added switching between file-only and nt + file-only logging dependin…

…g on fms

simgui-ds.json

@@ -1,12 +1,12 @@
 {
-  "FMS": {
+  "Keyboard 0 Settings": {
     "window": {
-      "visible": false
+      "visible": true
     }
   },
-  "Keyboard 0 Settings": {
+  "System Joysticks": {
     "window": {
-      "visible": true
+      "visible": false
     }
   },
   "keyboardJoysticks": [

src/main/java/frc/robot/Robot.java

@@ -13,6 +13,10 @@
 import edu.wpi.first.epilogue.Epilogue;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.epilogue.Logged.Strategy;
+import edu.wpi.first.epilogue.logging.DataLogger;
+import edu.wpi.first.epilogue.logging.FileLogger;
+import edu.wpi.first.epilogue.logging.NTDataLogger;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -45,20 +49,33 @@ public class Robot extends TimedRobot {
 
   private Command _autonomousCommand = Autos.none();
 
+  private final NetworkTableInstance _ntInst;
+
   private boolean _fileOnlySet = false;
 
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
   public Robot() {
+    this(NetworkTableInstance.getDefault());
+  }
+
+  /**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
+  public Robot(NetworkTableInstance ntInst) {
+    _ntInst = ntInst;
+
     // set up loggers
     DogLog.setOptions(new DogLogOptions().withCaptureDs(true));
-    Epilogue.bind(this);
-    SignalLogger.start();
 
     setFileOnly(false); // file-only once connected to fms
 
+    Epilogue.bind(this);
+    SignalLogger.start();
+
     DriverStation.silenceJoystickConnectionWarning(isSimulation());
 
     FaultLogger.setup();
@@ -80,10 +97,16 @@ public Robot() {
   private void setFileOnly(boolean fileOnly) {
     DogLog.setOptions(DogLog.getOptions().withNtPublish(!fileOnly));
 
-    Epilogue.configure(
-        config -> {
-          // TODO
-        });
+    if (fileOnly) {
+      Epilogue.getConfig().dataLogger = new FileLogger(DataLogManager.getLog());
+      return;
+    }
+
+    // if doing both file and nt logging, use the datalogger multilogger setup
+    Epilogue.getConfig().dataLogger =
+        DataLogger.multi(
+            new NTDataLogger(_ntInst), // TODO: watch out unit tests
+            new FileLogger(DataLogManager.getLog()));
   }
 
   private void configureBindings() {
@@ -150,4 +173,11 @@ public void testInit() {
     // Cancels all running commands at the start of test mode.
     CommandScheduler.getInstance().cancelAll();
   }
+
+  @Override
+  public void close() {
+    super.close();
+
+    _swerve.close();
+  }
 }

src/main/java/frc/robot/subsystems/Swerve.java

@@ -58,7 +58,7 @@ public class Swerve extends SwerveDrivetrain implements Subsystem, SelfChecked {
   private FaultsTable _faultsTable =
       new FaultsTable(
           NetworkTableInstance.getDefault().getTable("Self Check"),
-          getName() + " Faults"); // TODO: watch out if unit testing
+          getName() + " Faults"); // TODO: watch out unit tests
 
   private boolean _hasError = false;
 

src/test/java/frc/lib/AdvancedSubsystemTest.java

@@ -6,8 +6,7 @@
 
 import static edu.wpi.first.wpilibj2.command.Commands.*;
 import static frc.lib.UnitTestingUtil.*;
-import static frc.lib.UnitTestingUtil.run;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.*;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.lib.FaultsTable.Fault;

src/test/java/frc/lib/CTREUtilTest.java

@@ -1,8 +1,7 @@
 package frc.lib;
 
-import static frc.lib.UnitTestingUtil.reset;
-import static frc.lib.UnitTestingUtil.setupTests;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import static frc.lib.UnitTestingUtil.*;
+import static org.junit.jupiter.api.Assertions.*;
 
 import com.ctre.phoenix6.StatusCode;
 import com.ctre.phoenix6.hardware.CANcoder;

src/test/java/frc/robot/RobotTest.java

@@ -0,0 +1,48 @@
+package frc.robot;
+
+import static frc.lib.UnitTestingUtil.*;
+import static org.junit.jupiter.api.Assertions.*;
+
+import dev.doglog.DogLog;
+import edu.wpi.first.epilogue.Epilogue;
+import edu.wpi.first.epilogue.logging.FileLogger;
+import edu.wpi.first.epilogue.logging.MultiLogger;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+public class RobotTest {
+  private Robot _robot;
+
+  @BeforeEach
+  public void setup() {
+    setupTests();
+
+    _robot = new Robot(getNtInst());
+  }
+
+  @AfterEach
+  public void close() throws Exception {
+    reset(_robot);
+  }
+
+  @Test
+  public void fmsFileOnly() {
+    // at the start should be both nt and file logging
+    assert Epilogue.getConfig().dataLogger instanceof MultiLogger; // multilogger setup
+    assert DogLog.getOptions().ntPublish();
+
+    DriverStationSim.setFmsAttached(true);
+    DriverStationSim.notifyNewData();
+
+    assert DriverStation.isFMSAttached();
+
+    _robot.robotPeriodic();
+
+    // once the fms connects, it should be file only
+    assert Epilogue.getConfig().dataLogger instanceof FileLogger;
+    assertFalse(DogLog.getOptions().ntPublish());
+  }
+}

src/test/java/frc/robot/VisionPoseEstimatorTest.java

@@ -12,7 +12,6 @@
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
-import frc.lib.UnitTestingUtil;
 import frc.robot.utils.VisionPoseEstimator;
 import frc.robot.utils.VisionPoseEstimator.VisionPoseEstimate;
 import frc.robot.utils.VisionPoseEstimator.VisionPoseEstimatorConstants;
@@ -75,8 +74,7 @@ public void setup() {
             3,
             7);
 
-    _testCam =
-        VisionPoseEstimator.buildFromConstants(testCam, UnitTestingUtil.getNtInst(), _fieldLayout);
+    _testCam = VisionPoseEstimator.buildFromConstants(testCam, getNtInst(), _fieldLayout);
 
     _visionSystemSim = new VisionSystemSim("");
     _visionSystemSim.addCamera(_testCam.getCameraSim(), _testCam.robotToCam);