Package org.chsrobotics.lib.telemetry

Class Logger<T>

java.lang.Object
org.chsrobotics.lib.telemetry.Logger<T>
Type Parameters:
T - The data type of the log entry.
public class Logger<T> extends Object
Utility to streamline publishing data to NetworkTables and saving it to an on-robot log file.

Parameterized to the type of data to publish/log.

If the data isn't numerical (Double, Int, Long, etc), Boolean, String, or an Array of one of those types, this will instead publish and log the result of its .toString() method.

This can generally be used in two ways: construction with a lambda of the logged value, or passing the new value with every call of update().

Values are only flushed to NetworkTables and built-in logs when update() is called.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static class 
    Logger.LoggerFactory<U>
    Factory class to simplify creating many similar logs at once.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Logger(edu.wpi.first.util.datalog.DataLog log, String key, String subdirName, boolean publishToNT, boolean recordInLog)
    Constructs a Logger using a provided DataLog, with the option of whether to publish to NT and the log.
    Logger(String key, String subdirName)
    Constructs a Logger using HighLevelLogger.getLog(), publishing to NT and logging.
    Logger(Supplier<T> lambda, edu.wpi.first.util.datalog.DataLog log, String key, String subdirName, boolean publishToNT, boolean recordInLog)
    Constructs a Logger using a provided DataLog, with the option of whether to publish to NT and the log.
    Logger(Supplier<T> lambda, String key, String subdirName)
    Constructs a Logger using HighLevelLogger.getLog(), publishing to NT and logging.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    isPublishingToNT()
    Returns whether this is publishing values to NetworkTables.
    boolean
    isRecordingToLog()
    Returns whether this is recording values to the on-robot log.
    void
    startPublishingToNT()
    Values will be pushed to NetworkTables.
    void
    startRecordingToLog()
    Values will be recorded to the on board data log.
    void
    stopPublishingToNT()
    Values will not be pushed to NetworkTables.
    void
    stopRecordingToLog()
    Values will not be recorded to the on board data log.
    void
    update()
    Updates data sinks with the current internal value.
    void
    update(Supplier<T> lambda)
    Updates data sinks with the given value.
    void
    update(T value)
    Updates data sinks with the given value.

    Methods inherited from class java.lang.Object

    equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • Logger

      public Logger(Supplier<T> lambda, edu.wpi.first.util.datalog.DataLog log, String key, String subdirName, boolean publishToNT, boolean recordInLog)
      Constructs a Logger using a provided DataLog, with the option of whether to publish to NT and the log.
      Parameters:
      lambda - Lambda (of logged type) to use as initial data source.
      log - The DataLog to log values inside of, most likely from HighLevelLogger.getInstance.getLog() or whatever log is being used program-wide.
      key - A string identifier for the logged field.
      subdirName - The string name of the existing or new NetworkTables sub-table to write to.
      publishToNT - Whether this should push logged values to NetworkTables.
      recordInLog - Whether this should store logged values in an on-robot log file.

    • Logger

      public Logger(edu.wpi.first.util.datalog.DataLog log, String key, String subdirName, boolean publishToNT, boolean recordInLog)
      Constructs a Logger using a provided DataLog, with the option of whether to publish to NT and the log.
      Parameters:
      log - The DataLog to log values inside of, most likely from HighLevelLogger.getInstance.getLog() or whatever log is being used program-wide.
      key - A string identifier for the logged field.
      subdirName - The string name of the existing or new NetworkTables sub-table to write to.
      publishToNT - Whether this should push logged values to NetworkTables.
      recordInLog - Whether this should store logged values in an on-robot log file.

    • Logger

      public Logger(Supplier<T> lambda, String key, String subdirName)
      Constructs a Logger using HighLevelLogger.getLog(), publishing to NT and logging.
      Parameters:
      lambda - Lambda (of logged type) to use as initial data source.
      key - A string identifier for the logged field.
      subdirName - The string name of the existing or new NetworkTables sub-table to write to.

    • Logger

      public Logger(String key, String subdirName)
      Constructs a Logger using HighLevelLogger.getLog(), publishing to NT and logging.
      Parameters:
      key - A string identifier for the logged field.
      subdirName - The string name of the existing or new NetworkTables sub-table to write to.

  • Method Details

    • isPublishingToNT

      public boolean isPublishingToNT()
      Returns whether this is publishing values to NetworkTables.
      Returns:
      True new values are pushed to NetworkTables.

    • startPublishingToNT

      public void startPublishingToNT()
      Values will be pushed to NetworkTables.

    • stopPublishingToNT

      public void stopPublishingToNT()
      Values will not be pushed to NetworkTables.

    • isRecordingToLog

      public boolean isRecordingToLog()
      Returns whether this is recording values to the on-robot log.
      Returns:
      True if values are being recorded to the on board data log.

    • startRecordingToLog

      public void startRecordingToLog()
      Values will be recorded to the on board data log.

    • stopRecordingToLog

      public void stopRecordingToLog()
      Values will not be recorded to the on board data log.

    • update

      public void update()
      Updates data sinks with the current internal value.

      If this was not constructed with a lambda and other update() methods have not been invoked, is a non-op.

    • update

      public void update(T value)
      Updates data sinks with the given value.
      Parameters:
      value - Instance of type T to store internally and send to data sinks.

    • update

      public void update(Supplier<T> lambda)
      Updates data sinks with the given value.
      Parameters:
      lambda - Lambda of type T to store internally and send to data sinks.