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Use persitent alerts api #130

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99 changes: 92 additions & 7 deletions src/main/java/org/carlmontrobotics/lib199/MotorErrors.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,13 @@
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkFlexConfig;
import com.revrobotics.spark.config.SparkMaxConfig;

import edu.wpi.first.util.datalog.BooleanLogEntry;
import edu.wpi.first.util.datalog.DataLog;
import edu.wpi.first.util.datalog.StringLogEntry;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.DataLogManager;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public final class MotorErrors {
Expand All @@ -27,6 +34,10 @@ public final class MotorErrors {
(spark1, spark2) -> (spark1.getDeviceId() - spark2.getDeviceId()));
private static final Map<SparkBase, Faults> stickyFlags = new ConcurrentSkipListMap<>(
(spark1, spark2) -> (spark1.getDeviceId() - spark2.getDeviceId()));
private static final Map<SparkBase, Alert[]> alerts = new ConcurrentSkipListMap<>(
(spark1, spark2) -> (spark1.getDeviceId() - spark2.getDeviceId()));
private static final Map<SparkBase, Alert[]> stickyAlerts = new ConcurrentSkipListMap<>(
(spark1, spark2) -> (spark1.getDeviceId() - spark2.getDeviceId()));

private static final SparkBaseConfig OVERHEAT_MAX_CONFIG = new SparkMaxConfig().smartCurrentLimit(1);
private static final SparkBaseConfig OVERHEAT_FLEX_CONFIG = new SparkFlexConfig().smartCurrentLimit(1);
Expand Down Expand Up @@ -67,10 +78,14 @@ private static <T extends Enum<T>> void reportError(String vendor, T error, T ok
if(error == null || error == ok) {
return;
}
System.err.println("Error: " + error.name() + " occurred while configuring " + vendor + " motor");
System.err.println("Full stack trace:");
new Alert(vendor + " motor error: " + error.name() + ", see log for full stack trace", AlertType.kError).set(true);

DataLog log = DataLogManager.getLog();
StringLogEntry motorErrorLog = new StringLogEntry(log, "MotorErrors/" + error.name());
motorErrorLog.append("Error: " + error.name() + " occurred while configuring " + vendor + " motor");
motorErrorLog.append("Full stack trace:");
StackTraceElement[] stack = Thread.currentThread().getStackTrace();
System.err.println(Arrays.toString(stack));
motorErrorLog.append(Arrays.toString(stack));
}

public static void checkSparkErrors(SparkBase spark) {
Expand All @@ -82,10 +97,12 @@ public static void checkSparkErrors(SparkBase spark) {
Faults prevStickyFaults = stickyFlags.getOrDefault(spark, null);

if (spark.hasActiveFault() && prevFaults!=null && prevFaults.rawBits != faults.rawBits) {
System.err.println("Fault Errors! (spark id " + spark.getDeviceId() + "): [" + formatFaults(spark) + "], ooF!");
//System.err.println("Fault Errors! (spark id " + spark.getDeviceId() + "): [" + formatFaults(spark) + "], ooF!");
postAlerts(spark, AlertType.kError);
}
if (spark.hasStickyFault() && prevStickyFaults!=null && prevStickyFaults.rawBits != stickyFaults.rawBits) {
System.err.println("Sticky Faults! (spark id " + spark.getDeviceId() + "): [" + formatStickyFaults(spark) + "], Ouch!");
//System.err.println("Sticky Faults! (spark id " + spark.getDeviceId() + "): [" + formatStickyFaults(spark) + "], Ouch!");
postStickyAlerts(spark, AlertType.kError);
}
spark.clearFaults();
flags.put(spark, faults);
Expand All @@ -105,6 +122,71 @@ private static String formatFaults(Faults f) {
;
}

private static void postAlerts(SparkBase spark, AlertType alertType) {
int id = spark.getDeviceId();
if (!alerts.containsKey(spark)) {
alerts.put(spark, new Alert[] {
new Alert("Spark " + id + " has an active CAN Fault", alertType),
new Alert("Spark " + id + " has an active Flash ROM Fault", alertType),
new Alert("Spark " + id + " has an active Firmware Fault", alertType),
new Alert("Spark " + id + " has an active Gate Driver Fault", alertType),
new Alert("Spark " + id + " has an active Motor Type Fault", alertType),
new Alert("Spark " + id + " has an active Other Fault", alertType),
new Alert("Spark " + id + " has an active Sensor Fault", alertType),
new Alert("Spark " + id + " has an active Temperature Fault", alertType)
});
clearAlerts(spark);
}
Alert[] alertList = alerts.get(spark);
for (int i = 0; i < alertList.length; i++) {
if ((spark.getFaults().rawBits & (1 << i)) != 0) {
alertList[i].set(true);
} else {
alertList[i].set(false);
}
}
}

private static void postStickyAlerts(SparkBase spark, AlertType alertType) {
int id = spark.getDeviceId();
if (!stickyAlerts.containsKey(spark)) {
stickyAlerts.put(spark, new Alert[] {
new Alert("Spark " + id + " has a sticky CAN Fault", alertType),
new Alert("Spark " + id + " has a sticky Flash ROM Fault", alertType),
new Alert("Spark " + id + " has a sticky Firmware Fault", alertType),
new Alert("Spark " + id + " has a sticky Gate Driver Fault", alertType),
new Alert("Spark " + id + " has a sticky Motor Type Fault", alertType),
new Alert("Spark " + id + " has a sticky Other Fault", alertType),
new Alert("Spark " + id + " has a sticky Sensor Fault", alertType),
new Alert("Spark " + id + " has a sticky Temperature Fault", alertType)
});
clearStickyAlerts(spark);
}
Alert[] stickyAlertList = stickyAlerts.get(spark);
for (int i = 0; i < stickyAlertList.length; i++) {
if ((spark.getStickyFaults().rawBits & (1 << i)) != 0) {
stickyAlertList[i].set(true);
} else {
stickyAlertList[i].set(false);
}
}
}

private static void clearAlerts(SparkBase spark) {
if (alerts.containsKey(spark)) {
for (Alert alert : alerts.get(spark)) {
alert.set(false);
}
}
}
private static void clearStickyAlerts(SparkBase spark) {
if (stickyAlerts.containsKey(spark)) {
for (Alert alert : stickyAlerts.get(spark)) {
alert.set(false);
}
}
}

private static String formatFaults(SparkBase spark) {
Faults f = spark.getFaults();
return formatFaults(f);
Expand Down Expand Up @@ -182,8 +264,11 @@ private static void reportSparkTemp(int port, SparkBase spark) {
// This prevents the error message from being re-printed every time the periodic
// method is run
overheatedSparks.put(port, kOverheatTripCount + 1);
System.err.println("Port " + port + " spark is operating at " + temp
+ " degrees Celsius! It will be disabled until the robot code is restarted.");
// System.err.println("Port " + port + " spark is operating at " + temp
// + " degrees Celsius! It will be disabled until the robot code is restarted.");
Alert alert = new Alert("Spark " + port + " is operating at " + temp
+ " degrees Celsius! It will be disabled until the robot code is restarted.", AlertType.kError);
alert.set(true);
}
switch(MotorControllerFactory.getControllerType(spark)){
case SPARK_MAX:
Expand Down
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