changed the way faults are logged by doglog and added doglog fault lo…

…gging in self check faults
Team334 · Nov 24, 2024 · 8df60be · 8df60be
1 parent e233a86
commit 8df60be
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Showing 6 changed files with 26 additions and 17 deletions.
diff --git a/src/main/java/frc/lib/AdvancedSubsystem.java b/src/main/java/frc/lib/AdvancedSubsystem.java
@@ -29,6 +29,8 @@ protected final void addFault(String description, FaultType faultType) {
 
     Fault fault = new Fault(description, faultType);
 
+    DogLog.logFault(fault.toString());
+
     _faults.add(fault);
     _faultsTable.set(_faults);
   }

diff --git a/src/main/java/frc/lib/CTREUtil.java b/src/main/java/frc/lib/CTREUtil.java
@@ -36,14 +36,14 @@ public static boolean attempt(Supplier<StatusCode> action, String deviceName) {
 
     // successful attempt
     if (statusCode.isOK()) {
-      FaultLogger.report(deviceName + ": Config Apply Successful.", FaultType.INFO);
+      FaultLogger.report(deviceName + " - Config Apply Successful.", FaultType.INFO);
       return false;
     }
 
     // failed attempt
     else {
       FaultLogger.report(
-          deviceName + ": Config Apply Failed - " + statusCode.getDescription(), FaultType.ERROR);
+          deviceName + " - Config Apply Failed - " + statusCode.getDescription(), FaultType.ERROR);
       return true;
     }
   }

diff --git a/src/main/java/frc/lib/FaultLogger.java b/src/main/java/frc/lib/FaultLogger.java
@@ -63,7 +63,7 @@ public static void update() {
     newFaults.clear();
 
     // log to doglog as well
-    activeFaults.forEach(f -> DogLog.logFault(f.description()));
+    activeFaults.forEach(f -> DogLog.logFault(f.toString()));
 
     totalFaults.addAll(activeFaults);
 
@@ -164,22 +164,22 @@ public static void register(TalonFX talonFX) {
     String name = CTREUtil.getName(talonFX);
 
     register(
-        () -> talonFX.getFault_Hardware().getValue(), name + ": Hardware Fault.", FaultType.ERROR);
+        () -> talonFX.getFault_Hardware().getValue(), name + "- Hardware Fault.", FaultType.ERROR);
     register(
         () -> talonFX.getFault_BootDuringEnable().getValue(),
-        name + ": Boot While Enabling.",
+        name + "- Boot While Enabling.",
         FaultType.WARNING);
     register(
         () -> talonFX.getFault_DeviceTemp().getValue(),
-        name + ": Device Temperature Too High.",
+        name + "- Device Temperature Too High.",
         FaultType.WARNING);
     register(
         () -> talonFX.getFault_ProcTemp().getValue(),
-        name + ": Processor Temp Too High.",
+        name + "- Processor Temp Too High.",
         FaultType.WARNING);
     register(
         () -> talonFX.getFault_Undervoltage().getValue(),
-        name + ": Voltage Too Low, Check For Brownouts.",
+        name + "- Voltage Too Low, Check For Brownouts.",
         FaultType.WARNING);
   }
 
@@ -192,18 +192,18 @@ public static void register(CANcoder cancoder) {
     String name = CTREUtil.getName(cancoder);
 
     register(
-        () -> cancoder.getFault_Hardware().getValue(), name + ": Hardware Fault.", FaultType.ERROR);
+        () -> cancoder.getFault_Hardware().getValue(), name + "- Hardware Fault.", FaultType.ERROR);
     register(
         () -> cancoder.getFault_BadMagnet().getValue(),
-        name + ": Bad Magnet Signal.",
+        name + "- Bad Magnet Signal.",
         FaultType.ERROR);
     register(
         () -> cancoder.getFault_BootDuringEnable().getValue(),
-        name + ": Boot While Enabling.",
+        name + "- Boot While Enabling.",
         FaultType.WARNING);
     register(
         () -> cancoder.getFault_Undervoltage().getValue(),
-        name + ": Voltage Too Low, Check For Brownouts.",
+        name + "- Voltage Too Low, Check For Brownouts.",
         FaultType.WARNING);
   }
 
@@ -216,14 +216,14 @@ public static void register(Pigeon2 pigeon) {
     String name = CTREUtil.getName(pigeon);
 
     register(
-        () -> pigeon.getFault_Hardware().getValue(), name + ": Hardware Fault.", FaultType.ERROR);
+        () -> pigeon.getFault_Hardware().getValue(), name + "- Hardware Fault.", FaultType.ERROR);
     register(
         () -> pigeon.getFault_BootDuringEnable().getValue(),
-        name + ": Boot While Enabling.",
+        name + "- Boot While Enabling.",
         FaultType.WARNING);
     register(
         () -> pigeon.getFault_Undervoltage().getValue(),
-        name + ": Voltage Too Low, Check For Brownouts.",
+        name + "- Voltage Too Low, Check For Brownouts.",
         FaultType.WARNING);
   }
 

diff --git a/src/main/java/frc/lib/FaultsTable.java b/src/main/java/frc/lib/FaultsTable.java
@@ -28,6 +28,11 @@ public final boolean equals(Object other) {
 
       return false;
     }
+
+    @Override
+    public final String toString() {
+      return "Fault - " + description + ", Type - " + type.toString();
+    }
   }
 
   /**

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -196,6 +196,8 @@ private final void addFault(String description, FaultType faultType) {
 
     Fault fault = new Fault(description, faultType);
 
+    DogLog.logFault(fault.toString());
+
     _faults.add(fault);
     _faultsTable.set(_faults);
   }

diff --git a/src/test/java/frc/lib/CTREUtilTest.java b/src/test/java/frc/lib/CTREUtilTest.java
@@ -74,10 +74,10 @@ public void attempt() {
     assert FaultLogger.totalFaults()
         .contains(
             new Fault(
-                name + ": Config Apply Failed - " + StatusCode.ConfigFailed.getDescription(),
+                name + " - Config Apply Failed - " + StatusCode.ConfigFailed.getDescription(),
                 FaultType.ERROR));
 
     assert FaultLogger.totalFaults()
-        .contains(new Fault(name + ": Config Apply Successful.", FaultType.INFO));
+        .contains(new Fault(name + " - Config Apply Successful.", FaultType.INFO));
   }
 }