System checks

commands/systemchecks/BaseCheck.java

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+package org.usfirst.frc4904.standard.commands.systemchecks;
+
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.stream.Stream;
+import java.util.Arrays;
+import org.usfirst.frc4904.standard.LogKitten;
+import org.usfirst.frc4904.standard.commands.systemchecks.StatusMessage.SystemStatus;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * BaseCheck is the base class for system checks.
+ * Creates a hashmap between systems and their respective statuses
+ * that can be updated depending on the results of system checks.
+ */
+public abstract class BaseCheck extends Command implements Check {
+	protected static final double DEFAULT_TIMEOUT = 5;
+	protected HashMap<String, StatusMessage> statuses;
+	protected final String[] systemNames;
+
+	/**
+	 * @param checkName
+	 *                    The name of the command
+	 * @param timeout
+	 *                    Duration of the command
+	 * @param systemNames
+	 *                    Names of the systems being checked
+	 */
+	public BaseCheck(String checkName, double timeout, String... systemNames) {
+		super(checkName, timeout);
+		this.systemNames = systemNames;
+		initStatuses();
+	}
+
+	/**
+	 * @param timeout
+	 *                    Duration of the command
+	 * @param systemNames
+	 *                    Names of the systems being checked
+	 */
+	public BaseCheck(double timeout, String... systemNames) {
+		this("Check", timeout, systemNames);
+	}
+
+	/**
+	 * @param systemNames
+	 *                    Names of the systems being checked
+	 */
+	public BaseCheck(String... systemNames) {
+		this(DEFAULT_TIMEOUT, systemNames);
+	}
+
+	@Override
+	public boolean isFinished() {
+		return isTimedOut();
+	}
+
+	@Override
+	public void end() {
+		outputStatuses();
+	}
+
+	/**
+	 * Sets status of a system given:
+	 * 
+	 * @param key
+	 *                   name of the system
+	 * @param status
+	 *                   pass or fail status
+	 * @param exceptions
+	 *                   any exception that the class causes
+	 * 
+	 *                   Status should be SystemStatus.FAIL if exceptions given.
+	 */
+	public void setStatus(String key, SystemStatus status, Exception... exceptions) {
+		statuses.put(key, new StatusMessage(status, exceptions));
+	}
+
+	/**
+	 * Initializes a name-status pair to have a PASS status and no exceptions
+	 * 
+	 * @param key
+	 *             name of the system
+	 */
+	public void initStatus(String key) {
+		setStatus(key, SystemStatus.PASS);
+	}
+
+	/**
+	 * Initializes all systems in systemNames using initStatus
+	 */
+	public void initStatuses() {
+		for (String name : systemNames) {
+			initStatus(name);
+		}
+	}
+
+	/**
+	 * Updates the status of a name-status pair by adding on exceptions
+	 * 
+	 * @param name
+	 *                   name of the system
+	 * @param status
+	 *                   pass or fail status
+	 * @param exceptions
+	 *                   any exception that the class causes
+	 */
+	public void updateStatus(String key, SystemStatus status, Exception... exceptions) {
+		setStatus(key, status, Stream.concat(Arrays.stream(getStatusMessage(key).exceptions), Arrays.stream(exceptions))
+			.toArray(Exception[]::new));
+	}
+
+	/**
+	 * Gets the StatusMessage (SystemStatus + exceptions) of a system given its name
+	 * 
+	 * @param key
+	 *            name of system
+	 * @return StatusMessage of system
+	 */
+	public StatusMessage getStatusMessage(String key) {
+		return statuses.get(key);
+	}
+
+	/**
+	 * Logs the statuses of all systems with variable severity
+	 * depending on the status of the system
+	 */
+	public void outputStatuses() {
+		LogKitten.d(getName() + " Statuses:");
+		for (Map.Entry<String, StatusMessage> entry : statuses.entrySet()) {
+			String name = entry.getKey();
+			StatusMessage message = entry.getValue();
+			if (message.status == SystemStatus.PASS) {
+				LogKitten.d("Subsystem: " + name + ", Status: PASS");
+			} else {
+				LogKitten.wtf("Subsystem: " + name + ", Status: FAIL");
+				for (Exception e : message.exceptions) {
+					LogKitten.wtf(e);
+				}
+			}
+		}
+	}
+}

commands/systemchecks/BatteryCheck.java

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+package org.usfirst.frc4904.standard.commands.systemchecks;
+
+
+import edu.wpi.first.hal.can.CANStatus;
+import edu.wpi.first.wpilibj.RobotController;
+
+/**
+ * Systemcheck of battery status
+ */
+public class BatteryCheck extends BaseCheck {
+	protected final double MIN_VOLTAGE = 9.0;
+	protected CANStatus status;
+	protected static final String systemName = "BATTERY";
+
+	/**
+	 * Systemcheck of battery status
+	 * 
+	 * @param name
+	 *                name of check
+	 * @param timeout
+	 *                duration of check
+	 */
+	public BatteryCheck(String name, double timeout) {
+		super(name, timeout, systemName);
+	}
+
+	/**
+	 * Systemcheck of battery status
+	 * 
+	 * @param name
+	 *                name of check
+	 * @param timeout
+	 *                duration of check
+	 */
+	public BatteryCheck(double timeout) {
+		super("RobotControllerCheck", timeout);
+	}
+
+	/**
+	 * Systemcheck of battery status
+	 * 
+	 * @param name
+	 *                name of check
+	 * @param timeout
+	 *                duration of check
+	 */
+	public BatteryCheck(String name) {
+		super(name, DEFAULT_TIMEOUT);
+	}
+
+	public void execute() {
+		status = RobotController.getCANStatus();
+		if (RobotController.getBatteryVoltage() < MIN_VOLTAGE) {
+			updateStatusFail(systemName, new Exception("BATTERY VOLTAGE LESS THAN MIN VOLTAGE REQUIREMENT"));
+		}
+		if (RobotController.isBrownedOut()) {
+			updateStatusFail(systemName, new Exception("BROWNED OUT"));
+		}
+	}
+}

commands/systemchecks/CANCheck.java

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+package org.usfirst.frc4904.standard.commands.systemchecks;
+
+
+import edu.wpi.first.hal.can.CANStatus;
+import edu.wpi.first.wpilibj.RobotController;
+
+/**
+ * System check of CAN
+ */
+public class CANCheck extends BaseCheck {
+	protected final int MAX_ERROR_COUNT = 127;
+	protected final int MAX_OFF_COUNT = 0;
+	protected static final String systemName = "CAN";
+	protected CANStatus status;
+
+	/**
+	 * @param name
+	 *                name of check
+	 * @param timeout
+	 *                duration of check
+	 */
+	public CANCheck(String name, double timeout) {
+		super(name, timeout, systemName);
+	}
+
+	/**
+	 * @param timeout
+	 *                duration of check
+	 */
+	public CANCheck(double timeout) {
+		super("CANCheck", timeout);
+	}
+
+	/**
+	 * @param name
+	 *             name of check
+	 */
+	public CANCheck(String name) {
+		super(name, DEFAULT_TIMEOUT);
+	}
+
+	public void execute() {
+		status = RobotController.getCANStatus();
+		if (status.receiveErrorCount > MAX_ERROR_COUNT) {
+			updateStatusFail(systemName, new Exception("TOO MANY RECEIVE ERRORS"));
+		}
+		if (status.transmitErrorCount > MAX_ERROR_COUNT) {
+			updateStatusFail(systemName, new Exception("TOO MANY TRANSMISSION ERRORS"));
+		}
+		if (status.busOffCount > MAX_OFF_COUNT) {
+			updateStatusFail(systemName, new Exception("TOO MANY CANBUS OFF OCCURANCES"));
+		}
+	}
+}

commands/systemchecks/Check.java

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+package org.usfirst.frc4904.standard.commands.systemchecks;
+
+
+import org.usfirst.frc4904.standard.commands.systemchecks.StatusMessage.SystemStatus;
+
+public interface Check {
+	/**
+	 * Sets the status of a system, overriding previous exceptions
+	 * 
+	 * @param key
+	 *                   name of system
+	 * @param status
+	 *                   PASS or FAIL
+	 * @param exceptions
+	 *                   exceptions caused by the system
+	 */
+	public void setStatus(String key, SystemStatus status, Exception... exceptions);
+
+	/**
+	 * Initializes the status of system to PASS
+	 * 
+	 * @param key
+	 *            name of system
+	 */
+	default void initStatus(String key) {
+		setStatus(key, SystemStatus.PASS);
+	}
+
+	/**
+	 * Initializes statuses of all systems
+	 */
+	public void initStatuses();
+
+	/**
+	 * Sets the status of a system, preserving past exceptions
+	 * 
+	 * @param key
+	 *                   name of system
+	 * @param status
+	 *                   PASS or FAIL
+	 * @param exceptions
+	 *                   exceptions caused by the system
+	 */
+	public void updateStatus(String key, SystemStatus status, Exception... exceptions);
+
+	/**
+	 * Sets the status of a system to FAIL
+	 * 
+	 * @param key
+	 *                   name of system
+	 * @param exceptions
+	 *                   exceptions caused by the system
+	 */
+	default void updateStatusFail(String key, Exception... exceptions) {
+		updateStatus(key, SystemStatus.FAIL, exceptions);
+	}
+
+	/**
+	 * Sets the status of a system to PASS
+	 * 
+	 * @param key
+	 *            name of system
+	 */
+	default void setStatusPass(String key) {
+		setStatus(key, SystemStatus.PASS);
+	}
+
+	/**
+	 * Outputs the statuses of all systems of check
+	 */
+	public void outputStatuses();
+}

commands/systemchecks/CheckGroup.java

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+package org.usfirst.frc4904.standard.commands.systemchecks;
+
+
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * Runs a series of robot system checks
+ */
+public class CheckGroup extends CommandGroup {
+	/**
+	 * @param name
+	 *               name of commandgroup
+	 * @param checks
+	 *               systemchecks to run
+	 */
+	public CheckGroup(String name, Check... checks) {
+		for (Check check : checks) {
+			if (check instanceof Command) {
+				if (check instanceof SubsystemCheck) { // TODO: Think of better logic for this
+					addSequential((SubsystemCheck) check);
+				} else {
+					addParallel((Command) check);
+				}
+			}
+		}
+	}
+}