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file console source + logging dmesg/messages (#51)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,139 @@ | ||
| // Copyright (c) 2024 FRC 3256 | ||
| // https://github.com/Team3256 | ||
| // | ||
| // Use of this source code is governed by a | ||
| // license that can be found in the LICENSE file at | ||
| // the root directory of this project. | ||
|
|
||
| package frc.robot.utils; | ||
|
|
||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import java.io.BufferedReader; | ||
| import java.io.FileNotFoundException; | ||
| import java.io.FileReader; | ||
| import java.io.IOException; | ||
| import java.nio.BufferOverflowException; | ||
| import java.nio.CharBuffer; | ||
| import java.util.ArrayList; | ||
| import java.util.List; | ||
| import java.util.concurrent.ArrayBlockingQueue; | ||
| import java.util.concurrent.BlockingQueue; | ||
| import org.littletonrobotics.junction.console.ConsoleSource; | ||
|
|
||
| /** | ||
| * Reads file data on the RIO. Saves stdout to WPILog console. Useful for checking if CANivore is | ||
| * disconnected. (CANivore API is slow and blocking. Checking it in a periodic() loop will lag the | ||
| * robot.) | ||
| */ | ||
| public class FileConsoleSource implements ConsoleSource { | ||
| private final String filePath; | ||
| private final Thread thread; | ||
| private final String logName; | ||
| private final BlockingQueue<String> queue = new ArrayBlockingQueue<>(100); | ||
| private final List<String> lines = new ArrayList<>(); | ||
|
|
||
| public FileConsoleSource(String filePath) { | ||
| this.filePath = filePath; | ||
| this.logName = Integer.toHexString(this.hashCode()); | ||
| thread = new Thread(this::run, "FileConsoleSource." + Integer.toHexString(this.hashCode())); | ||
| thread.setDaemon(true); | ||
| thread.start(); | ||
| } | ||
|
|
||
| public FileConsoleSource(String filePath, String logName) { | ||
| this.filePath = filePath; | ||
| this.logName = logName; | ||
| thread = new Thread(this::run, "FileConsoleSource." + logName); | ||
| thread.setDaemon(true); | ||
| thread.start(); | ||
| } | ||
|
|
||
| public String getLogName() { | ||
| return logName; | ||
| } | ||
|
|
||
| public String getNewData() { | ||
| lines.clear(); | ||
| queue.drainTo(lines); | ||
| return String.join("\n", lines); | ||
| } | ||
|
|
||
| public void close() throws Exception { | ||
| thread.interrupt(); | ||
| } | ||
|
|
||
| private void run() { | ||
| // Initialize reader | ||
| CharBuffer buffer = CharBuffer.allocate(10240); | ||
| BufferedReader reader; | ||
| try { | ||
| reader = new BufferedReader(new FileReader(filePath)); | ||
| } catch (FileNotFoundException e) { | ||
| DriverStation.reportError( | ||
| "Failed to open console file \"" + filePath + "\", disabling console capture.", true); | ||
| return; | ||
| } | ||
|
|
||
| while (true) { | ||
| // Read new data from console | ||
| while (true) { | ||
| int nextChar = -1; | ||
| try { | ||
| nextChar = reader.read(); | ||
| } catch (IOException e) { | ||
| DriverStation.reportError( | ||
| "Failed to read console file \"" + filePath + "\", disabling console capture.", true); | ||
| try { | ||
| reader.close(); | ||
| } catch (IOException io) { | ||
| } | ||
| return; | ||
| } | ||
| if (nextChar != -1) { | ||
| try { | ||
| buffer.put((char) nextChar); | ||
| } catch (BufferOverflowException e) { | ||
| } | ||
| } else { | ||
| // Break read loop, send complete lines to queue | ||
| break; | ||
| } | ||
| } | ||
|
|
||
| // Read all complete lines | ||
| String output = null; | ||
| for (int i = buffer.position(); i > 0; i--) { | ||
| if (i < buffer.position() && buffer.get(i) == '\n') { | ||
| int originalPosition = buffer.position(); | ||
| output = new String(buffer.array(), 0, i); | ||
| buffer.rewind(); | ||
| buffer.put(buffer.array(), i + 1, buffer.limit() - i - 1); | ||
| buffer.position(originalPosition - i - 1); | ||
| break; | ||
| } | ||
| } | ||
| if (output != null) { | ||
| try { | ||
| queue.put(output); | ||
| } catch (InterruptedException e) { | ||
| try { | ||
| reader.close(); | ||
| } catch (IOException io) { | ||
| } | ||
| return; | ||
| } | ||
| } | ||
|
|
||
| // Sleep to avoid spinning needlessly | ||
| try { | ||
| Thread.sleep(20); | ||
| } catch (InterruptedException e) { | ||
| try { | ||
| reader.close(); | ||
| } catch (IOException io) { | ||
| } | ||
| return; | ||
| } | ||
| } | ||
| } | ||
| } |