removed IO concept, and fixed fault logger and advanced subsystem to …

…handle a non-default nt instance in unit tests

src/main/java/frc/lib/AdvancedSubsystem.java

@@ -17,15 +17,31 @@
 public abstract class AdvancedSubsystem extends SubsystemBase
     implements SelfChecked, AutoCloseable {
   // faults and the table containing them
-  private Set<Fault> _faults = new HashSet<Fault>();
-  private FaultsTable _faultsTable =
-      new FaultsTable(
-          NetworkTableInstance.getDefault().getTable("Self Check"), getName() + " Faults");
+  private final Set<Fault> _faults = new HashSet<Fault>();
+  private final FaultsTable _faultsTable;
 
   @Logged(name = "Has Error")
   private boolean _hasError = false;
 
-  public AdvancedSubsystem() {}
+  public AdvancedSubsystem() {
+    this(NetworkTableInstance.getDefault());
+  }
+
+  public AdvancedSubsystem(NetworkTableInstance ntInst) {
+    _faultsTable = new FaultsTable(ntInst.getTable("Self Check"), getName() + " Faults");
+  }
+
+  /**
+   * Returns the name of the command that's currently requiring this subsystem. Is "None" when the
+   * command in null.
+   */
+  public final String currentCommandName() {
+    if (getCurrentCommand() != null) {
+      return getCurrentCommand().getName();
+    }
+
+    return "None";
+  }
 
   /** Adds a new fault under this subsystem. */
   protected final void addFault(String description, FaultType faultType) {
@@ -65,20 +81,14 @@ public final boolean hasError() {
   /** Returns a full Command that self checks this Subsystem for pre-match. */
   public final Command fullSelfCheck() {
     Command selfCheck =
-        sequence(runOnce(this::clearFaults), selfCheck(this::addFault).until(this::hasError))
+        sequence(runOnce(this::clearFaults), selfCheck().until(this::hasError))
             .withName(getName() + " Self Check");
 
     return selfCheck;
   }
 
   @Override
   public void periodic() {
-    String currentCommandName = "None";
-
-    if (getCurrentCommand() != null) {
-      currentCommandName = getCurrentCommand().getName();
-    }
-
-    DogLog.log(getName() + "/Current Command", currentCommandName);
+    DogLog.log(getName() + "/Current Command", currentCommandName());
   }
 }

src/main/java/frc/lib/FaultLogger.java

@@ -8,7 +8,6 @@
 import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.hardware.TalonFX;
 import dev.doglog.DogLog;
-import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DriverStation;
 import frc.lib.FaultsTable.Fault;
@@ -45,9 +44,21 @@ public static interface FaultReporter {
   private static final Set<Fault> totalFaults = new HashSet<>();
 
   // NETWORK TABLES
-  private static final NetworkTable base = NetworkTableInstance.getDefault().getTable("Faults");
-  private static final FaultsTable activeAlerts = new FaultsTable(base, "Active Faults");
-  private static final FaultsTable totalAlerts = new FaultsTable(base, "Total Faults");
+  private static FaultsTable activeAlerts;
+  private static FaultsTable totalAlerts;
+
+  /** Must be called to setup the fault logger. */
+  public static void setup(NetworkTableInstance ntInst) {
+    var base = ntInst.getTable("Faults");
+
+    activeAlerts = new FaultsTable(base, "Active Faults");
+    totalAlerts = new FaultsTable(base, "Total Faults");
+  }
+
+  /** Must be called to setup the fault logger. */
+  public static void setup() {
+    setup(NetworkTableInstance.getDefault());
+  }
 
   /** Whether or not to print new faults into the console. */
   public static void enableConsole(boolean enable) {
@@ -117,7 +128,7 @@ public static void report(Fault fault) {
     switch (fault.type()) {
       case ERROR -> DriverStation.reportError("[Fault Logger] " + fault.toString(), false);
       case WARNING -> DriverStation.reportWarning("[Fault Logger] " + fault.toString(), false);
-      case INFO -> System.out.println("[FaultLogger] " + fault.toString());
+      case INFO -> System.out.println("[Fault Logger] " + fault.toString());
     }
   }
 

src/main/java/frc/lib/InputStream.java

@@ -176,7 +176,10 @@ public default InputStream rateLimit(double rate) {
    * @return A stream with the same output as this one.
    */
   public default InputStream log(String key) {
-    DoublePublisher pub = NetworkTableInstance.getDefault().getDoubleTopic(key).publish();
+    DoublePublisher pub =
+        NetworkTableInstance.getDefault()
+            .getDoubleTopic(key)
+            .publish(); // TODO: watch out unit tests
     return () -> {
       double val = this.get();
       pub.set(val);

src/main/java/frc/lib/SelfChecked.java

@@ -5,16 +5,13 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.FaultsTable.FaultType;
-import java.util.function.BiConsumer;
 
 public interface SelfChecked {
   /**
-   * Returns a Command that self checks this system.
-   *
-   * @param faults A consumer that adds a given fault to the subsystem with the specified fault
-   *     type.
+   * Returns a Command that self checks this system. This command should utilize the advanced
+   * subsytem's {@link AdvancedSubsystem#addFault(String, FaultType)}.
    */
-  public default Command selfCheck(BiConsumer<String, FaultType> faults) {
+  public default Command selfCheck() {
     return none();
   }
 

src/main/java/frc/lib/UnitTestingUtil.java

@@ -6,6 +6,7 @@
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
@@ -37,8 +38,12 @@ public static void setupTests() {
     DriverStationSim.setEnabled(true);
     DriverStationSim.notifyNewData();
 
+    assert DriverStation.isEnabled();
+
     DogLog.setEnabled(false); // disabling doglog since it logs to the default nt instance
 
+    FaultLogger.setup(_ntInst);
+
     FaultLogger.clear();
     FaultLogger.unregisterAll();
     FaultLogger.enableConsole(false);
@@ -121,7 +126,7 @@ public static void run(Command command, int runs) {
 
   /**
    * Schedules a command and runs it until it ends. Be careful -- if the command you give never
-   * ends, this will be an infinate loop!
+   * ends, this will be an infinite loop!
    *
    * @param command
    */

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

@@ -57,6 +57,8 @@ public Robot() {
 
     DriverStation.silenceJoystickConnectionWarning(isSimulation());
 
+    FaultLogger.setup();
+
     configureBindings();
 
     SmartDashboard.putData(

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

@@ -49,7 +49,6 @@
 import java.util.HashSet;
 import java.util.List;
 import java.util.Set;
-import java.util.function.BiConsumer;
 import org.photonvision.simulation.VisionSystemSim;
 
 @Logged(strategy = Strategy.OPT_IN)
@@ -58,7 +57,8 @@ public class Swerve extends SwerveDrivetrain implements Subsystem, SelfChecked {
   private Set<Fault> _faults = new HashSet<Fault>();
   private FaultsTable _faultsTable =
       new FaultsTable(
-          NetworkTableInstance.getDefault().getTable("Self Check"), getName() + " Faults");
+          NetworkTableInstance.getDefault().getTable("Self Check"),
+          getName() + " Faults"); // TODO: watch out if unit testing
 
   private boolean _hasError = false;
 
@@ -209,6 +209,18 @@ public Swerve(
 
   // COPIED FROM ADVANCED SUBSYSTEM
 
+  /**
+   * Returns the name of the command that's currently requiring this subsystem. Is "None" when the
+   * command in null.
+   */
+  public final String currentCommandName() {
+    if (getCurrentCommand() != null) {
+      return getCurrentCommand().getName();
+    }
+
+    return "None";
+  }
+
   /** Adds a new fault under this subsystem. */
   private final void addFault(String description, FaultType faultType) {
     _hasError = (faultType == FaultType.ERROR);
@@ -247,7 +259,7 @@ public final boolean hasError() {
   /** Returns a full Command that self checks this Subsystem for pre-match. */
   public final Command fullSelfCheck() {
     Command selfCheck =
-        sequence(runOnce(this::clearFaults), selfCheck(this::addFault).until(this::hasError))
+        sequence(runOnce(this::clearFaults), selfCheck().until(this::hasError))
             .withName(getName() + " Self Check");
 
     return selfCheck;
@@ -430,13 +442,7 @@ private void updateVisionPoseEstimates() {
   @Override
   public void periodic() {
     // ---- advanced subsystem periodic ----
-    String currentCommandName = "None";
-
-    if (getCurrentCommand() != null) {
-      currentCommandName = getCurrentCommand().getName();
-    }
-
-    DogLog.log(getName() + "/Current Command", currentCommandName);
+    DogLog.log(getName() + "/Current Command", currentCommandName());
 
     // ---- this subsystem's periodic ----
     updateVisionPoseEstimates();
@@ -470,11 +476,11 @@ public void simulationPeriodic() {
   }
 
   private Command selfCheckModule(String name, SwerveModule module) {
-    return shiftSequence();
+    return shiftSequence(); // TODO
   }
 
   @Override
-  public Command selfCheck(BiConsumer<String, FaultType> faults) {
+  public Command selfCheck() {
     return shiftSequence(
         // check all modules individually
         selfCheckModule("Front Left", getModule(0)),

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

@@ -9,18 +9,14 @@
 import static frc.lib.UnitTestingUtil.run;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.lib.FaultsTable.Fault;
 import frc.lib.FaultsTable.FaultType;
-import java.util.function.BiConsumer;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 
 public class AdvancedSubsystemTest {
-  static final double DELTA = 1e-2; // acceptable deviation range
-
   private TestImpl _sub;
 
   @BeforeEach
@@ -35,16 +31,11 @@ public void close() throws Exception {
     reset(_sub);
   }
 
-  @Test
-  public void robotIsEnabled() {
-    assert DriverStation.isEnabled();
-  }
-
   @Test
   public void addFault() {
     _sub.addFault("FAULT 1", FaultType.ERROR);
 
-    assertEquals(_sub.getFaults().size(), 1, DELTA);
+    assertEquals(1, _sub.getFaults().size());
 
     assert _sub.hasFault("FAULT 1", FaultType.ERROR);
   }
@@ -62,7 +53,7 @@ public void duplicateFaults() {
     _sub.addFault("FAULT 1", FaultType.ERROR);
     _sub.addFault("FAULT 1", FaultType.ERROR);
 
-    assertEquals(_sub.getFaults().size(), 1, DELTA);
+    assertEquals(1, _sub.getFaults().size());
   }
 
   @Test
@@ -72,7 +63,7 @@ public void clearFaults() {
 
     _sub.clearFaults();
 
-    assertEquals(_sub.getFaults().size(), 0, DELTA);
+    assertEquals(0, _sub.getFaults().size());
   }
 
   @Test
@@ -87,7 +78,7 @@ public void selfCheckFinish() {
     runToCompletion(_sub.fullSelfCheck());
 
     // should give FAULT 3 error
-    assertEquals(_sub.getFaults().size(), 3, DELTA);
+    assertEquals(3, _sub.getFaults().size());
 
     // should contain these faults
     assert _sub.hasFault("FAULT 1", FaultType.WARNING);
@@ -97,63 +88,46 @@ public void selfCheckFinish() {
 
   @Test
   public void currentCommandName() {
+    assertEquals("None", _sub.currentCommandName()); // doing nothing
+
     var test = idle(_sub).withName("Test Command");
 
     run(test, 3);
 
-    assertEquals("Test Command", _sub.getCurrentCommand().getName()); // TODO
+    assertEquals("Test Command", _sub.currentCommandName());
   }
 
   public class TestImpl extends AdvancedSubsystem {
-    private final BaseIO _io = new TestIO();
-
-    private interface BaseIO extends SelfChecked {
-      public double getEncoderSpeed();
-    }
-
-    // irl this would be for example "TalonIO" (handles real/sim) or "NoneIO" (handles no subsystem)
-    private class TestIO implements BaseIO {
-      private final boolean _fault1 = true;
-      private final boolean _fault2 = true;
-      private final boolean _fault3 = true;
-
-      @Override
-      public double getEncoderSpeed() {
-        return 1.0;
-      }
-
-      @Override
-      public Command selfCheck(BiConsumer<String, FaultType> faults) {
-        return shiftSequence(
-            runOnce(
-                () -> {
-                  if (_fault1) faults.accept("FAULT 1", FaultType.WARNING);
-                }),
-            runOnce(
-                () -> {
-                  if (_fault2) faults.accept("FAULT 2", FaultType.WARNING);
-                }),
-            runOnce(
-                () -> {
-                  if (_fault3) faults.accept("FAULT 3", FaultType.ERROR);
-                }));
-      }
+    public TestImpl() {
+      super(UnitTestingUtil.getNtInst());
     }
 
-    // uses the io
     public double speed() {
-      return _io.getEncoderSpeed();
+      return 0;
     }
 
     @Override
-    public Command selfCheck(BiConsumer<String, FaultType> faults) {
+    public Command selfCheck() {
       return shiftSequence(
-          _io.selfCheck(faults), // self check io devices first
+          // check devices first
+          runOnce(
+              () -> {
+                if (true) addFault("FAULT 1", FaultType.WARNING);
+              }),
+          runOnce(
+              () -> {
+                if (true) addFault("FAULT 2", FaultType.WARNING);
+              }),
+          runOnce(
+              () -> {
+                if (true) addFault("FAULT 3", FaultType.ERROR);
+              }),
+
+          // then check the subsystem
           runOnce(
               () -> {
-                if (speed() < 2) faults.accept("TOO SLOW", FaultType.WARNING);
-              }) // then check the whole subsystem
-          );
+                if (speed() < 2) addFault("TOO SLOW", FaultType.WARNING);
+              }));
     }
 
     @Override