added back fault logging from old swervebase (+doglog fault logging)

README.md

@@ -6,10 +6,12 @@ A base project for future robots that has CTRE generated swerve drive code and P
 # Features
 - Swerve drive code using CTRE's swerve code generator.
 - Device logging with SignalLogger and data logging with Epilogue and DogLog.
+- Device Fault Logging as telemetry for at-home testing. The faults are also logged with DogLog for post-match review.
 
 # Todo
 - Add the working stuff from other SwerveBase (fault logger, photon vision code).
-- Add WPILib testing?
+- Add WPILib unit testing?
+- Add proper licenses
 
 ## 2025 Beta Known Issues
 - To run sim, do `./gradlew simulateJava` instead of using the WPILib extension.

src/main/java/frc/lib/CTREUtil.java

@@ -0,0 +1,104 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.lib;
+
+import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.hardware.TalonFX;
+import frc.lib.FaultsTable.FaultType;
+import java.util.function.Supplier;
+
+/** Utility class for CTRE devices. */
+public class CTREUtil {
+  /**
+   * Attempts to perform an action on a generic CTRE device. If the action returns a status code
+   * that is not OK, the action is re-attempted up to 5 times. If it fails after 5 attempts the
+   * status code is displayed in the fault logger.
+   *
+   * @param action The action to perform (returns a StatusCode).
+   * @param deviceName The name of the device for the fault logger.
+   * @return True if the attempt failed, False otherwise.
+   */
+  public static boolean attempt(Supplier<StatusCode> action, String deviceName) {
+    StatusCode statusCode = StatusCode.OK;
+
+    for (int i = 0; i < 5; i++) {
+      // performs the action
+      statusCode = action.get();
+
+      if (statusCode.isOK()) {
+        break;
+      }
+    }
+
+    // successful attempt
+    if (statusCode.isOK()) {
+      FaultLogger.report(deviceName + ": Config Apply Successful.", FaultType.INFO);
+      return false;
+    }
+
+    // failed attempt
+    else {
+      FaultLogger.report(
+          deviceName + ": Config Apply Failed: " + statusCode.getDescription(), FaultType.ERROR);
+      return true;
+    }
+  }
+
+  /**
+   * Attempts to perform an action on a TalonFX. If the action returns a status code that is not OK,
+   * the action is re-attempted up to 5 times. If it fails after 5 attempts the status code is
+   * displayed in the fault logger.
+   *
+   * @param action The action to perform (returns a StatusCode).
+   * @param talonFX The TalonFX for the fault logger.
+   * @return True if the attempt failed, False otherwise.
+   */
+  public static boolean attempt(Supplier<StatusCode> action, TalonFX talonFX) {
+    return attempt(action, getName(talonFX));
+  }
+
+  /**
+   * Attempts to perform an action on a CANCoder. If the action returns a status code that is not
+   * OK, the action is re-attempted up to 5 times. If it fails after 5 attempts the status code is
+   * displayed in the fault logger.
+   *
+   * @param action The action to perform (returns a StatusCode).
+   * @param cancoder The CANCoder for the fault logger.
+   * @return True if the attempt failed, False otherwise.
+   */
+  public static boolean attempt(Supplier<StatusCode> action, CANcoder cancoder) {
+    return attempt(action, getName(cancoder));
+  }
+
+  /**
+   * Attempts to perform an action on a Pigeon2. If the action returns a status code that is not OK,
+   * the action is re-attempted up to 5 times. If it fails after 5 attempts the status code is
+   * displayed in the fault logger.
+   *
+   * @param action The action to perform (returns a StatusCode).
+   * @param pigeon The Pigeon for the fault logger.
+   * @return True if the attempt failed, False otherwise.
+   */
+  public static boolean attempt(Supplier<StatusCode> action, Pigeon2 pigeon) {
+    return attempt(action, getName(pigeon));
+  }
+
+  /** Returns the name to use when displaying info about a TalonFX. */
+  public static String getName(TalonFX talonFX) {
+    return "TalonFX (" + talonFX.getDeviceID() + ")";
+  }
+
+  /** Returns the name to use when displaying info about a CANcoder. */
+  public static String getName(CANcoder cancoder) {
+    return "CANcoder (" + cancoder.getDeviceID() + ")";
+  }
+
+  /** Retunrs the name to use when displaying info about a Pigeon. */
+  public static String getName(Pigeon2 pigeon) {
+    return "Pigeon (" + pigeon.getDeviceID() + ")";
+  }
+}

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

@@ -0,0 +1,241 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.lib;
+
+import com.ctre.phoenix6.hardware.CANcoder;
+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;
+import frc.lib.FaultsTable.FaultType;
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Optional;
+import java.util.Set;
+import java.util.function.BooleanSupplier;
+import java.util.function.Supplier;
+
+// (from team 1155 but slightly modified)
+
+/**
+ * FaultLogger allows for faults and errors to be logged and displayed.
+ *
+ * <pre>
+ * FaultLogger.register(talonfx); // registers a TalonFX, periodically checking for hardware faults.
+ * </pre>
+ */
+public final class FaultLogger {
+  @FunctionalInterface
+  public static interface FaultReporter {
+    void report();
+  }
+
+  // DATA
+  private static final List<FaultReporter> faultReporters = new ArrayList<>();
+  private static final Set<Fault> newFaults = new HashSet<>();
+  private static final Set<Fault> activeFaults = new HashSet<>();
+  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");
+
+  /** Polls registered fallibles. This method should be called periodically. */
+  public static void update() {
+    activeFaults.clear();
+
+    faultReporters.forEach(f -> f.report());
+    activeFaults.addAll(newFaults);
+    newFaults.clear();
+
+    // log to doglog as well
+    activeFaults.forEach(f -> DogLog.logFault(f.description()));
+
+    totalFaults.addAll(activeFaults);
+
+    // don't log to NT if there is a match going on (just use doglog)
+    if (!DriverStation.isFMSAttached()) {
+      activeAlerts.set(activeFaults);
+      totalAlerts.set(totalFaults);
+    }
+  }
+
+  /** Clears total faults. */
+  public static void clear() {
+    totalFaults.clear();
+    activeFaults.clear();
+    newFaults.clear();
+  }
+
+  /** Clears fault suppliers. */
+  public static void unregisterAll() {
+    faultReporters.clear();
+  }
+
+  /**
+   * Returns the set of all current faults.
+   *
+   * @return The set of all current faults.
+   */
+  public static Set<Fault> activeFaults() {
+    return activeFaults;
+  }
+
+  /**
+   * Returns the set of all total faults.
+   *
+   * @return The set of all total faults.
+   */
+  public static Set<Fault> totalFaults() {
+    return totalFaults;
+  }
+
+  /**
+   * Reports a fault.
+   *
+   * @param fault The fault to report.
+   */
+  public static void report(Fault fault) {
+    newFaults.add(fault);
+
+    switch (fault.type()) {
+      case ERROR -> DriverStation.reportError(fault.toString(), false);
+      case WARNING -> DriverStation.reportWarning(fault.toString(), false);
+      case INFO -> System.out.println(fault.toString());
+    }
+  }
+
+  /**
+   * Reports a fault.
+   *
+   * @param description The description of the fault.
+   * @param type The type of the fault.
+   */
+  public static void report(String description, FaultType type) {
+    report(new Fault(description, type));
+  }
+
+  /**
+   * Registers a new fault supplier.
+   *
+   * @param supplier A supplier of an optional fault.
+   */
+  public static void register(Supplier<Optional<Fault>> supplier) {
+    faultReporters.add(() -> supplier.get().ifPresent(FaultLogger::report));
+  }
+
+  /**
+   * Registers a new fault supplier.
+   *
+   * @param condition Whether a failure is occuring.
+   * @param description The failure's description.
+   */
+  public static void register(BooleanSupplier condition, String description, FaultType type) {
+    faultReporters.add(
+        () -> {
+          if (condition.getAsBoolean()) {
+            report(description, type);
+          }
+        });
+  }
+
+  /**
+   * Registers a new TalonFX.
+   *
+   * @param talonFX The TalonFX.
+   */
+  public static void register(TalonFX talonFX) {
+    String name = CTREUtil.getName(talonFX);
+
+    register(
+        () -> talonFX.getFault_Hardware().getValue(), name + ": Hardware Fault.", FaultType.ERROR);
+    register(
+        () -> talonFX.getFault_BootDuringEnable().getValue(),
+        name + ": Boot While Enabling.",
+        FaultType.WARNING);
+    register(
+        () -> talonFX.getFault_DeviceTemp().getValue(),
+        name + ": Device Temperature Too High.",
+        FaultType.WARNING);
+    register(
+        () -> talonFX.getFault_ProcTemp().getValue(),
+        name + ": Processor Temp Too High.",
+        FaultType.WARNING);
+    register(
+        () -> talonFX.getFault_Undervoltage().getValue(),
+        name + ": Voltage Too Low, Check For Brownouts.",
+        FaultType.WARNING);
+  }
+
+  /**
+   * Registers a new CANcoder.
+   *
+   * @param cancoder The CANcoder.
+   */
+  public static void register(CANcoder cancoder) {
+    String name = CTREUtil.getName(cancoder);
+
+    register(
+        () -> cancoder.getFault_Hardware().getValue(), name + ": Hardware Fault.", FaultType.ERROR);
+    register(
+        () -> cancoder.getFault_BadMagnet().getValue(),
+        name + ": Bad Magnet Signal.",
+        FaultType.ERROR);
+    register(
+        () -> cancoder.getFault_BootDuringEnable().getValue(),
+        name + ": Boot While Enabling.",
+        FaultType.WARNING);
+    register(
+        () -> cancoder.getFault_Undervoltage().getValue(),
+        name + ": Voltage Too Low, Check For Brownouts.",
+        FaultType.WARNING);
+  }
+
+  /**
+   * Registers a new Pigeon.
+   *
+   * @param pigeon The Pigeon.
+   */
+  public static void register(Pigeon2 pigeon) {
+    String name = CTREUtil.getName(pigeon);
+
+    register(
+        () -> pigeon.getFault_Hardware().getValue(), name + ": Hardware Fault.", FaultType.ERROR);
+    register(
+        () -> pigeon.getFault_BootDuringEnable().getValue(),
+        name + ": Boot While Enabling.",
+        FaultType.WARNING);
+    register(
+        () -> pigeon.getFault_Undervoltage().getValue(),
+        name + ": Voltage Too Low, Check For Brownouts.",
+        FaultType.WARNING);
+  }
+
+  //   /**
+  //    * Registers a new NavX.
+  //    *
+  //    * @param navx The NavX.
+  //    */
+  //   public static void register(AHRS navx) {
+  //     register(() -> !navx.isConnected(), "NavX: Disconnected", FaultType.ERROR);
+  //   }
+
+  //   /**
+  //    * Registers a new PhotonCamera. Detailed PhotonVision logs are located on the web UI, so
+  // this is just for very basic
+  //    * telemetry to have in a dashboard when testing.
+  //    *
+  //    * @param photonCamera The PhotonCamera.
+  //    */
+  //   public static void register(PhotonCamera photonCamera) {
+  //     register(() -> !photonCamera.isConnected(), photonCamera.getName() + ": Disconnected.",
+  // FaultType.ERROR);
+  //   }
+}