t>>();
165+
ss << "<struct " << value.GetTypeString() << ": " << data.size() << " bytes>";
166+
break;
167+
}
168+
169+
case LogType::kStructArray: {
170+
const auto& data = value.Get<std::vector<uint8_t>>();
171+
ss << "<struct[] " << value.GetTypeString() << ": " << data.size() << " bytes>";
172+
break;
173+
}
174+
}
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return ss.str();
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}
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} // namespace telemetrykit

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