Add draft version of shimless replay

Mechanical-Advantage · Nov 2, 2024 · 7208ed1 · 7208ed1
1 parent e004975
commit 7208ed1
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Showing 9 changed files with 169 additions and 652 deletions.
diff --git a/docs/docs/installation/index.md b/docs/docs/installation/index.md
@@ -38,16 +38,6 @@ repositories {
     mavenLocal()
 }
 
-configurations.all {
-    exclude group: "edu.wpi.first.wpilibj"
-}
-
-task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
-    mainClass = "org.littletonrobotics.junction.CheckInstall"
-    classpath = sourceSets.main.runtimeClasspath
-}
-compileJava.finalizedBy checkAkitInstall
-
 dependencies {
     // ...
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)

diff --git a/example_projects/wpilib_build_file/build.gradle b/example_projects/wpilib_build_file/build.gradle
@@ -61,16 +61,6 @@ repositories {
     mavenLocal()
 }
 
-configurations.all {
-    exclude group: "edu.wpi.first.wpilibj"
-}
-
-task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
-    mainClass = "org.littletonrobotics.junction.CheckInstall"
-    classpath = sourceSets.main.runtimeClasspath
-}
-compileJava.finalizedBy checkAkitInstall
-
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {

diff --git a/junction/core/src/org/littletonrobotics/junction/CheckInstall.java b/junction/core/src/org/littletonrobotics/junction/CheckInstall.java
diff --git a/junction/core/src/org/littletonrobotics/junction/LoggedRobot.java b/junction/core/src/org/littletonrobotics/junction/LoggedRobot.java
@@ -73,11 +73,6 @@ protected void finalize() {
   @Override
   @SuppressWarnings("UnsafeFinalization")
   public void startCompetition() {
-    // Check for invalid AdvantageKit install in sim
-    if (isSimulation()) {
-      CheckInstall.run();
-    }
-
     // Robot init methods
     long initStart = Logger.getRealTimestamp();
     robotInit();
@@ -141,7 +136,7 @@ private static final class GcStatsCollector {
     private List<GarbageCollectorMXBean> gcBeans = ManagementFactory.getGarbageCollectorMXBeans();
     private final long[] lastTimes = new long[gcBeans.size()];
     private final long[] lastCounts = new long[gcBeans.size()];
-  
+
     public void update() {
       long accumTime = 0;
       long accumCounts = 0;
@@ -150,11 +145,11 @@ public void update() {
         long gcCount = gcBeans.get(i).getCollectionCount();
         accumTime += gcTime - lastTimes[i];
         accumCounts += gcCount - lastCounts[i];
-  
+
         lastTimes[i] = gcTime;
         lastCounts[i] = gcCount;
       }
-  
+
       Logger.recordOutput("LoggedRobot/GCTimeMS", (double) accumTime);
       Logger.recordOutput("LoggedRobot/GCCounts", (double) accumCounts);
     }

diff --git a/junction/core/src/org/littletonrobotics/junction/Logger.java b/junction/core/src/org/littletonrobotics/junction/Logger.java
@@ -263,13 +263,18 @@ static void periodicBeforeUser() {
         }
       }
 
+      // Update Driver Station
+      long dsStart = getRealTimestamp();
+      if (hasReplaySource()) {
+        LoggedDriverStation.replayFromLog(entry.getSubtable("DriverStation"));
+      }
+
       // Update default inputs
       long saveDataStart = getRealTimestamp();
-      LoggedDriverStation.periodic();
-      LoggedSystemStats.periodic();
+      LoggedSystemStats.periodic(entry.getSubtable("SystemStats"));
       LoggedPowerDistribution loggedPowerDistribution = LoggedPowerDistribution.getInstance();
       if (loggedPowerDistribution != null) {
-        loggedPowerDistribution.periodic();
+        loggedPowerDistribution.periodic(entry.getSubtable("PowerDistribution"));
       }
       for (int i = 0; i < dashboardInputs.size(); i++) {
         dashboardInputs.get(i).periodic();
@@ -300,18 +305,12 @@ static void periodicBeforeUser() {
       long saveDataEnd = getRealTimestamp();
 
       // Log output data
+      if (hasReplaySource()) {
+        recordOutput("Logger/DriverStationPeriodicMS", (saveDataEnd - saveDataStart) / 1000.0);
+      }
       recordOutput("Logger/ConduitPeriodicMS", (conduitCaptureEnd - conduitCaptureStart) / 1000.0);
-      recordOutput("Logger/SavePeriodicMS", (saveDataEnd - saveDataStart) / 1000.0);
+      recordOutput("Logger/SavePeriodicMS", (saveDataStart - dsStart) / 1000.0);
       recordOutput("Logger/QueuedCycles", receiverQueue.size());
-    } else {
-      // Retrieve new data even if logger is disabled
-      ConduitApi.getInstance().captureData();
-      LoggedDriverStation.periodic();
-      LoggedPowerDistribution loggedPowerDistribution = LoggedPowerDistribution.getInstance();
-      if (loggedPowerDistribution != null) {
-        loggedPowerDistribution.periodic();
-      }
-      LoggedSystemStats.periodic();
     }
   }
 
@@ -322,6 +321,12 @@ static void periodicBeforeUser() {
    */
   static void periodicAfterUser(long userCodeLength, long periodicBeforeLength) {
     if (running) {
+      // Update Driver Station
+      long dsStart = getRealTimestamp();
+      if (!hasReplaySource()) {
+        LoggedDriverStation.saveToLog(entry.getSubtable("DriverStation"));
+      }
+
       // Update final outputs
       long autoLogStart = getRealTimestamp();
       AutoLogOutputManager.periodic();
@@ -337,6 +342,9 @@ static void periodicAfterUser(long userCodeLength, long periodicBeforeLength) {
       long consoleCaptureEnd = getRealTimestamp();
 
       // Record timing data
+      if (!hasReplaySource()) {
+        recordOutput("Logger/DriverStationPeriodicMS", (autoLogStart - dsStart) / 1000.0);
+      }
       recordOutput("Logger/AutoLogPeriodicMS", (alertLogStart - autoLogStart) / 1000.0);
       recordOutput("Logger/AlertLogPeriodicMS", (consoleCaptureStart - alertLogStart) / 1000.0);
       recordOutput("Logger/ConsolePeriodicMS", (consoleCaptureEnd - consoleCaptureStart) / 1000.0);