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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,147 @@ | ||
| package frc.robot.util; | ||
|
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| // Copyright (c) 2023 FRC 6328 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
| // Use of this source code is governed by an MIT-style | ||
| // license that can be found in the LICENSE file at | ||
| // the root directory of this project. | ||
|
|
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| import edu.wpi.first.util.sendable.Sendable; | ||
| import edu.wpi.first.util.sendable.SendableBuilder; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import java.util.ArrayList; | ||
| import java.util.Comparator; | ||
| import java.util.HashMap; | ||
| import java.util.List; | ||
| import java.util.Map; | ||
| import java.util.function.Predicate; | ||
|
|
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| /** Class for managing persistent alerts to be sent over NetworkTables. */ | ||
| public class Alert { | ||
| private static Map<String, SendableAlerts> groups = new HashMap<String, SendableAlerts>(); | ||
|
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| private final AlertType type; | ||
| private boolean active = false; | ||
| private double activeStartTime = 0.0; | ||
| private String text; | ||
|
|
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| /** | ||
| * Creates a new Alert in the default group - "Alerts". If this is the first to be instantiated, | ||
| * the appropriate entries will be added to NetworkTables. | ||
| * | ||
| * @param text Text to be displayed when the alert is active. | ||
| * @param type Alert level specifying urgency. | ||
| */ | ||
| public Alert(String text, AlertType type) { | ||
| this("Alerts", text, type); | ||
| } | ||
|
|
||
| /** | ||
| * Creates a new Alert. If this is the first to be instantiated in its group, the appropriate | ||
| * entries will be added to NetworkTables. | ||
| * | ||
| * @param group Group identifier, also used as NetworkTables title | ||
| * @param text Text to be displayed when the alert is active. | ||
| * @param type Alert level specifying urgency. | ||
| */ | ||
| public Alert(String group, String text, AlertType type) { | ||
| if (!groups.containsKey(group)) { | ||
| groups.put(group, new SendableAlerts()); | ||
| SmartDashboard.putData(group, groups.get(group)); | ||
| } | ||
|
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| this.text = text; | ||
| this.type = type; | ||
| groups.get(group).alerts.add(this); | ||
| } | ||
|
|
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| /** | ||
| * Sets whether the alert should currently be displayed. When activated, the alert text will also | ||
| * be sent to the console. | ||
| */ | ||
| public void set(boolean active) { | ||
| if (active && !this.active) { | ||
| activeStartTime = Timer.getFPGATimestamp(); | ||
| switch (type) { | ||
| case ERROR: | ||
| DriverStation.reportError(text, false); | ||
| break; | ||
| case WARNING: | ||
| DriverStation.reportWarning(text, false); | ||
| break; | ||
| case INFO: | ||
| System.out.println(text); | ||
| break; | ||
| } | ||
| } | ||
| this.active = active; | ||
| } | ||
|
|
||
| /** Updates current alert text. */ | ||
| public void setText(String text) { | ||
| if (active && !text.equals(this.text)) { | ||
| switch (type) { | ||
| case ERROR: | ||
| DriverStation.reportError(text, false); | ||
| break; | ||
| case WARNING: | ||
| DriverStation.reportWarning(text, false); | ||
| break; | ||
| case INFO: | ||
| System.out.println(text); | ||
| break; | ||
| } | ||
| } | ||
| this.text = text; | ||
| } | ||
|
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| private static class SendableAlerts implements Sendable { | ||
| public final List<Alert> alerts = new ArrayList<>(); | ||
|
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| public String[] getStrings(AlertType type) { | ||
| Predicate<Alert> activeFilter = (Alert x) -> x.type == type && x.active; | ||
| Comparator<Alert> timeSorter = | ||
| (Alert a1, Alert a2) -> (int) (a2.activeStartTime - a1.activeStartTime); | ||
| return alerts.stream() | ||
| .filter(activeFilter) | ||
| .sorted(timeSorter) | ||
| .map((Alert a) -> a.text) | ||
| .toArray(String[]::new); | ||
| } | ||
|
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||
| @Override | ||
| public void initSendable(SendableBuilder builder) { | ||
| builder.setSmartDashboardType("Alerts"); | ||
| builder.addStringArrayProperty("errors", () -> getStrings(AlertType.ERROR), null); | ||
| builder.addStringArrayProperty("warnings", () -> getStrings(AlertType.WARNING), null); | ||
| builder.addStringArrayProperty("infos", () -> getStrings(AlertType.INFO), null); | ||
| } | ||
| } | ||
|
|
||
| /** Represents an alert's level of urgency. */ | ||
| public static enum AlertType { | ||
| /** | ||
| * High priority alert - displayed first on the dashboard with a red "X" symbol. Use this type | ||
| * for problems which will seriously affect the robot's functionality and thus require immediate | ||
| * attention. | ||
| */ | ||
| ERROR, | ||
|
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| /** | ||
| * Medium priority alert - displayed second on the dashboard with a yellow "!" symbol. Use this | ||
| * type for problems which could affect the robot's functionality but do not necessarily require | ||
| * immediate attention. | ||
| */ | ||
| WARNING, | ||
|
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| /** | ||
| * Low priority alert - displayed last on the dashboard with a green "i" symbol. Use this type | ||
| * for problems which are unlikely to affect the robot's functionality, or any other alerts | ||
| * which do not fall under "ERROR" or "WARNING". | ||
| */ | ||
| INFO | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,5 @@ | ||
| package frc.robot.util; | ||
|
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| // Copyright (c) 2023 FRC 6328 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
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