From 5d5da9dd3ef78042420b305e35e69a79581fb8d0 Mon Sep 17 00:00:00 2001
From: Kevin Clark <kevin.clark@gmail.com>
Date: Sat, 13 Jan 2024 09:59:08 -0800
Subject: [PATCH] Minor cleanup to LogTable

Use copyBytes again, and make it static.
---
 .../main/org/littletonrobotics/junction/LogTable.java    | 9 ++-------
 .../org/littletonrobotics/junction/LogTableTest.java     | 1 +
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/junction/core/src/main/org/littletonrobotics/junction/LogTable.java b/junction/core/src/main/org/littletonrobotics/junction/LogTable.java
index 7b5ba1d9..63aa20a4 100644
--- 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
index 95c64aba..0a03005f 100644
--- 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);