[epilogue] Allow configuring logging period and logging period offset

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(
@@ -150,6 +153,13 @@ 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(
@@ -158,7 +168,8 @@ public static boolean shouldLog(Logged.Importance importance) {
                     + ".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("  }");
           }
         }

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 {
@@ -150,11 +156,18 @@ 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();
               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 +192,8 @@ 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;
 
@@ -212,11 +227,18 @@ 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();
               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));
           }
 
           /**
@@ -228,11 +250,18 @@ 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();
               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 +301,8 @@ 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;
 

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 +25,18 @@ public class EpilogueConfiguration {
    */
   public DataLogger dataLogger = new NTDataLogger(NetworkTableInstance.getDefault());
 
+  /**
+   * 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. 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
    * importance levels. Any data tagged with an importance level lower than this will not be logged.

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>