Merge branch 'main' into xrp-docs

rzblue · Sep 8, 2024 · fbba10d · fbba10d
2 parents ccf2f46 + 0cab7b5
commit fbba10d
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Showing 6 changed files with 301 additions and 262 deletions.
diff --git a/docs/build.gradle b/docs/build.gradle
@@ -152,7 +152,7 @@ doxygen {
 
     // Save space by excluding protobuf and eigen
     exclude 'Eigen/**'
-
+    exclude 'unsupported/**'
     exclude 'google/protobuf/**'
 
     exclude '**/.clang-tidy'

diff --git a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java
@@ -140,6 +140,25 @@ public static boolean shouldLog(Logged.Importance importance) {
           for (TypeElement mainRobotClass : mainRobotClasses) {
             String robotClassName = mainRobotClass.getQualifiedName().toString();
 
+            out.println();
+            out.print(
+                """
+                  /**
+                   * Updates Epilogue. This must be called periodically in order for Epilogue to record
+                   * new values. Alternatively, {@code bind()} can be used to update at an offset from
+                   * the main robot loop.
+                   */
+                """);
+            out.println("  public static void update(" + robotClassName + " robot) {");
+            out.println("    long start = System.nanoTime();");
+            out.println(
+                "    "
+                    + StringUtils.loggerFieldName(mainRobotClass)
+                    + ".tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);");
+            out.println(
+                "    config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);");
+            out.println("  }");
+
             out.println();
             out.print(
                 """
@@ -161,13 +180,7 @@ public static boolean shouldLog(Logged.Importance importance) {
             out.println("    }");
             out.println();
             out.println("    robot.addPeriodic(() -> {");
-            out.println("      long start = System.nanoTime();");
-            out.println(
-                "      "
-                    + StringUtils.loggerFieldName(mainRobotClass)
-                    + ".tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);");
-            out.println(
-                "      config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);");
+            out.println("      update(robot);");
             out.println(
                 "    }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));");
             out.println("  }");

diff --git a/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java b/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java
@@ -147,6 +147,17 @@ public static boolean shouldLog(Logged.Importance importance) {
             return importance.compareTo(config.minimumImportance) >= 0;
           }
 
+          /**
+           * Updates Epilogue. This must be called periodically in order for Epilogue to record
+           * new values. Alternatively, {@code bind()} can be used to update at an offset from
+           * the main robot loop.
+           */
+          public static void update(edu.wpi.first.epilogue.Example robot) {
+            long start = System.nanoTime();
+            exampleLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
+            config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+          }
+
           /**
            * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
            * same update rate as the robot's loop function, but will be offset by a full phase
@@ -164,9 +175,7 @@ public static void bind(edu.wpi.first.epilogue.Example robot) {
             }
 
             robot.addPeriodic(() -> {
-              long start = System.nanoTime();
-              exampleLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
-              config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+              update(robot);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
         }
@@ -218,6 +227,17 @@ public static boolean shouldLog(Logged.Importance importance) {
             return importance.compareTo(config.minimumImportance) >= 0;
           }
 
+          /**
+           * Updates Epilogue. This must be called periodically in order for Epilogue to record
+           * new values. Alternatively, {@code bind()} can be used to update at an offset from
+           * the main robot loop.
+           */
+          public static void update(edu.wpi.first.epilogue.AlphaBot robot) {
+            long start = System.nanoTime();
+            alphaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
+            config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+          }
+
           /**
            * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
            * same update rate as the robot's loop function, but will be offset by a full phase
@@ -235,12 +255,21 @@ public static void bind(edu.wpi.first.epilogue.AlphaBot robot) {
             }
 
             robot.addPeriodic(() -> {
-              long start = System.nanoTime();
-              alphaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
-              config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+              update(robot);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
 
+          /**
+           * Updates Epilogue. This must be called periodically in order for Epilogue to record
+           * new values. Alternatively, {@code bind()} can be used to update at an offset from
+           * the main robot loop.
+           */
+          public static void update(edu.wpi.first.epilogue.BetaBot robot) {
+            long start = System.nanoTime();
+            betaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
+            config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+          }
+
           /**
            * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
            * same update rate as the robot's loop function, but will be offset by a full phase
@@ -258,9 +287,7 @@ public static void bind(edu.wpi.first.epilogue.BetaBot robot) {
             }
 
             robot.addPeriodic(() -> {
-              long start = System.nanoTime();
-              betaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
-              config.dataLogger.log("Epilogue/Stats/Last Run", (System.nanoTime() - start) / 1e6);
+              update(robot);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
         }

diff --git a/upstream_utils/expected.py b/upstream_utils/expected.py
@@ -15,12 +15,14 @@ def copy_upstream_src(wpilib_root):
     )
     shutil.copyfile("include/tl/expected.hpp", dest_filename)
 
-    # Rename namespace from tl to wpi
+    # Rename namespace from tl to wpi, and detail to detail_expected
     with open(dest_filename) as f:
         content = f.read()
     content = content.replace("namespace tl", "namespace wpi")
     content = content.replace("tl::", "wpi::")
     content = content.replace("TL_", "WPI_")
+    content = content.replace("namespace detail", "namespace detail_expected")
+    content = content.replace("detail::", "detail_expected::")
     with open(dest_filename, "w") as f:
         f.write(content)
 

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
@@ -101,10 +101,7 @@ private double mapSensorRange(double pos) {
   /**
    * Get the encoder value.
    *
-   * <p>By default, this will not count rollovers. If that behavior is necessary, call
-   * configureRolloverCounting(true).
-   *
-   * @return the encoder value
+   * @return the encoder value scaled by the full range input
    */
   public double get() {
     if (m_simPosition != null) {