Class DeviceHealthCheck

java.lang.Object

frc.spectrumLib.checks.DeviceHealthCheck

All Implemented Interfaces:

Check

public final class DeviceHealthCheck
extends Object
implements Check

Every device answering, none rebooted recently, grouped by bus (or by kind, for coprocessors).

A device is missing once its connected input has been false for MISSING_HOLD_SECONDS, or if it has never answered. A reset counts only while the device is connected, and only once it has been connected for ARM_SECONDS at a stretch: Phoenix reports its first contact with a device as a reset, and a disconnected device's flags mean nothing. A device arms once per boot and stays armed through a dropout, since a brownout reboot reports its reset on the first loop back.

A missing device fails the check unless its DeviceHealthCheck.Device.missingIs(Supplier) says otherwise (a camera that is only logged, not used, warns or is left out). A reboot in the last RECENT_REBOOT_SECONDS warns: the device works now, but its power wiring needs a look before it browns out in a match.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	DeviceHealthCheck.Device	One device: its name, its group, and where its logged state comes from.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	ARM_SECONDS	Phoenix's first-contact reset report arrives well inside this.
static final double	MISSING_HOLD_SECONDS	A one-loop dropout is not a missing device; half a second of silence is.
static final double	RECENT_REBOOT_SECONDS	Covers the previous match and the queue before this one.

Constructor Summary

Constructors

Constructor	Description
DeviceHealthCheck(String what)

Method Summary

Modifier and Type	Method	Description
DeviceHealthCheck.Device	add(String group, String name, BooleanSupplier connected)	Adds a device.
void	addMechanism(Mechanism m, String group)	Adds a mechanism's leader and followers from its logged MotorInputs.
CheckResult	evaluate(double now)	Judges the robot now.
void	observe(double now)	Called every loop, enabled or not, for checks that must see every loop: a reset flag that is true for one loop, or a condition that has to hold for some time.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

MISSING_HOLD_SECONDS

public static final double MISSING_HOLD_SECONDS

A one-loop dropout is not a missing device; half a second of silence is.

See Also:

• Constant Field Values

ARM_SECONDS

public static final double ARM_SECONDS

Phoenix's first-contact reset report arrives well inside this.

See Also:

• Constant Field Values

RECENT_REBOOT_SECONDS

public static final double RECENT_REBOOT_SECONDS

Covers the previous match and the queue before this one.

See Also:

• Constant Field Values

Constructor Details

DeviceHealthCheck

public DeviceHealthCheck(String what)

Parameters:

what - what the devices are, for the pass message, e.g. "CAN devices"

Method Details

add

public DeviceHealthCheck.Device add(String group,
 String name,
 BooleanSupplier connected)

Adds a device.

Parameters:

group - its bus, or another grouping shown in the reason

name - its name in messages

connected - its logged connected input

Returns:

the device, to add a reset input or change its severity

addMechanism

public void addMechanism(Mechanism m,
 String group)

Adds a mechanism's leader and followers from its logged MotorInputs. A mechanism with no hardware attached is skipped.

Parameters:

m - the mechanism

group - its bus label

observe

public void observe(double now)

Description copied from interface: Check

Called every loop, enabled or not, for checks that must see every loop: a reset flag that is true for one loop, or a condition that has to hold for some time. Keep it cheap.

Specified by:

observe in interface Check

Parameters:

now - this loop's robot time

evaluate

public CheckResult evaluate(double now)

Description copied from interface: Check

Judges the robot now. Called only while disabled, and not every loop: PreMatchChecks spreads the checks across loops.

Specified by:

evaluate in interface Check

Parameters:

now - this loop's robot time

Returns:

the verdict