Setup Gversion and AdvantageKit

.gitignore

@@ -176,3 +176,19 @@ logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+# START: Setup gversion
+
+# Tell git to ignore the generated file: src/main/java/frc/robot/BuildConstants.java
+# We generally don't want to commit/track changes to files that are auto-generated during the build process
+
+src/main/java/frc/robot/BuildConstants.java
+# END: Setup gversion
+
+# START: Setup AdvantageKit
+
+# Tell git to ignore the generated files ending with: .wpilog
+# Most wpilog files are useful only during development/debugging. One exception is logs captured during an actual competition/match. It may be useful to save them for post-match analysis to debug/understand what happened
+
+*.wpilog
+# END: Setup AdvantageKit

build.gradle

@@ -2,6 +2,7 @@ plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.1.1"
     id "com.diffplug.spotless" version "6.23.3"
+    id "com.peterabeles.gversion" version "1.10.2"
 }
 
 java {
@@ -160,3 +161,45 @@ if (!('spotlessCheck' in gradle.startParameter.taskNames)) {
     spotlessMiscCheck.enabled = false
 }
 // END: Setup spotless
+
+// START: Setup gversion
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc.robot"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/New_York" // Use preferred time zone
+    indent       = " "
+}
+// END: Setup gversion
+
+// START: Setup AdvantageKit
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    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)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
+}
+
+// END: Setup AdvantageKit

src/main/java/frc/robot/Robot.java

@@ -4,17 +4,71 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
-public class Robot extends TimedRobot {
+// START: Setup AdvantageKit
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
+// END: Setup AdvantageKit
+public class Robot extends LoggedRobot {
   private Command m_autonomousCommand;
 
   private RobotContainer m_robotContainer;
 
   @Override
   public void robotInit() {
+    // START: Setup AdvantageKit
+
+    // Record build metadata generated by gversion
+    Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+    Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+    Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+    Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+    Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+    switch (BuildConstants.DIRTY) {
+      case 0:
+        Logger.recordMetadata("GitDirty", "All changes committed");
+        break;
+      case 1:
+        Logger.recordMetadata("GitDirty", "Uncomitted changes");
+        break;
+      default:
+        Logger.recordMetadata("GitDirty", "Unknown");
+        break;
+    }
+
+    /* Initialize AdvantageKit Logging */
+    // Set up data receivers & replay source
+
+    // We will add support for replay mode later
+    /*if (Constants.AdvantageKit.REPLAY_MODE) {
+      // Running in replay mode
+      setUseTiming(false); // Run as fast as possible
+      String logPath =
+          LogFileUtil
+              .findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
+      Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
+      Logger.addDataReceiver(
+          new WPILOGWriter(
+              LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
+    } else {*/
+    if (isReal()) {
+      // Running on real robot
+      Logger.addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick
+      Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+    } else {
+      // Running in simulation
+      Logger.addDataReceiver(new WPILOGWriter(""));
+      Logger.addDataReceiver(new NT4Publisher());
+    }
+    // }
+
+    Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may
+    // be added.
+    // END: Setup AdvantageKit
     m_robotContainer = new RobotContainer();
   }
 

vendordeps/AdvantageKit.json

@@ -0,0 +1,42 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "3.0.0",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "frcYear": "2024",
+    "mavenUrls": [],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "wpilib-shim",
+            "version": "3.0.0"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "junction-core",
+            "version": "3.0.0"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-api",
+            "version": "3.0.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-wpilibio",
+            "version": "3.0.0",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}