Merge pull request #4 from frc1711/development

v2023.1.3-beta release is ready

build-lib.bat

@@ -6,6 +6,7 @@ cd lib
 @REM Build the distribution zip (used for the driverstation client)
 call gradlew.bat distZip
 @REM Build the maven repo (used for the test-bot and for any vendor dependencies)
+rmdir /Q /S app\build\maven-repo\org\frc\raptors1711\raptors-claw
 call gradlew.bat publish
 cd ..
 

lib/app/build.gradle

@@ -85,6 +85,8 @@ dependencies {
     // Used by other dependencies
     implementation "edu.wpi.first.wpimath:wpimath-java:2023.1.1"
 
+    implementation "edu.wpi.first.hal:hal-java:2023.1.1"
+    implementation "edu.wpi.first.hal:hal-jni:2023.1.1"
 
     // Add org.fusesource.jansi
     // Used for console ANSI processing for driverstation-side RCT

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0-sources.jar.md5

@@ -1 +1 @@
-f7be92f5ac76d7f011f43a4fbab9352a
+2a98f4603c63168315cd902fdea8ed8c

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0-sources.jar.sha1

@@ -1 +1 @@
-94c6057efb26087e59d62bc642d50770cae0f2f3
+45408af577b0daeb320a4061a63a1c8358d865ef

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0-sources.jar.sha256

@@ -1 +1 @@
-cc0de2620d8b5d26842e4091d44d9848c9782fc261dbdc893eaecb36e666ff1c
+cf51b16c07af45d32ca8cf75785f093af125c18a334ce74c4154d450207f046c

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0-sources.jar.sha512

@@ -1 +1 @@
-fe7f1e6c62a01bfd8d2d4ef4c7b814db7e818bb0ea0552dc80b6278d41765fc5955627bd1843083a43bf1b6db817afbd51a077ef496f82fd37bfb50ecb5f6e4e
+7a49dc68e04b31347589e9d450515505c6ad259c068d85b00536ac8369124278e500ea479201c7d3413d9121f729aeec87684e69225b1b2829544b443ef6ba49

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.jar.md5

@@ -1 +1 @@
-c64437c4e3855dfdbbc48ce9634a60bb
+69c7395c4e981d1c9876168dfbad12e3

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.jar.sha1

@@ -1 +1 @@
-bb5fa500ca0622333860118f2ad73d77621d4ad6
+fa571001cca7fc6b1b6a3a5cb904b877c00dccf3

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.jar.sha256

@@ -1 +1 @@
-41050bf4db962f80a1e2456ad2def64d4851aac0173987f0cfec1b3a65c7aa3d
+5639e1fcd244f5a278d31d39521d48fa862b7fdd5c52c20a5fff82e9f694ab67

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.jar.sha512

@@ -1 +1 @@
-25bee8a2b2221c1544b9860de60442c8cf77efed71e73f6f168c05ec812308b9c78262debc086cdf77426e26544b10be4af823118e25fc820b0f5962f65c3db7
+cc5581befe8bad65b269aab28a848429ff746c62df122529eb02ef629d61803213c7c3139e9b2a091db3b3c5aec5aa5b35eaa0a98c3d7ee4c36cc3458cae1d21

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.module

@@ -27,11 +27,11 @@
         {
           "name": "raptors-claw-0.jar",
           "url": "raptors-claw-0.jar",
-          "size": 113205,
-          "sha512": "25bee8a2b2221c1544b9860de60442c8cf77efed71e73f6f168c05ec812308b9c78262debc086cdf77426e26544b10be4af823118e25fc820b0f5962f65c3db7",
-          "sha256": "41050bf4db962f80a1e2456ad2def64d4851aac0173987f0cfec1b3a65c7aa3d",
-          "sha1": "bb5fa500ca0622333860118f2ad73d77621d4ad6",
-          "md5": "c64437c4e3855dfdbbc48ce9634a60bb"
+          "size": 143380,
+          "sha512": "cc5581befe8bad65b269aab28a848429ff746c62df122529eb02ef629d61803213c7c3139e9b2a091db3b3c5aec5aa5b35eaa0a98c3d7ee4c36cc3458cae1d21",
+          "sha256": "5639e1fcd244f5a278d31d39521d48fa862b7fdd5c52c20a5fff82e9f694ab67",
+          "sha1": "fa571001cca7fc6b1b6a3a5cb904b877c00dccf3",
+          "md5": "69c7395c4e981d1c9876168dfbad12e3"
         }
       ]
     },
@@ -87,6 +87,20 @@
             "requires": "2023.1.1"
           }
         },
+        {
+          "group": "edu.wpi.first.hal",
+          "module": "hal-java",
+          "version": {
+            "requires": "2023.1.1"
+          }
+        },
+        {
+          "group": "edu.wpi.first.hal",
+          "module": "hal-jni",
+          "version": {
+            "requires": "2023.1.1"
+          }
+        },
         {
           "group": "org.fusesource.jansi",
           "module": "jansi",
@@ -120,11 +134,11 @@
         {
           "name": "raptors-claw-0.jar",
           "url": "raptors-claw-0.jar",
-          "size": 113205,
-          "sha512": "25bee8a2b2221c1544b9860de60442c8cf77efed71e73f6f168c05ec812308b9c78262debc086cdf77426e26544b10be4af823118e25fc820b0f5962f65c3db7",
-          "sha256": "41050bf4db962f80a1e2456ad2def64d4851aac0173987f0cfec1b3a65c7aa3d",
-          "sha1": "bb5fa500ca0622333860118f2ad73d77621d4ad6",
-          "md5": "c64437c4e3855dfdbbc48ce9634a60bb"
+          "size": 143380,
+          "sha512": "cc5581befe8bad65b269aab28a848429ff746c62df122529eb02ef629d61803213c7c3139e9b2a091db3b3c5aec5aa5b35eaa0a98c3d7ee4c36cc3458cae1d21",
+          "sha256": "5639e1fcd244f5a278d31d39521d48fa862b7fdd5c52c20a5fff82e9f694ab67",
+          "sha1": "fa571001cca7fc6b1b6a3a5cb904b877c00dccf3",
+          "md5": "69c7395c4e981d1c9876168dfbad12e3"
         }
       ]
     },
@@ -140,11 +154,11 @@
         {
           "name": "raptors-claw-0-sources.jar",
           "url": "raptors-claw-0-sources.jar",
-          "size": 71904,
-          "sha512": "fe7f1e6c62a01bfd8d2d4ef4c7b814db7e818bb0ea0552dc80b6278d41765fc5955627bd1843083a43bf1b6db817afbd51a077ef496f82fd37bfb50ecb5f6e4e",
-          "sha256": "cc0de2620d8b5d26842e4091d44d9848c9782fc261dbdc893eaecb36e666ff1c",
-          "sha1": "94c6057efb26087e59d62bc642d50770cae0f2f3",
-          "md5": "f7be92f5ac76d7f011f43a4fbab9352a"
+          "size": 87408,
+          "sha512": "7a49dc68e04b31347589e9d450515505c6ad259c068d85b00536ac8369124278e500ea479201c7d3413d9121f729aeec87684e69225b1b2829544b443ef6ba49",
+          "sha256": "cf51b16c07af45d32ca8cf75785f093af125c18a334ce74c4154d450207f046c",
+          "sha1": "45408af577b0daeb320a4061a63a1c8358d865ef",
+          "md5": "2a98f4603c63168315cd902fdea8ed8c"
         }
       ]
     }

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.module.md5

@@ -1 +1 @@
-b0fc064dd4e57caccd34e492db097cd4
+2b7c30da23792f8bb8e99cac0d2fcce8

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.module.sha1

@@ -1 +1 @@
-da4aa36ea816d3804b06ebf152431494f655656a
+dbe5d06ba94a5718b942b99ad8b1775ca3ab2bab

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.module.sha256

@@ -1 +1 @@
-09b794a92a2a4d97c16d99ae7071b4007290f898bed7f4781b0253fb5b4011b9
+4e145cf6795a3cbb0ca471c72fe20ef7bba3cf7ac7551095eded4b73f1cfa883

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.module.sha512

@@ -1 +1 @@
-0476cd79862afcdb30762d775b5d37753cd58fe3c35439e2198fa915b396284ff45ebe73121f7a0fc413d15fe6e7ef15e8967bb1ba2c67978c9bd66ef125344e
+99dd9f4b385f74ed29298a341963ca0ebf14e447454713f0cf7db679b18ed8e38665129b3a8181bcc03970429a5287a8a83fe3069303179894ee0f5098f5315a

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.pom

@@ -49,6 +49,18 @@
       <version>2023.1.1</version>
       <scope>runtime</scope>
     </dependency>
+    <dependency>
+      <groupId>edu.wpi.first.hal</groupId>
+      <artifactId>hal-java</artifactId>
+      <version>2023.1.1</version>
+      <scope>runtime</scope>
+    </dependency>
+    <dependency>
+      <groupId>edu.wpi.first.hal</groupId>
+      <artifactId>hal-jni</artifactId>
+      <version>2023.1.1</version>
+      <scope>runtime</scope>
+    </dependency>
     <dependency>
       <groupId>org.fusesource.jansi</groupId>
       <artifactId>jansi</artifactId>

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.pom.md5

@@ -1 +1 @@
-a875c60bcc81513eb2da3f571a22fc25
+e02ff13651d2c72425dd2e1317c719fb

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.pom.sha1

@@ -1 +1 @@
-e53e55f8df7b668d00bc63f023be1fa87e3341c3
+e0aa31056f00965a658913cd0727081b875e0be8

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.pom.sha256

@@ -1 +1 @@
-814fad6c4d5e1204b77f01926947061d9974cec316dd58847c537463719e7bb9
+ba87785d734ee69db697ddccabc4b796704d2d83808dfa7c66df5546d371c8e2

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/0/raptors-claw-0.pom.sha512

@@ -1 +1 @@
-fb1c6d465f43f2a19a96e10689739116a2d9db345fc148eb21b3e98a9ad7da829911208386cd9c31ff3e4adbc1eb54bcf3eaae4fdf6bee7f0e2376ae5fcf8c3a
+b9fb86f462200fac15cebace6413dcf3887c768c4a3cd5d12065ea41ce4a59a794a026bd00b201d2e9ab747c1f1cff800cbdf9afc03b265fe7edd032d03fc4b9

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/maven-metadata.xml

@@ -8,6 +8,6 @@
     <versions>
       <version>0</version>
     </versions>
-    <lastUpdated>20230223211415</lastUpdated>
+    <lastUpdated>20230313202232</lastUpdated>
   </versioning>
 </metadata>

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/maven-metadata.xml.md5

@@ -1 +1 @@
-ddd5917af0b7d7cb8178add75c5eac89
+db1d12f0bc9179176520bd51c4e5d25e

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/maven-metadata.xml.sha1

@@ -1 +1 @@
-0bfb9526335c17b0cdc65c3192f8f22c8dd0077c
+1254df09615b3cd2a0b31493ecafc7cf4eb8c613

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/maven-metadata.xml.sha256

@@ -1 +1 @@
-d2a64a5cfac32dca1136e654e98f6d1cf7d8b80d5e7f1c4acd1f21a1802c7744
+a0550bca32e3a3204a52d8e2d91839ff3254ba7b2f5f801c23deed2cd8f68831

lib/app/build/maven-repo/org/frc/raptors1711/raptors-claw/maven-metadata.xml.sha512

@@ -1 +1 @@
-7dd20974a1222fbfd1ee6291cd9eb11a0bbe17e0406cd85eb756ddd9c6a4237a99f4d81e9616bfa1c5d7d01d6318c4a3908dc0c58aa84661968781881a09e3c1
+55e9af188bf935923a37bdf033f332be519dcf2e18b53ee1ffc189c2fef1100966f46df9b7c782119d832161a324f5c7a75903f5c3a9adb34d414e4fdbe3a91b

lib/app/src/main/java/claw/CLAWRobot.java

@@ -8,45 +8,55 @@
 import claw.logs.LogHandler;
 import claw.rct.commands.CommandLineInterpreter;
 import claw.rct.remote.RCTServer;
+import edu.wpi.first.wpilibj.Preferences;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 public class CLAWRobot {
 
+    // Runtime execution determined by preferences so that the user can control
+    // this through any NetorkTables client (so that if you turn the server off,
+    // you can still control this execution)
+    private static final String RUN_RCT_SERVER = "CLAW.RUN_RCT_SERVER", RCT_SERVER_PORT = "CLAW.RCT_SERVER_PORT";
+    private static final int DEFAULT_SERVER_PORT = 5800;
+
     private static final CommandLineInterpreter EXTENSIBLE_COMMAND_INTERPRETER = new CommandLineInterpreter();
 
+    private static boolean hasStartedCompetition = false;
+
     public static void startCompetition (TimedRobot robot, Runnable robotStartCompetition) {
+        // Do not call startCompetition more than once
+        if (hasStartedCompetition)
+            throw new RuntimeException("Cannot call startCompetition more than once");
+        hasStartedCompetition = true;
 
-        initializeRuntime();
-        robot.addPeriodic(CLAWRobot::robotPeriodic, TimedRobot.kDefaultPeriod);
-
-        try {
-            robotStartCompetition.run();
-        } catch (Throwable exception) {
-            handleFatalUncaughtException(exception);
-            onRobotCodeFinish();
-            throw exception;
+        // Start the RCT server if indicated by preferences to do so
+        Preferences.initBoolean(RUN_RCT_SERVER, true);
+        Preferences.initInt(RCT_SERVER_PORT, DEFAULT_SERVER_PORT);
+        if (Preferences.getBoolean(RUN_RCT_SERVER, true)) {
+            startThread(CLAWRobot::initializeRCTServer);
         }
 
+        // Run until robot code finishes
+        runRobotCode(robot, robotStartCompetition);
+
     }
-    
-    public static CommandLineInterpreter getExtensibleCommandInterpreter () {
-        return EXTENSIBLE_COMMAND_INTERPRETER;
+
+    private static void startThread (Runnable thread) {
+        new Thread(thread).start();
     }
-    
+
     private static final CLAWLogger
         COMMANDS_LOG = CLAWLogger.getLogger("claw.commands"),
         RUNTIME_LOG = CLAWLogger.getLogger("claw.runtime");
-    
+
     private static RCTServer server;
-    private static boolean initialized = false;
 
-    private static void initializeRuntime () {
-
-        if (initialized) return;
-        initialized = true;
-
+    /**
+     * Start the robot code and the CLAW robot code runtime necessary for robot code functioning
+     */
+    private static void runRobotCode (TimedRobot robot, Runnable robotStartCompetition) {
         // Put a message into the console indicating that the CLAWRobot runtime has started
         System.out.println("\n -- CLAW is running -- \n");
 
@@ -59,23 +69,34 @@ private static void initializeRuntime () {
         CommandScheduler.getInstance().onCommandFinish(CLAWRobot::onCommandFinish);
         CommandScheduler.getInstance().onCommandInterrupt(CLAWRobot::onCommandInterrupt);
 
-        // Start RCT server thread
-        new Thread(() -> {
-            try {
-                server = new RCTServer(5800, EXTENSIBLE_COMMAND_INTERPRETER);
-                server.start();
-            } catch (IOException e) {
-                System.err.println("Failed to start RCT server.");
-                e.printStackTrace();
-            }
-        }).start();
-
+        try {
+            // Add the periodic method for the CLAWRobot and call start competition within a try-catch
+            // loop to catch any exceptions
+            robot.addPeriodic(CLAWRobot::robotPeriodic, TimedRobot.kDefaultPeriod);
+            robotStartCompetition.run();
+        } catch (Throwable exception) {
+            // Catch any uncaught robot exceptions
+            handleFatalUncaughtException(exception);
+            throw exception;
+        }
     }
 
+    /**
+     * Initialize the RCT server allowing for advanced debugging and control from the driver station
+     */
+    private static void initializeRCTServer () {
+        // Start RCT server
+        try {
+            server = new RCTServer(Preferences.getInt(RCT_SERVER_PORT, DEFAULT_SERVER_PORT), EXTENSIBLE_COMMAND_INTERPRETER);
+            server.start();
+        } catch (IOException e) {
+            System.err.println("Failed to start RCT server.");
+            e.printStackTrace();
+        }
+    }
 
-    private static void onRobotCodeFinish () {
-        if (server != null)
-            LogHandler.getInstance().sendData(server);
+    public static CommandLineInterpreter getExtensibleCommandInterpreter () {
+        return EXTENSIBLE_COMMAND_INTERPRETER;
     }
 
     private static void robotPeriodic () {
@@ -101,7 +122,12 @@ private static void onCommandInterrupt (Command command) {
 
     private static void handleUncaughtException (Thread thread, Throwable exception) {
         // Print to the driver station
-        System.err.println("Caught an uncaught exception: " + exception.getMessage());
+        System.err.println(
+            "Caught an exception in the robot code: " + exception.getMessage()+". Use the " + 
+            "'errlog' command in the Robot Control Terminal to examine it."
+        );
+
+        RobotErrorLog.logThreadError(exception);
 
         // Put to the logger
         RUNTIME_LOG.err("Uncaught exception in a thread '"+thread.getName()+"':\n"+getStackTrace(exception));
@@ -110,6 +136,8 @@ private static void handleUncaughtException (Thread thread, Throwable exception)
     private static void handleFatalUncaughtException (Throwable exception) {
         // Put to the logger
         RUNTIME_LOG.err("Fatal uncaught exception in robot code:\n"+getStackTrace(exception));
+
+        RobotErrorLog.logFatalError(exception);
     }
 
     private static String getStackTrace (Throwable e) {