Minor cleanup to LogTable

Use copyBytes again, and make it static.
Mechanical-Advantage · Jan 13, 2024 · 5d5da9d · 5d5da9d
1 parent 790571b
commit 5d5da9d
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Showing 2 changed files with 3 additions and 7 deletions.
diff --git a/junction/core/src/main/org/littletonrobotics/junction/LogTable.java b/junction/core/src/main/org/littletonrobotics/junction/LogTable.java
@@ -25,8 +25,6 @@
 import java.util.Objects;
 import java.util.Set;
 
-import org.littletonrobotics.junction.LogTable.LogValue;
-
 import edu.wpi.first.units.ImmutableMeasure;
 import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Measure;
@@ -373,7 +371,7 @@ private <T> byte[] pack(Struct<T> struct, T value) {
     return copyBytes(buffer.write(value));
   }
 
-  private byte[] copyBytes(ByteBuffer bb) {
+  private static byte[] copyBytes(ByteBuffer bb) {
     byte[] array = new byte[bb.position()];
     bb.position(0);
     bb.get(array);
@@ -396,10 +394,7 @@ public <T, MessageType extends ProtoMessage<?>> void put(String key, Protobuf<T,
       ByteBuffer bb;
       try {
         bb = buffer.write(value);
-        byte[] array = new byte[bb.position()];
-        bb.position(0);
-        bb.get(array);
-        put(key, new LogValue(array, proto.getTypeString()));
+        put(key, new LogValue(copyBytes(bb), proto.getTypeString()));
       } catch (IOException e) {
         e.printStackTrace();
       }

diff --git a/junction/core/src/test/org/littletonrobotics/junction/LogTableTest.java b/junction/core/src/test/org/littletonrobotics/junction/LogTableTest.java
@@ -49,6 +49,7 @@ void protobufIsntWrittenIfKeyAlreadyInUse() {
         Assertions.assertEquals(5, table.get("rot").getInteger());
     }
 
+
     @Test
     void supportsStructSerialization() {
         Rotation2d expected = new Rotation2d(1, 2);