From 3669450773e734d49fbdf5200deddaedeb5ae37a Mon Sep 17 00:00:00 2001
From: Jade Turner <spacey-sooty@proton.me>
Date: Mon, 29 Jul 2024 11:56:47 +0800
Subject: [PATCH 1/4] [epilogue] Allow configuring logging period and logging
 period offset

---
 .../epilogue/processor/EpilogueGenerator.java | 12 ++++++-
 .../processor/EpilogueGeneratorTest.java      | 34 +++++++++++++++++--
 .../first/epilogue/EpilogueConfiguration.java |  8 +++++
 3 files changed, 50 insertions(+), 4 deletions(-)

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
index 54050026a67..af60541bf8e 100644
--- 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
@@ -52,6 +52,9 @@ public void writeEpilogueFile(
         out.println("package edu.wpi.first.epilogue;");
         out.println();
 
+        out.println("import static edu.wpi.first.units.Units.Seconds;");
+        out.println();
+
         loggerClassNames.stream()
             .sorted()
             .forEach(
@@ -152,13 +155,20 @@ public static boolean shouldLog(Logged.Importance importance) {
             out.println("  public static void bind(" + robotClassName + " robot) {");
             out.println("    robot.addPeriodic(() -> {");
             out.println("      long start = System.nanoTime();");
+            out.println("      if (config.loggingPeriod == null) {");
+            out.println("        config.loggingPeriod = Seconds.of(robot.getPeriod());");
+            out.println("      }");
+            out.println("      if (config.loggingPeriodOffset == null) {");
+            out.println("        config.loggingPeriodOffset = config.loggingPeriod.divide(2);");
+            out.println("      }");
             out.println(
                 "      "
                     + StringUtils.loggerFieldName(mainRobotClass)
                     + ".tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);");
             out.println(
                 "      edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry(\"Epilogue/Stats/Last Run\").setDouble((System.nanoTime() - start) / 1e6);");
-            out.println("    }, robot.getPeriod(), robot.getPeriod() / 2);");
+            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
index bf1c94049ef..838b1fe857a 100644
--- 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
@@ -30,6 +30,8 @@ class Example {
         """
         package edu.wpi.first.epilogue;
 
+        import static edu.wpi.first.units.Units.Seconds;
+
         import edu.wpi.first.epilogue.ExampleLogger;
 
         public final class Epilogue {
@@ -77,6 +79,8 @@ public void endCompetition() {}
         """
         package edu.wpi.first.epilogue;
 
+        import static edu.wpi.first.units.Units.Seconds;
+
         import edu.wpi.first.epilogue.ExampleLogger;
 
         public final class Epilogue {
@@ -119,6 +123,8 @@ class Example extends edu.wpi.first.wpilibj.TimedRobot {
         """
         package edu.wpi.first.epilogue;
 
+        import static edu.wpi.first.units.Units.Seconds;
+
         import edu.wpi.first.epilogue.ExampleLogger;
 
         public final class Epilogue {
@@ -152,9 +158,15 @@ public static boolean shouldLog(Logged.Importance importance) {
           public static void bind(edu.wpi.first.epilogue.Example robot) {
             robot.addPeriodic(() -> {
               long start = System.nanoTime();
+              if (config.loggingPeriod == null) {
+                config.loggingPeriod = Seconds.of(robot.getPeriod());
+              }
+              if (config.loggingPeriodOffset == null) {
+                config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+              }
               exampleLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
               edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
-            }, robot.getPeriod(), robot.getPeriod() / 2);
+            }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
         }
         """;
@@ -179,6 +191,8 @@ class BetaBot extends edu.wpi.first.wpilibj.TimedRobot { }
         """
         package edu.wpi.first.epilogue;
 
+        import static edu.wpi.first.units.Units.Seconds;
+
         import edu.wpi.first.epilogue.AlphaBotLogger;
         import edu.wpi.first.epilogue.BetaBotLogger;
 
@@ -214,9 +228,15 @@ public static boolean shouldLog(Logged.Importance importance) {
           public static void bind(edu.wpi.first.epilogue.AlphaBot robot) {
             robot.addPeriodic(() -> {
               long start = System.nanoTime();
+              if (config.loggingPeriod == null) {
+                config.loggingPeriod = Seconds.of(robot.getPeriod());
+              }
+              if (config.loggingPeriodOffset == null) {
+                config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+              }
               alphaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
               edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
-            }, robot.getPeriod(), robot.getPeriod() / 2);
+            }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
 
           /**
@@ -230,9 +250,15 @@ public static void bind(edu.wpi.first.epilogue.AlphaBot robot) {
           public static void bind(edu.wpi.first.epilogue.BetaBot robot) {
             robot.addPeriodic(() -> {
               long start = System.nanoTime();
+              if (config.loggingPeriod == null) {
+                config.loggingPeriod = Seconds.of(robot.getPeriod());
+              }
+              if (config.loggingPeriodOffset == null) {
+                config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+              }
               betaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
               edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
-            }, robot.getPeriod(), robot.getPeriod() / 2);
+            }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
         }
         """;
@@ -272,6 +298,8 @@ class Example {
         """
         package edu.wpi.first.epilogue;
 
+        import static edu.wpi.first.units.Units.Seconds;
+
         import edu.wpi.first.epilogue.ExampleLogger;
         import edu.wpi.first.epilogue.CustomLogger;
 
diff --git a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
index e9a9813023c..ab39c02ef6c 100644
--- a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
+++ b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
@@ -9,6 +9,8 @@
 import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
 import edu.wpi.first.epilogue.logging.errors.ErrorPrinter;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Time;
 
 /**
  * A configuration object to be used by the generated {@code Epilogue} class to customize its
@@ -23,6 +25,12 @@ public class EpilogueConfiguration {
    */
   public DataLogger dataLogger = new NTDataLogger(NetworkTableInstance.getDefault());
 
+  /** The period Epilogue will log at. */
+  public Measure<Time> loggingPeriod;
+
+  /** The offset from the periodic run that Epilogue will log at. */
+  public Measure<Time> loggingPeriodOffset;
+
   /**
    * The minimum importance level of data to be logged. Defaults to debug, which logs data of all
    * importance levels. Any data tagged with an importance level lower than this will not be logged.

From d4095428263fd4968e98d4521df37476d866aced Mon Sep 17 00:00:00 2001
From: Jade Turner <spacey-sooty@proton.me>
Date: Tue, 13 Aug 2024 11:50:27 +0800
Subject: [PATCH 2/4] suppress wrnings

---
 .../java/edu/wpi/first/epilogue/EpilogueConfiguration.java   | 5 +++--
 shared/java/javacommon.gradle                                | 2 ++
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
index ab39c02ef6c..f08c235b6ab 100644
--- a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
+++ b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.epilogue;
 
+import edu.umd.cs.findbugs.annotations.SuppressFBWarnings;
 import edu.wpi.first.epilogue.logging.DataLogger;
 import edu.wpi.first.epilogue.logging.NTDataLogger;
 import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
@@ -26,10 +27,10 @@ public class EpilogueConfiguration {
   public DataLogger dataLogger = new NTDataLogger(NetworkTableInstance.getDefault());
 
   /** The period Epilogue will log at. */
-  public Measure<Time> loggingPeriod;
+  @SuppressFBWarnings public Measure<Time> loggingPeriod;
 
   /** The offset from the periodic run that Epilogue will log at. */
-  public Measure<Time> loggingPeriodOffset;
+  @SuppressFBWarnings public Measure<Time> loggingPeriodOffset;
 
   /**
    * The minimum importance level of data to be logged. Defaults to debug, which logs data of all
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
index 5d0cae57910..d458ed8c938 100644
--- a/shared/java/javacommon.gradle
+++ b/shared/java/javacommon.gradle
@@ -123,6 +123,8 @@ dependencies {
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
     devImplementation sourceSets.main.output
+
+    compileOnly 'com.github.spotbugs:spotbugs-annotations:4.8.2' // should be kept inline with spotbugs version
 }
 
 task run(type: JavaExec) {

From 1d69788f1e0597aa2a7e75516fdad7eaaec0d38c Mon Sep 17 00:00:00 2001
From: Jade Turner <spacey-sooty@proton.me>
Date: Tue, 13 Aug 2024 22:45:56 +0800
Subject: [PATCH 3/4] fix

---
 .../epilogue/processor/EpilogueGenerator.java | 13 ++++---
 .../processor/EpilogueGeneratorTest.java      | 39 ++++++++++---------
 .../first/epilogue/EpilogueConfiguration.java | 15 ++++---
 shared/java/javacommon.gradle                 |  2 -
 .../examples/rapidreactcommandbot/Robot.java  |  6 +++
 5 files changed, 44 insertions(+), 31 deletions(-)

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
index af60541bf8e..cba77f5a78e 100644
--- 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
@@ -153,14 +153,15 @@ public static boolean shouldLog(Logged.Importance importance) {
                    */
                 """);
             out.println("  public static void bind(" + robotClassName + " robot) {");
+            out.println("    if (config.loggingPeriod == null) {");
+            out.println("      config.loggingPeriod = Seconds.of(robot.getPeriod());");
+            out.println("    }");
+            out.println("    if (config.loggingPeriodOffset == null) {");
+            out.println("      config.loggingPeriodOffset = config.loggingPeriod.divide(2);");
+            out.println("    }");
+            out.println();
             out.println("    robot.addPeriodic(() -> {");
             out.println("      long start = System.nanoTime();");
-            out.println("      if (config.loggingPeriod == null) {");
-            out.println("        config.loggingPeriod = Seconds.of(robot.getPeriod());");
-            out.println("      }");
-            out.println("      if (config.loggingPeriodOffset == null) {");
-            out.println("        config.loggingPeriodOffset = config.loggingPeriod.divide(2);");
-            out.println("      }");
             out.println(
                 "      "
                     + StringUtils.loggerFieldName(mainRobotClass)
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
index 838b1fe857a..57b4c5cd2d2 100644
--- 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
@@ -156,14 +156,15 @@ public static boolean shouldLog(Logged.Importance importance) {
            * loop.
            */
           public static void bind(edu.wpi.first.epilogue.Example robot) {
+            if (config.loggingPeriod == null) {
+              config.loggingPeriod = Seconds.of(robot.getPeriod());
+            }
+            if (config.loggingPeriodOffset == null) {
+              config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+            }
+
             robot.addPeriodic(() -> {
               long start = System.nanoTime();
-              if (config.loggingPeriod == null) {
-                config.loggingPeriod = Seconds.of(robot.getPeriod());
-              }
-              if (config.loggingPeriodOffset == null) {
-                config.loggingPeriodOffset = config.loggingPeriod.divide(2);
-              }
               exampleLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
               edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
@@ -226,14 +227,15 @@ public static boolean shouldLog(Logged.Importance importance) {
            * loop.
            */
           public static void bind(edu.wpi.first.epilogue.AlphaBot robot) {
+            if (config.loggingPeriod == null) {
+              config.loggingPeriod = Seconds.of(robot.getPeriod());
+            }
+            if (config.loggingPeriodOffset == null) {
+              config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+            }
+
             robot.addPeriodic(() -> {
               long start = System.nanoTime();
-              if (config.loggingPeriod == null) {
-                config.loggingPeriod = Seconds.of(robot.getPeriod());
-              }
-              if (config.loggingPeriodOffset == null) {
-                config.loggingPeriodOffset = config.loggingPeriod.divide(2);
-              }
               alphaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
               edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
@@ -248,14 +250,15 @@ public static void bind(edu.wpi.first.epilogue.AlphaBot robot) {
            * loop.
            */
           public static void bind(edu.wpi.first.epilogue.BetaBot robot) {
+            if (config.loggingPeriod == null) {
+              config.loggingPeriod = Seconds.of(robot.getPeriod());
+            }
+            if (config.loggingPeriodOffset == null) {
+              config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+            }
+
             robot.addPeriodic(() -> {
               long start = System.nanoTime();
-              if (config.loggingPeriod == null) {
-                config.loggingPeriod = Seconds.of(robot.getPeriod());
-              }
-              if (config.loggingPeriodOffset == null) {
-                config.loggingPeriodOffset = config.loggingPeriod.divide(2);
-              }
               betaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
               edu.wpi.first.networktables.NetworkTableInstance.getDefault().getEntry("Epilogue/Stats/Last Run").setDouble((System.nanoTime() - start) / 1e6);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
diff --git a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
index f08c235b6ab..868a7cb0bf6 100644
--- a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
+++ b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.epilogue;
 
-import edu.umd.cs.findbugs.annotations.SuppressFBWarnings;
 import edu.wpi.first.epilogue.logging.DataLogger;
 import edu.wpi.first.epilogue.logging.NTDataLogger;
 import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
@@ -26,11 +25,17 @@ public class EpilogueConfiguration {
    */
   public DataLogger dataLogger = new NTDataLogger(NetworkTableInstance.getDefault());
 
-  /** The period Epilogue will log at. */
-  @SuppressFBWarnings public Measure<Time> loggingPeriod;
+  /**
+   * The period Epilogue will log at. By default this is the period that the robot runs at. This is
+   * the field used by bind to configure speed when adding the periodic logging function
+   */
+  public Measure<Time> loggingPeriod;
 
-  /** The offset from the periodic run that Epilogue will log at. */
-  @SuppressFBWarnings public Measure<Time> loggingPeriodOffset;
+  /**
+   * The offset from the periodic run that Epilogue will log at. By default this will be half of the
+   * robots period. This is the field used by bind when adding the periodic logging function
+   */
+  public Measure<Time> loggingPeriodOffset;
 
   /**
    * The minimum importance level of data to be logged. Defaults to debug, which logs data of all
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
index d458ed8c938..5d0cae57910 100644
--- a/shared/java/javacommon.gradle
+++ b/shared/java/javacommon.gradle
@@ -123,8 +123,6 @@ dependencies {
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
     devImplementation sourceSets.main.output
-
-    compileOnly 'com.github.spotbugs:spotbugs-annotations:4.8.2' // should be kept inline with spotbugs version
 }
 
 task run(type: JavaExec) {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
index 463e1d6f3c8..e37f707f5d2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot;
 
+import static edu.wpi.first.units.Units.Milliseconds;
+
 import edu.wpi.first.epilogue.Epilogue;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.wpilibj.DataLogManager;
@@ -32,6 +34,10 @@ public Robot() {
 
     // Initialize data logging.
     DataLogManager.start();
+    Epilogue.configure(
+        config -> {
+          config.loggingPeriodOffset = Milliseconds.of(10); // Logs 10ms after each main loop run
+        });
     Epilogue.bind(this);
   }
 

From 80bb082b34784c341d19c2239e288f79ff257cf1 Mon Sep 17 00:00:00 2001
From: Jade Turner <spacey-sooty@proton.me>
Date: Wed, 14 Aug 2024 09:03:05 +0800
Subject: [PATCH 4/4] suppress

---
 styleguide/spotbugs-exclude.xml                             | 4 ++++
 .../first/wpilibj/examples/rapidreactcommandbot/Robot.java  | 6 ------
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/styleguide/spotbugs-exclude.xml b/styleguide/spotbugs-exclude.xml
index d655efb9ac1..c5807cb459c 100644
--- a/styleguide/spotbugs-exclude.xml
+++ b/styleguide/spotbugs-exclude.xml
@@ -160,4 +160,8 @@
   <Match>
     <Bug pattern="EQ_DOESNT_OVERRIDE_EQUALS" />
   </Match>
+  <Match>
+    <Bug pattern="UUF_UNUSED_PUBLIC_OR_PROTECTED_FIELD" />
+    <Class name="edu.wpi.first.epilogue.EpilogueConfiguration" />
+  </Match>
 </FindBugsFilter>
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
index e37f707f5d2..463e1d6f3c8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot;
 
-import static edu.wpi.first.units.Units.Milliseconds;
-
 import edu.wpi.first.epilogue.Epilogue;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.wpilibj.DataLogManager;
@@ -34,10 +32,6 @@ public Robot() {
 
     // Initialize data logging.
     DataLogManager.start();
-    Epilogue.configure(
-        config -> {
-          config.loggingPeriodOffset = Milliseconds.of(10); // Logs 10ms after each main loop run
-        });
     Epilogue.bind(this);
   }