[telemetry, tunable] Add new Telemetry and Tunable implementations

Author: PeterJohnson

CMakeLists.txt

@@ -288,6 +288,7 @@ set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 set(DATALOG_DEP_REPLACE "find_dependency(datalog)")
 add_subdirectory(wpiutil)
 
+add_subdirectory(telemetry)
 add_subdirectory(datalog)
 
 if(WITH_NTCORE)

README-CMake.md

@@ -38,6 +38,8 @@ If you want JNI and Java, you will need a JDK of at least version 21 installed.
 
 If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
 
+Building the GUI on Linux requires libxcursor-dev, libxrandr-dev, libxinerama-dev, libxi-dev, and libgl-dev.
+
 ## Build Options
 
 The following build options are available:

apriltag/build.gradle

@@ -103,6 +103,7 @@ model {
                 return
             }
             it.cppCompiler.define 'WPILIB_EXPORTS'
+            lib project: ':telemetry', library: 'telemetry', linkage: 'shared'
             lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }

commandsv2/BUILD.bazel

@@ -113,6 +113,7 @@ wpilib_java_library(
         "//cscore:cscore-java",
         "//hal:hal-java",
         "//ntcore:ntcore-java",
+        "//telemetry:telemetry-java",
         "//wpiannotations",
         "//wpilibj:wpilibj-java",
         "//wpimath:wpimath-java",
@@ -148,6 +149,7 @@ wpilib_java_junit5_test(
         ":commandsv2-java",
         "//hal:hal-java",
         "//ntcore:ntcore-java",
+        "//telemetry:telemetry-java",
         "//wpiannotations",
         "//wpilibj:wpilibj-java",
         "//wpimath:wpimath-java",

commandsv2/CMakeLists.txt

@@ -18,6 +18,8 @@ if(WITH_JAVA)
             ${JACKSON_JARS}
             cscore_jar
             cameraserver_jar
+            datalog_jar
+            telemetry_jar
             wpimath_jar
             wpiunits_jar
             wpiutil_jar

commandsv2/build.gradle

@@ -10,6 +10,8 @@ evaluationDependsOn(':wpimath')
 evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':cameraserver')
 evaluationDependsOn(':wpilibj')
+evaluationDependsOn(':datalog')
+evaluationDependsOn(':telemetry')
 
 apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 
@@ -22,7 +24,8 @@ dependencies {
     implementation project(':wpimath')
     implementation project(':wpilibj')
     implementation project(':wpiannotations')
-    api project(':datalog')
+    implementation project(':datalog')
+    implementation project(':telemetry')
     testImplementation 'org.mockito:mockito-core:4.1.0'
     annotationProcessor project(':javacPlugin')
     testAnnotationProcessor project(':javacPlugin')

commandsv2/src/main/java/org/wpilib/command2/SubsystemBase.java

@@ -4,23 +4,21 @@
 
 package org.wpilib.command2;
 
-import org.wpilib.util.sendable.Sendable;
-import org.wpilib.util.sendable.SendableBuilder;
-import org.wpilib.util.sendable.SendableRegistry;
+import org.wpilib.telemetry.TelemetryLoggable;
+import org.wpilib.telemetry.TelemetryTable;
 
 /**
  * A base for subsystems that handles registration in the constructor, and provides a more intuitive
  * method for setting the default command.
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public abstract class SubsystemBase implements Subsystem, Sendable {
+public abstract class SubsystemBase implements Subsystem, TelemetryLoggable {
   /** Constructor. Telemetry/log name defaults to the classname. */
   @SuppressWarnings("this-escape")
   public SubsystemBase() {
     String name = this.getClass().getSimpleName();
-    name = name.substring(name.lastIndexOf('.') + 1);
-    SendableRegistry.add(this, name, name);
+    m_name = name.substring(name.lastIndexOf('.') + 1);
     CommandScheduler.getInstance().registerSubsystem(this);
   }
 
@@ -31,7 +29,7 @@ public SubsystemBase() {
    */
   @SuppressWarnings("this-escape")
   public SubsystemBase(String name) {
-    SendableRegistry.add(this, name, name);
+    m_name = name;
     CommandScheduler.getInstance().registerSubsystem(this);
   }
 
@@ -42,7 +40,7 @@ public SubsystemBase(String name) {
    */
   @Override
   public String getName() {
-    return SendableRegistry.getName(this);
+    return m_name;
   }
 
   /**
@@ -51,50 +49,24 @@ public String getName() {
    * @param name name
    */
   public void setName(String name) {
-    SendableRegistry.setName(this, name);
+    m_name = name;
   }
 
-  /**
-   * Gets the subsystem name of this Subsystem.
-   *
-   * @return Subsystem name
-   */
-  public String getSubsystem() {
-    return SendableRegistry.getSubsystem(this);
-  }
-
-  /**
-   * Sets the subsystem name of this Subsystem.
-   *
-   * @param subsystem subsystem name
-   */
-  public void setSubsystem(String subsystem) {
-    SendableRegistry.setSubsystem(this, subsystem);
-  }
+  @Override
+  public void updateTelemetry(TelemetryTable table) {
+    var defaultCommand = getDefaultCommand();
+    table.log(".hasDefault", defaultCommand != null);
+    table.log(".default", defaultCommand != null ? defaultCommand.getName() : "none");
 
-  /**
-   * Associates a {@link Sendable} with this Subsystem. Also update the child's name.
-   *
-   * @param name name to give child
-   * @param child sendable
-   */
-  public void addChild(String name, Sendable child) {
-    SendableRegistry.add(child, getSubsystem(), name);
+    var currentCommand = getCurrentCommand();
+    table.log(".hasCommand", currentCommand != null);
+    table.log(".command", currentCommand != null ? currentCommand.getName() : "none");
   }
 
   @Override
-  public void initSendable(SendableBuilder builder) {
-    builder.setSmartDashboardType("Subsystem");
-
-    builder.addBooleanProperty(".hasDefault", () -> getDefaultCommand() != null, null);
-    builder.addStringProperty(
-        ".default",
-        () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none",
-        null);
-    builder.addBooleanProperty(".hasCommand", () -> getCurrentCommand() != null, null);
-    builder.addStringProperty(
-        ".command",
-        () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none",
-        null);
+  public String getTelemetryType() {
+    return "Subsystem";
   }
+
+  private String m_name;
 }

commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp

@@ -8,67 +8,35 @@
 
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
-#include "wpi/util/sendable/SendableBuilder.hpp"
-#include "wpi/util/sendable/SendableRegistry.hpp"
+#include "wpi/telemetry/TelemetryTable.hpp"
 
 using namespace wpi::cmd;
 
 SubsystemBase::SubsystemBase() {
-  wpi::util::SendableRegistry::Add(this, GetTypeName(*this));
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
-SubsystemBase::SubsystemBase(std::string_view name) {
-  wpi::util::SendableRegistry::Add(this, name);
+SubsystemBase::SubsystemBase(std::string_view name) : m_name{name} {
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
-void SubsystemBase::InitSendable(wpi::util::SendableBuilder& builder) {
-  builder.SetSmartDashboardType("Subsystem");
-  builder.AddBooleanProperty(
-      ".hasDefault", [this] { return GetDefaultCommand() != nullptr; },
-      nullptr);
-  builder.AddStringProperty(
-      ".default",
-      [this]() -> std::string {
-        auto command = GetDefaultCommand();
-        if (command == nullptr) {
-          return "none";
-        }
-        return command->GetName();
-      },
-      nullptr);
-  builder.AddBooleanProperty(
-      ".hasCommand", [this] { return GetCurrentCommand() != nullptr; },
-      nullptr);
-  builder.AddStringProperty(
-      ".command",
-      [this]() -> std::string {
-        auto command = GetCurrentCommand();
-        if (command == nullptr) {
-          return "none";
-        }
-        return command->GetName();
-      },
-      nullptr);
+void SubsystemBase::UpdateTelemetry(wpi::TelemetryTable& table) const {
+  auto defaultCommand = GetDefaultCommand();
+  table.Log(".hasDefault", defaultCommand != nullptr);
+  table.Log(".default", defaultCommand ? defaultCommand->GetName() : "none");
+  auto currentCommand = GetCurrentCommand();
+  table.Log(".hasCommand", currentCommand != nullptr);
+  table.Log(".command", currentCommand ? currentCommand->GetName() : "none");
 }
 
-std::string SubsystemBase::GetName() const {
-  return wpi::util::SendableRegistry::GetName(this);
-}
-
-void SubsystemBase::SetName(std::string_view name) {
-  wpi::util::SendableRegistry::SetName(this, name);
+std::string_view SubsystemBase::GetTelemetryType() const {
+  return "Subsystem";
 }
 
-std::string SubsystemBase::GetSubsystem() const {
-  return wpi::util::SendableRegistry::GetSubsystem(this);
-}
-
-void SubsystemBase::SetSubsystem(std::string_view name) {
-  wpi::util::SendableRegistry::SetSubsystem(this, name);
+std::string SubsystemBase::GetName() const {
+  return m_name;
 }
 
-void SubsystemBase::AddChild(std::string name, wpi::util::Sendable* child) {
-  wpi::util::SendableRegistry::Add(child, GetSubsystem(), name);
+void SubsystemBase::SetName(std::string_view name) {
+  m_name = name;
 }

commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp

@@ -8,8 +8,7 @@
 #include <string_view>
 
 #include "wpi/commands2/Subsystem.hpp"
-#include "wpi/util/sendable/Sendable.hpp"
-#include "wpi/util/sendable/SendableHelper.hpp"
+#include "wpi/telemetry/TelemetryLoggable.hpp"
 
 namespace wpi::cmd {
 /**
@@ -18,11 +17,11 @@ namespace wpi::cmd {
  *
  * This class is provided by the NewCommands VendorDep
  */
-class SubsystemBase : public Subsystem,
-                      public wpi::util::Sendable,
-                      public wpi::util::SendableHelper<SubsystemBase> {
+class SubsystemBase : public Subsystem, public wpi::TelemetryLoggable {
  public:
-  void InitSendable(wpi::util::SendableBuilder& builder) override;
+  void UpdateTelemetry(wpi::TelemetryTable& table) const override;
+
+  std::string_view GetTelemetryType() const override;
 
   /**
    * Gets the name of this Subsystem.
@@ -38,29 +37,6 @@ class SubsystemBase : public Subsystem,
    */
   void SetName(std::string_view name);
 
-  /**
-   * Gets the subsystem name of this Subsystem.
-   *
-   * @return Subsystem name
-   */
-  std::string GetSubsystem() const;
-
-  /**
-   * Sets the subsystem name of this Subsystem.
-   *
-   * @param name subsystem name
-   */
-  void SetSubsystem(std::string_view name);
-
-  /**
-   * Associate a Sendable with this Subsystem.
-   * Also update the child's name.
-   *
-   * @param name name to give child
-   * @param child sendable
-   */
-  void AddChild(std::string name, wpi::util::Sendable* child);
-
  protected:
   /**
    * Constructor.  Telemetry/log name defaults to the classname.
@@ -72,5 +48,8 @@ class SubsystemBase : public Subsystem,
    * @param name Name of the subsystem for telemetry and logging.
    */
   explicit SubsystemBase(std::string_view name);
+
+ private:
+  std::string m_name;
 };
 }  // namespace wpi::cmd

datalog/BUILD.bazel

@@ -26,6 +26,7 @@ wpilib_cc_library(
     strip_include_prefix = "src/main/native/include",
     visibility = ["//visibility:public"],
     deps = [
+        "//telemetry",
         "//wpiutil",
     ],
 )
@@ -78,6 +79,7 @@ wpilib_jni_java_library(
     native_libs = [":datalogjni"],
     visibility = ["//visibility:public"],
     deps = [
+        "//telemetry:telemetry-java",
         "//wpiutil:wpiutil-java",
         "@maven//:us_hebi_quickbuf_quickbuf_runtime",
     ],
@@ -142,6 +144,7 @@ wpilib_java_junit5_test(
     tags = ["exclusive"],
     deps = [
         ":datalog-java",
+        "//telemetry:telemetry-java",
         "//wpiutil:wpiutil-java",
     ],
 )