Package frc.spectrumLib.telemetry

Class Telemetry

java.lang.Object

dev.doglog.DogLog

frc.spectrumLib.telemetry.Telemetry

All Implemented Interfaces:

Subsystem

public class Telemetry
extends DogLog
implements Subsystem

Telemetry and logging utility. Extends DogLog to provide structured logging and console output with priority levels.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Telemetry.Fault	Named fault conditions that can be surfaced as structured log entries.
static enum	Telemetry.PrintPriority	Priority levels for printing to the console.

Field Summary

Fields inherited from class dev.doglog.DogLog

enabled, epochLogger, forceNt, logger, options, tunable

Constructor Summary

Constructors

Constructor	Description
Telemetry()	Creates a Telemetry instance and registers it as a WPILib subsystem so its periodic() method is called every loop cycle.

Method Summary

Modifier and Type	Method	Description
static Command	log(Command cmd)	Wraps a command so that its initialization and end are logged to the "Commands" key.
static void	logAlerts()	Reads all active alerts from the SmartDashboard NetworkTable and logs any that are new since the last call under the "Alerts" DogLog key.
void	periodic()	Called every robot loop cycle.
static void	print(String output)	Prints a message at Telemetry.PrintPriority.NORMAL priority.
static void	print(String output, Telemetry.PrintPriority priority)	Print a statement if they are enabled
static void	start(boolean ntPublish, boolean captureDs, boolean captureNt, boolean captureConsole, boolean logExtras, boolean tunableOnFMS, Telemetry.PrintPriority priority)	Start the telemetry system.

Methods inherited from class dev.doglog.DogLog

clearFault, clearFault, decreaseFault, decreaseFault, faultsActive, faultsLogged, getOptions, isEnabled, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, log, logFault, logFault, logFault, setEnabled, setOptions, setPdh, time, time, timeEnd, timestamp, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable, tunable

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, getName, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

Telemetry

public Telemetry()

Creates a Telemetry instance and registers it as a WPILib subsystem so its periodic() method is called every loop cycle.

Method Details

periodic

public void periodic()

Called every robot loop cycle. Logs any newly active alerts from NetworkTables.

Specified by:

periodic in interface Subsystem

start

public static void start(boolean ntPublish,
 boolean captureDs,
 boolean captureNt,
 boolean captureConsole,
 boolean logExtras,
 boolean tunableOnFMS,
 Telemetry.PrintPriority priority)

Start the telemetry system.

Parameters:

ntPublish - Whether to publish to NetworkTables.

captureNt - Whether to capture NetworkTables entries in the log.

captureDs - Whether to capture SmartDashboard entries in the log.

captureConsole - Whether to capture console output in the log.

logExtras - Whether to log extra data, like PDH currents, CAN usage, radio connection status, etc.

tunableOnFMS - Whether tunable values should be read from NetworkTables.

priority - The minimum priority level for console output.

log

public static Command log(Command cmd)

Wraps a command so that its initialization and end are logged to the "Commands" key.

Parameters:

cmd - The command to wrap

Returns:

a decorated command that logs lifecycle events and preserves the original name

print

public static void print(String output,
 Telemetry.PrintPriority priority)

Print a statement if they are enabled

print

public static void print(String output)

Prints a message at Telemetry.PrintPriority.NORMAL priority. The message is always written to the DogLog "Prints" key but only echoed to stdout when the global priority allows it.

Parameters:

output - The string to print

logAlerts

public static void logAlerts()

Reads all active alerts from the SmartDashboard NetworkTable and logs any that are new since the last call under the "Alerts" DogLog key.