From 10641275d0d32091b3e6ef37953d5535e5ea4320 Mon Sep 17 00:00:00 2001 From: annieisawesome2 Date: Sun, 24 May 2026 07:18:15 -0700 Subject: [PATCH 1/4] change network interface for PlotJugglerink --- src/software/constants.h | 1 + .../embedded/robot_diagnostics_cli/embedded_data.py | 3 +++ .../robot_diagnostics_cli/robot_diagnostics_cli.py | 5 +++++ src/software/embedded/thunderloop.cpp | 10 +++++++++- .../embedded/toml_config/toml_config_client.cpp | 1 + .../toml_config/toml_config_client_test.cpp | 1 + src/software/logger/network_logger.cpp | 13 ++++++++----- src/software/logger/network_logger.h | 6 ++++-- src/software/py_constants.cpp | 2 ++ 9 files changed, 34 insertions(+), 8 deletions(-) diff --git a/src/software/constants.h b/src/software/constants.h index d1592e54b1..44f08252e9 100644 --- a/src/software/constants.h +++ b/src/software/constants.h @@ -48,6 +48,7 @@ static const double BALL_TO_FRONT_OF_ROBOT_DISTANCE_WHEN_DRIBBLING = const std::string ROBOT_ID_CONFIG_KEY = "robot_id"; const std::string ROBOT_MULTICAST_CHANNEL_CONFIG_KEY = "channel_id"; const std::string ROBOT_NETWORK_INTERFACE_CONFIG_KEY = "network_interface"; +const std::string ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY = "plot_juggler_interface"; const std::string ROBOT_KICK_CONSTANT_CONFIG_KEY = "kick_constant"; const std::string ROBOT_KICK_EXP_COEFF_CONFIG_KEY = "kick_coeff"; const std::string ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY = "chip_pulse_width"; diff --git a/src/software/embedded/robot_diagnostics_cli/embedded_data.py b/src/software/embedded/robot_diagnostics_cli/embedded_data.py index 1633c19036..9573a716ab 100644 --- a/src/software/embedded/robot_diagnostics_cli/embedded_data.py +++ b/src/software/embedded/robot_diagnostics_cli/embedded_data.py @@ -52,6 +52,9 @@ def get_robot_id(self) -> str: def get_network_interface(self) -> str: return self._get_value(ROBOT_NETWORK_INTERFACE_CONFIG_KEY) + def get_plot_juggler_interface(self) -> str: + return self._get_value(ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY) + def get_channel_id(self) -> str: return self._get_value(ROBOT_MULTICAST_CHANNEL_CONFIG_KEY) diff --git a/src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py b/src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py index 3341780204..a98a0ad0b9 100644 --- a/src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py +++ b/src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py @@ -146,6 +146,11 @@ def __generate_config_table(self) -> Table: f"{ROBOT_NETWORK_INTERFACE_CONFIG_KEY}", self.embedded_data.get_network_interface(), ) + table.add_row( + "PlotJuggler Interface", + f"{ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY}", + self.embedded_data.get_plot_juggler_interface(), + ) table.add_row( "Kick Constant", f"{ROBOT_KICK_CONSTANT_CONFIG_KEY}", diff --git a/src/software/embedded/thunderloop.cpp b/src/software/embedded/thunderloop.cpp index b8a440a683..6eb97cb58c 100644 --- a/src/software/embedded/thunderloop.cpp +++ b/src/software/embedded/thunderloop.cpp @@ -8,6 +8,7 @@ #include "proto/robot_status_msg.pb.h" #include "proto/tbots_software_msgs.pb.h" #include "shared/constants.h" +#include "software/constants.h" #include "software/embedded/primitive_executor.h" #include "software/embedded/services/motor.h" #include "software/logger/logger.h" @@ -88,7 +89,14 @@ Thunderloop::Thunderloop(const robot_constants::RobotConstants& robot_constants, waitForNetworkUp(); g3::overrideSetupSignals({}); - NetworkLoggerSingleton::initializeLogger(robot_id_, enable_log_merging); + std::string plot_juggler_interface = + toml_config_client_->get(ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY); + if (plot_juggler_interface.empty()) + { + plot_juggler_interface = "tbotswifi5"; + } + NetworkLoggerSingleton::initializeLogger(robot_id_, enable_log_merging, + plot_juggler_interface); // catch all catch-able signals std::signal(SIGSEGV, tbotsExit); diff --git a/src/software/embedded/toml_config/toml_config_client.cpp b/src/software/embedded/toml_config/toml_config_client.cpp index babaa2e2e5..bd6fea43f4 100644 --- a/src/software/embedded/toml_config/toml_config_client.cpp +++ b/src/software/embedded/toml_config/toml_config_client.cpp @@ -41,6 +41,7 @@ void TomlConfigClient::loadConfig() {"robot_id", "1"}, {"channel_id", "0"}, {"network_interface", "tbotswifi5"}, + {"plot_juggler_interface", "tbotswifi5"}, {"kick_constant", "0"}, {"kick_coeff", "0.0"}, {"chip_pulse_width", "0"}, diff --git a/src/software/embedded/toml_config/toml_config_client_test.cpp b/src/software/embedded/toml_config/toml_config_client_test.cpp index 8f561785d1..4ce9c95c7b 100644 --- a/src/software/embedded/toml_config/toml_config_client_test.cpp +++ b/src/software/embedded/toml_config/toml_config_client_test.cpp @@ -29,6 +29,7 @@ TEST_F(TomlConfigClientTest, create_with_nonexistent_file_creates_default_config EXPECT_EQ(client.get("robot_id"), "1"); EXPECT_EQ(client.get("channel_id"), "0"); EXPECT_EQ(client.get("network_interface"), "tbotswifi5"); + EXPECT_EQ(client.get("plot_juggler_interface"), "tbotswifi5"); } TEST_F(TomlConfigClientTest, get_nonexistent_key_returns_empty_string) diff --git a/src/software/logger/network_logger.cpp b/src/software/logger/network_logger.cpp index 518050305f..ff8fb2f043 100644 --- a/src/software/logger/network_logger.cpp +++ b/src/software/logger/network_logger.cpp @@ -5,7 +5,8 @@ std::shared_ptr NetworkLoggerSingleton::instance; -NetworkLoggerSingleton::NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging) +NetworkLoggerSingleton::NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging, + const std::string& plot_juggler_interface) { logWorker = g3::LogWorker::createLogWorker(); @@ -21,18 +22,20 @@ NetworkLoggerSingleton::NetworkLoggerSingleton(RobotId robot_id, bool enable_log logWorker->addSink(std::make_unique(CSV_PATH), &CSVSink::appendToFile); // Sink for PlotJuggler plotting - auto plotjuggler_handle = logWorker->addSink(std::make_unique(), - &PlotJugglerSink::sendToPlotJuggler); + auto plotjuggler_handle = + logWorker->addSink(std::make_unique(plot_juggler_interface), + &PlotJugglerSink::sendToPlotJuggler); g3::initializeLogging(logWorker.get()); } -void NetworkLoggerSingleton::initializeLogger(RobotId robot_id, bool enable_log_merging) +void NetworkLoggerSingleton::initializeLogger(RobotId robot_id, bool enable_log_merging, + const std::string& plot_juggler_interface) { if (!instance) { NetworkLoggerSingleton::instance = std::shared_ptr( - new NetworkLoggerSingleton(robot_id, enable_log_merging)); + new NetworkLoggerSingleton(robot_id, enable_log_merging, plot_juggler_interface)); } } diff --git a/src/software/logger/network_logger.h b/src/software/logger/network_logger.h index eec4a4b302..867d3ee6c9 100644 --- a/src/software/logger/network_logger.h +++ b/src/software/logger/network_logger.h @@ -21,7 +21,8 @@ class NetworkLoggerSingleton * Initializes a g3log logger for the calling program. This should only be * called once at the start of a program. */ - static void initializeLogger(RobotId robot_id, bool enable_log_merging); + static void initializeLogger(RobotId robot_id, bool enable_log_merging, + const std::string& plot_juggler_interface = "tbotswifi5"); /** * Updates the underlying UDP sender associated with this network sink. Useful when a @@ -31,7 +32,8 @@ class NetworkLoggerSingleton std::shared_ptr> new_sender); private: - NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging); + NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging, + const std::string& plot_juggler_interface); std::unique_ptr logWorker; std::unique_ptr> network_sink_handle; diff --git a/src/software/py_constants.cpp b/src/software/py_constants.cpp index c2cec7259b..73bc65aa75 100644 --- a/src/software/py_constants.cpp +++ b/src/software/py_constants.cpp @@ -149,6 +149,8 @@ PYBIND11_MODULE(py_constants, m) m.attr("ROBOT_ID_CONFIG_KEY") = ROBOT_ID_CONFIG_KEY; m.attr("ROBOT_MULTICAST_CHANNEL_CONFIG_KEY") = ROBOT_MULTICAST_CHANNEL_CONFIG_KEY; m.attr("ROBOT_NETWORK_INTERFACE_CONFIG_KEY") = ROBOT_NETWORK_INTERFACE_CONFIG_KEY; + m.attr("ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY") = + ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY; m.attr("ROBOT_KICK_CONSTANT_CONFIG_KEY") = ROBOT_KICK_CONSTANT_CONFIG_KEY; m.attr("ROBOT_KICK_EXP_COEFF_CONFIG_KEY") = ROBOT_KICK_EXP_COEFF_CONFIG_KEY; m.attr("ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY") = ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY; From fd0c9e547e84fc42ae1a8611c2581cade63022c4 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci-lite[bot]" <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Date: Sun, 24 May 2026 14:31:20 +0000 Subject: [PATCH 2/4] [pre-commit.ci lite] apply automatic fixes --- src/software/constants.h | 12 ++++++------ src/software/logger/network_logger.cpp | 5 +++-- src/software/logger/network_logger.h | 5 +++-- src/software/py_constants.cpp | 8 ++++---- 4 files changed, 16 insertions(+), 14 deletions(-) diff --git a/src/software/constants.h b/src/software/constants.h index 44f08252e9..3898a80f2c 100644 --- a/src/software/constants.h +++ b/src/software/constants.h @@ -45,13 +45,13 @@ static const double BALL_TO_FRONT_OF_ROBOT_DISTANCE_WHEN_DRIBBLING = 2 * BALL_MAX_RADIUS_METERS * MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT; // TOML Config Keys -const std::string ROBOT_ID_CONFIG_KEY = "robot_id"; -const std::string ROBOT_MULTICAST_CHANNEL_CONFIG_KEY = "channel_id"; -const std::string ROBOT_NETWORK_INTERFACE_CONFIG_KEY = "network_interface"; +const std::string ROBOT_ID_CONFIG_KEY = "robot_id"; +const std::string ROBOT_MULTICAST_CHANNEL_CONFIG_KEY = "channel_id"; +const std::string ROBOT_NETWORK_INTERFACE_CONFIG_KEY = "network_interface"; const std::string ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY = "plot_juggler_interface"; -const std::string ROBOT_KICK_CONSTANT_CONFIG_KEY = "kick_constant"; -const std::string ROBOT_KICK_EXP_COEFF_CONFIG_KEY = "kick_coeff"; -const std::string ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY = "chip_pulse_width"; +const std::string ROBOT_KICK_CONSTANT_CONFIG_KEY = "kick_constant"; +const std::string ROBOT_KICK_EXP_COEFF_CONFIG_KEY = "kick_coeff"; +const std::string ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY = "chip_pulse_width"; const std::string SSL_VISION_ADDRESS = "224.5.23.2"; static constexpr unsigned int SSL_VISION_PORT = 10020; diff --git a/src/software/logger/network_logger.cpp b/src/software/logger/network_logger.cpp index ff8fb2f043..0d702ed13d 100644 --- a/src/software/logger/network_logger.cpp +++ b/src/software/logger/network_logger.cpp @@ -34,8 +34,9 @@ void NetworkLoggerSingleton::initializeLogger(RobotId robot_id, bool enable_log_ { if (!instance) { - NetworkLoggerSingleton::instance = std::shared_ptr( - new NetworkLoggerSingleton(robot_id, enable_log_merging, plot_juggler_interface)); + NetworkLoggerSingleton::instance = + std::shared_ptr(new NetworkLoggerSingleton( + robot_id, enable_log_merging, plot_juggler_interface)); } } diff --git a/src/software/logger/network_logger.h b/src/software/logger/network_logger.h index 867d3ee6c9..924b10e4d9 100644 --- a/src/software/logger/network_logger.h +++ b/src/software/logger/network_logger.h @@ -21,8 +21,9 @@ class NetworkLoggerSingleton * Initializes a g3log logger for the calling program. This should only be * called once at the start of a program. */ - static void initializeLogger(RobotId robot_id, bool enable_log_merging, - const std::string& plot_juggler_interface = "tbotswifi5"); + static void initializeLogger( + RobotId robot_id, bool enable_log_merging, + const std::string& plot_juggler_interface = "tbotswifi5"); /** * Updates the underlying UDP sender associated with this network sink. Useful when a diff --git a/src/software/py_constants.cpp b/src/software/py_constants.cpp index 73bc65aa75..924898f96e 100644 --- a/src/software/py_constants.cpp +++ b/src/software/py_constants.cpp @@ -151,10 +151,10 @@ PYBIND11_MODULE(py_constants, m) m.attr("ROBOT_NETWORK_INTERFACE_CONFIG_KEY") = ROBOT_NETWORK_INTERFACE_CONFIG_KEY; m.attr("ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY") = ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY; - m.attr("ROBOT_KICK_CONSTANT_CONFIG_KEY") = ROBOT_KICK_CONSTANT_CONFIG_KEY; - m.attr("ROBOT_KICK_EXP_COEFF_CONFIG_KEY") = ROBOT_KICK_EXP_COEFF_CONFIG_KEY; - m.attr("ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY") = ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY; - m.attr("TOML_CONFIG_FILE_PATH") = TOML_CONFIG_FILE_PATH; + m.attr("ROBOT_KICK_CONSTANT_CONFIG_KEY") = ROBOT_KICK_CONSTANT_CONFIG_KEY; + m.attr("ROBOT_KICK_EXP_COEFF_CONFIG_KEY") = ROBOT_KICK_EXP_COEFF_CONFIG_KEY; + m.attr("ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY") = ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY; + m.attr("TOML_CONFIG_FILE_PATH") = TOML_CONFIG_FILE_PATH; // Robot power constants m.attr("MIN_CAPACITOR_VOLTAGE") = MIN_CAPACITOR_VOLTAGE; From 479fd282d5e96c7bd39f6e51f1c4ecea5da82f47 Mon Sep 17 00:00:00 2001 From: annieisawesome2 Date: Sun, 24 May 2026 12:10:05 -0700 Subject: [PATCH 3/4] use network_interface only --- src/software/constants.h | 5 ++--- .../embedded/robot_diagnostics_cli/embedded_data.py | 3 --- .../robot_diagnostics_cli/robot_diagnostics_cli.py | 5 ----- src/software/embedded/thunderloop.cpp | 8 +------- src/software/embedded/toml_config/toml_config_client.cpp | 1 - .../embedded/toml_config/toml_config_client_test.cpp | 1 - src/software/logger/network_logger.cpp | 8 ++++---- src/software/logger/network_logger.h | 4 ++-- src/software/py_constants.cpp | 2 -- 9 files changed, 9 insertions(+), 28 deletions(-) diff --git a/src/software/constants.h b/src/software/constants.h index 3898a80f2c..1af61b0802 100644 --- a/src/software/constants.h +++ b/src/software/constants.h @@ -47,9 +47,8 @@ static const double BALL_TO_FRONT_OF_ROBOT_DISTANCE_WHEN_DRIBBLING = // TOML Config Keys const std::string ROBOT_ID_CONFIG_KEY = "robot_id"; const std::string ROBOT_MULTICAST_CHANNEL_CONFIG_KEY = "channel_id"; -const std::string ROBOT_NETWORK_INTERFACE_CONFIG_KEY = "network_interface"; -const std::string ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY = "plot_juggler_interface"; -const std::string ROBOT_KICK_CONSTANT_CONFIG_KEY = "kick_constant"; +const std::string ROBOT_NETWORK_INTERFACE_CONFIG_KEY = "network_interface"; +const std::string ROBOT_KICK_CONSTANT_CONFIG_KEY = "kick_constant"; const std::string ROBOT_KICK_EXP_COEFF_CONFIG_KEY = "kick_coeff"; const std::string ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY = "chip_pulse_width"; diff --git a/src/software/embedded/robot_diagnostics_cli/embedded_data.py b/src/software/embedded/robot_diagnostics_cli/embedded_data.py index 9573a716ab..1633c19036 100644 --- a/src/software/embedded/robot_diagnostics_cli/embedded_data.py +++ b/src/software/embedded/robot_diagnostics_cli/embedded_data.py @@ -52,9 +52,6 @@ def get_robot_id(self) -> str: def get_network_interface(self) -> str: return self._get_value(ROBOT_NETWORK_INTERFACE_CONFIG_KEY) - def get_plot_juggler_interface(self) -> str: - return self._get_value(ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY) - def get_channel_id(self) -> str: return self._get_value(ROBOT_MULTICAST_CHANNEL_CONFIG_KEY) diff --git a/src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py b/src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py index a98a0ad0b9..3341780204 100644 --- a/src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py +++ b/src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py @@ -146,11 +146,6 @@ def __generate_config_table(self) -> Table: f"{ROBOT_NETWORK_INTERFACE_CONFIG_KEY}", self.embedded_data.get_network_interface(), ) - table.add_row( - "PlotJuggler Interface", - f"{ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY}", - self.embedded_data.get_plot_juggler_interface(), - ) table.add_row( "Kick Constant", f"{ROBOT_KICK_CONSTANT_CONFIG_KEY}", diff --git a/src/software/embedded/thunderloop.cpp b/src/software/embedded/thunderloop.cpp index 6eb97cb58c..00a76d5717 100644 --- a/src/software/embedded/thunderloop.cpp +++ b/src/software/embedded/thunderloop.cpp @@ -89,14 +89,8 @@ Thunderloop::Thunderloop(const robot_constants::RobotConstants& robot_constants, waitForNetworkUp(); g3::overrideSetupSignals({}); - std::string plot_juggler_interface = - toml_config_client_->get(ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY); - if (plot_juggler_interface.empty()) - { - plot_juggler_interface = "tbotswifi5"; - } NetworkLoggerSingleton::initializeLogger(robot_id_, enable_log_merging, - plot_juggler_interface); + network_interface_); // catch all catch-able signals std::signal(SIGSEGV, tbotsExit); diff --git a/src/software/embedded/toml_config/toml_config_client.cpp b/src/software/embedded/toml_config/toml_config_client.cpp index bd6fea43f4..babaa2e2e5 100644 --- a/src/software/embedded/toml_config/toml_config_client.cpp +++ b/src/software/embedded/toml_config/toml_config_client.cpp @@ -41,7 +41,6 @@ void TomlConfigClient::loadConfig() {"robot_id", "1"}, {"channel_id", "0"}, {"network_interface", "tbotswifi5"}, - {"plot_juggler_interface", "tbotswifi5"}, {"kick_constant", "0"}, {"kick_coeff", "0.0"}, {"chip_pulse_width", "0"}, diff --git a/src/software/embedded/toml_config/toml_config_client_test.cpp b/src/software/embedded/toml_config/toml_config_client_test.cpp index 4ce9c95c7b..8f561785d1 100644 --- a/src/software/embedded/toml_config/toml_config_client_test.cpp +++ b/src/software/embedded/toml_config/toml_config_client_test.cpp @@ -29,7 +29,6 @@ TEST_F(TomlConfigClientTest, create_with_nonexistent_file_creates_default_config EXPECT_EQ(client.get("robot_id"), "1"); EXPECT_EQ(client.get("channel_id"), "0"); EXPECT_EQ(client.get("network_interface"), "tbotswifi5"); - EXPECT_EQ(client.get("plot_juggler_interface"), "tbotswifi5"); } TEST_F(TomlConfigClientTest, get_nonexistent_key_returns_empty_string) diff --git a/src/software/logger/network_logger.cpp b/src/software/logger/network_logger.cpp index 0d702ed13d..ab9c0fb2d1 100644 --- a/src/software/logger/network_logger.cpp +++ b/src/software/logger/network_logger.cpp @@ -6,7 +6,7 @@ std::shared_ptr NetworkLoggerSingleton::instance; NetworkLoggerSingleton::NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging, - const std::string& plot_juggler_interface) + const std::string& network_interface) { logWorker = g3::LogWorker::createLogWorker(); @@ -23,20 +23,20 @@ NetworkLoggerSingleton::NetworkLoggerSingleton(RobotId robot_id, bool enable_log // Sink for PlotJuggler plotting auto plotjuggler_handle = - logWorker->addSink(std::make_unique(plot_juggler_interface), + logWorker->addSink(std::make_unique(network_interface), &PlotJugglerSink::sendToPlotJuggler); g3::initializeLogging(logWorker.get()); } void NetworkLoggerSingleton::initializeLogger(RobotId robot_id, bool enable_log_merging, - const std::string& plot_juggler_interface) + const std::string& network_interface) { if (!instance) { NetworkLoggerSingleton::instance = std::shared_ptr(new NetworkLoggerSingleton( - robot_id, enable_log_merging, plot_juggler_interface)); + robot_id, enable_log_merging, network_interface)); } } diff --git a/src/software/logger/network_logger.h b/src/software/logger/network_logger.h index 924b10e4d9..a2906635e8 100644 --- a/src/software/logger/network_logger.h +++ b/src/software/logger/network_logger.h @@ -23,7 +23,7 @@ class NetworkLoggerSingleton */ static void initializeLogger( RobotId robot_id, bool enable_log_merging, - const std::string& plot_juggler_interface = "tbotswifi5"); + const std::string& network_interface = "tbotswifi5"); /** * Updates the underlying UDP sender associated with this network sink. Useful when a @@ -34,7 +34,7 @@ class NetworkLoggerSingleton private: NetworkLoggerSingleton(RobotId robot_id, bool enable_log_merging, - const std::string& plot_juggler_interface); + const std::string& network_interface); std::unique_ptr logWorker; std::unique_ptr> network_sink_handle; diff --git a/src/software/py_constants.cpp b/src/software/py_constants.cpp index 924898f96e..61e259d9a1 100644 --- a/src/software/py_constants.cpp +++ b/src/software/py_constants.cpp @@ -149,8 +149,6 @@ PYBIND11_MODULE(py_constants, m) m.attr("ROBOT_ID_CONFIG_KEY") = ROBOT_ID_CONFIG_KEY; m.attr("ROBOT_MULTICAST_CHANNEL_CONFIG_KEY") = ROBOT_MULTICAST_CHANNEL_CONFIG_KEY; m.attr("ROBOT_NETWORK_INTERFACE_CONFIG_KEY") = ROBOT_NETWORK_INTERFACE_CONFIG_KEY; - m.attr("ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY") = - ROBOT_PLOT_JUGGLER_INTERFACE_CONFIG_KEY; m.attr("ROBOT_KICK_CONSTANT_CONFIG_KEY") = ROBOT_KICK_CONSTANT_CONFIG_KEY; m.attr("ROBOT_KICK_EXP_COEFF_CONFIG_KEY") = ROBOT_KICK_EXP_COEFF_CONFIG_KEY; m.attr("ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY") = ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY; From a31510bc3537a70a31d73cf54ca77c40a616f1b4 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci-lite[bot]" <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Date: Sun, 24 May 2026 19:15:59 +0000 Subject: [PATCH 4/4] [pre-commit.ci lite] apply automatic fixes --- src/software/constants.h | 8 ++++---- src/software/logger/network_logger.cpp | 5 ++--- src/software/logger/network_logger.h | 5 ++--- src/software/py_constants.cpp | 8 ++++---- 4 files changed, 12 insertions(+), 14 deletions(-) diff --git a/src/software/constants.h b/src/software/constants.h index 1af61b0802..d1592e54b1 100644 --- a/src/software/constants.h +++ b/src/software/constants.h @@ -45,12 +45,12 @@ static const double BALL_TO_FRONT_OF_ROBOT_DISTANCE_WHEN_DRIBBLING = 2 * BALL_MAX_RADIUS_METERS * MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT; // TOML Config Keys -const std::string ROBOT_ID_CONFIG_KEY = "robot_id"; -const std::string ROBOT_MULTICAST_CHANNEL_CONFIG_KEY = "channel_id"; +const std::string ROBOT_ID_CONFIG_KEY = "robot_id"; +const std::string ROBOT_MULTICAST_CHANNEL_CONFIG_KEY = "channel_id"; const std::string ROBOT_NETWORK_INTERFACE_CONFIG_KEY = "network_interface"; const std::string ROBOT_KICK_CONSTANT_CONFIG_KEY = "kick_constant"; -const std::string ROBOT_KICK_EXP_COEFF_CONFIG_KEY = "kick_coeff"; -const std::string ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY = "chip_pulse_width"; +const std::string ROBOT_KICK_EXP_COEFF_CONFIG_KEY = "kick_coeff"; +const std::string ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY = "chip_pulse_width"; const std::string SSL_VISION_ADDRESS = "224.5.23.2"; static constexpr unsigned int SSL_VISION_PORT = 10020; diff --git a/src/software/logger/network_logger.cpp b/src/software/logger/network_logger.cpp index ab9c0fb2d1..f14ed77157 100644 --- a/src/software/logger/network_logger.cpp +++ b/src/software/logger/network_logger.cpp @@ -34,9 +34,8 @@ void NetworkLoggerSingleton::initializeLogger(RobotId robot_id, bool enable_log_ { if (!instance) { - NetworkLoggerSingleton::instance = - std::shared_ptr(new NetworkLoggerSingleton( - robot_id, enable_log_merging, network_interface)); + NetworkLoggerSingleton::instance = std::shared_ptr( + new NetworkLoggerSingleton(robot_id, enable_log_merging, network_interface)); } } diff --git a/src/software/logger/network_logger.h b/src/software/logger/network_logger.h index a2906635e8..7fe021b845 100644 --- a/src/software/logger/network_logger.h +++ b/src/software/logger/network_logger.h @@ -21,9 +21,8 @@ class NetworkLoggerSingleton * Initializes a g3log logger for the calling program. This should only be * called once at the start of a program. */ - static void initializeLogger( - RobotId robot_id, bool enable_log_merging, - const std::string& network_interface = "tbotswifi5"); + static void initializeLogger(RobotId robot_id, bool enable_log_merging, + const std::string& network_interface = "tbotswifi5"); /** * Updates the underlying UDP sender associated with this network sink. Useful when a diff --git a/src/software/py_constants.cpp b/src/software/py_constants.cpp index 61e259d9a1..c2cec7259b 100644 --- a/src/software/py_constants.cpp +++ b/src/software/py_constants.cpp @@ -149,10 +149,10 @@ PYBIND11_MODULE(py_constants, m) m.attr("ROBOT_ID_CONFIG_KEY") = ROBOT_ID_CONFIG_KEY; m.attr("ROBOT_MULTICAST_CHANNEL_CONFIG_KEY") = ROBOT_MULTICAST_CHANNEL_CONFIG_KEY; m.attr("ROBOT_NETWORK_INTERFACE_CONFIG_KEY") = ROBOT_NETWORK_INTERFACE_CONFIG_KEY; - m.attr("ROBOT_KICK_CONSTANT_CONFIG_KEY") = ROBOT_KICK_CONSTANT_CONFIG_KEY; - m.attr("ROBOT_KICK_EXP_COEFF_CONFIG_KEY") = ROBOT_KICK_EXP_COEFF_CONFIG_KEY; - m.attr("ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY") = ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY; - m.attr("TOML_CONFIG_FILE_PATH") = TOML_CONFIG_FILE_PATH; + m.attr("ROBOT_KICK_CONSTANT_CONFIG_KEY") = ROBOT_KICK_CONSTANT_CONFIG_KEY; + m.attr("ROBOT_KICK_EXP_COEFF_CONFIG_KEY") = ROBOT_KICK_EXP_COEFF_CONFIG_KEY; + m.attr("ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY") = ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY; + m.attr("TOML_CONFIG_FILE_PATH") = TOML_CONFIG_FILE_PATH; // Robot power constants m.attr("MIN_CAPACITOR_VOLTAGE") = MIN_CAPACITOR_VOLTAGE;