Merge pull request #16 from AnotherUser12/master

Add Field2d Annotation

examples/src/main/java/io/github/oblarg/logexample/subsystems/DriveSubsystem.java

@@ -7,10 +7,13 @@
 
 package io.github.oblarg.logexample.subsystems;
 
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import io.github.oblarg.logexample.Constants.DriveConstants;
@@ -19,6 +22,10 @@
 import io.github.oblarg.oblog.annotations.Log;
 
 public class DriveSubsystem extends SubsystemBase implements Loggable {
+
+  @Log.Field2d(name = "Field")
+  Field2d m_field = new Field2d();
+
   // The motors on the left side of the drive.
   @Log.MotorController(name = "Left Motors")
   private final MotorControllerGroup m_leftMotors =
@@ -111,4 +118,9 @@ public Encoder getRightEncoder() {
   public void setMaxOutput(double maxOutput) {
     m_drive.setMaxOutput(maxOutput);
   }
+
+  @Override
+  public void periodic(){
+    m_field.setRobotPose(new Pose2d(0,0,new Rotation2d(0)));
+  }
 }

examples/src/main/java/io/github/oblarg/logexample/subsystems/ShooterSubsystem.java

@@ -32,7 +32,7 @@ public class ShooterSubsystem extends PIDSubsystem implements Loggable {
   private final SimpleMotorFeedforward m_shooterFeedforward =
       new SimpleMotorFeedforward(ShooterConstants.kSVolts,
                                  ShooterConstants.kVVoltSecondsPerRotation);
-
+  
   /**
    * The shooter subsystem for the robot.
    */

lib/src/main/java/io/github/oblarg/oblog/Logger.java

@@ -864,6 +864,22 @@ void processSetter(
                         .withSize(params.width(), params.height())
                         .getEntry(),
                     () -> getFromMethod(supplierFinal, params.methodName()).get().toString());
+              }),
+              entry(
+              Log.Field2d.class,
+              (supplier, rawParams, bin, name) -> {
+                Log.Field2d params = (Log.Field2d) rawParams;
+                bin =
+                    params.tabName().equals("DEFAULT")
+                        ? bin
+                        : new WrappedShuffleboardContainer(Shuffleboard.getTab(params.tabName()));
+                supplier = getFromMethod(supplier, params.methodName());
+                bin.add(
+                        (params.name().equals("NO_NAME")) ? name : params.name(),
+                        (Sendable) supplier.get())
+                    .withWidget(BuiltInWidgets.kField.getWidgetName())
+                    .withPosition(params.columnIndex(), params.rowIndex())
+                    .withSize(params.width(), params.height());
               }));
 
   /** Maps various classes to the correct method for casting to that class. */

lib/src/main/java/io/github/oblarg/oblog/annotations/Log.java

@@ -1330,4 +1330,68 @@ edu.wpi.first.wpilibj.interfaces.Accelerometer.Range range() default
   @Retention(RetentionPolicy.RUNTIME)
   @Target({ElementType.FIELD})
   @interface Include {}
+    /**
+   * Displays the position of robot on the playing field. <br>
+   * Supported types:
+   *
+   * <ul>
+   *   <li>{@link edu.wpi.first.wpilibj.smartdashboard.Field2d}
+   * </ul>
+   *
+   * <br>
+   */
+  @Repeatable(Field2ds.class)
+  @Retention(RetentionPolicy.RUNTIME)
+  @Target({ElementType.FIELD, ElementType.METHOD})
+  @interface Field2d {
+    /** @return The name of the value on Shuffleboard; defaults to field or method name. */
+    String name() default "NO_NAME";
+
+    /**
+     * @return The name of the tab in which to place this widget, if the default inferred tab/layout
+     *     is not desired. Users should be careful to avoid namespace collisions if the default tab
+     *     is not used. Note that Log and config annotations can be repeated to place widgets on
+     *     multiple tabs.
+     */
+    String tabName() default "DEFAULT";
+
+    /**
+     * @return Optional name of a method to call on the field (or return value of the method) to
+     *     obtain the actual value that will be logged. Useful if one does not desire to make an
+     *     entire object Loggable, but still wants to log a value from it.
+     */
+    String methodName() default "DEFAULT";
+
+    /**
+     * @return The row in which this widget should be placed. WARNING: If position/size is specified
+     *     for one widget in an object, it should be specified for all widgets in that object to
+     *     avoid overlaps.
+     */
+    int rowIndex() default -1;
+
+    /**
+     * @return The column in which this widget should be placed. WARNING: If position/size is
+     *     specified for one widget in an object, it should be specified for all widgets in that
+     *     object to avoid overlaps.
+     */
+    int columnIndex() default -1;
+
+    /**
+     * @return The width of this widget. WARNING: If position/size is specified for one widget in an
+     *     object, it should be specified for all widgets in that object to avoid overlaps.
+     */
+    int width() default -1;
+
+    /**
+     * @return The height of this widget. WARNING: If position/size is specified for one widget in
+     *     an object, it should be specified for all widgets in that object to avoid overlaps.
+     */
+    int height() default -1;
+  }
+
+  @Retention(RetentionPolicy.RUNTIME)
+  @Target({ElementType.FIELD, ElementType.METHOD})
+  @interface Field2ds {
+    Field2d[] value();
+  }
 }