FRC 2023 Logger/Visualizer

Benefits/Capabilities of Logger

• remote subscription to the NetworkTable of the robot: can run on your own computer.

• nondisruptive logging: detects changes in the NetworkTable and saves them in log files within the "logs" directory in the project (on your computer).

• configurability: reads "src/main/deploy/configuration.json" to get the IP address of the robot and the NetworkTable entries to monitor. Edit that file to configure the Logger differently.

• service to Visualizers: runs as a server that can broadcast NetworkTable changes to (remote) Visualizers.

Benefits/Capabilities of Visualizer

• realtime monitoring of the robot: can connect to the Logger to obtain changes in the NetworkTable of the robot.

• graphical user interface: displays the current robot pose, values of NetworkTable entries, preregistered target poses (a set of positions and directions to which you would like to align the robot), and a mapping of joystick buttons to a chosen set of target poses (e.g., button[3] to target "3"). You can change that mapping by using the lists in the graphical user interface (this change is then written to the NetworkTable which the robot can read).

• configurability: reads "src/main/deploy/configuration.json" to get the preregistered target poses and mapping of joystick buttons to target poses. Edit that file to configure the Visualizer differently.

• replay: can read log files and display the past changes in the robot pose and NetworkTable (see "src/main/java/frc/robot/replay/VisualizerReplay.java").

• simulations: can perform simulations or additional computations (e.g., pose estimation) based on the current/past changes in the robot pose and NetworkTable (see "src/main/java/frc/robot/replay/VisualizerReplayPoseEstimated.java").

Starting Logger

• In VS Code, choose the "Run and Debug" icon (a white triangle and a bug).
• In the "RUN AND DEBUG" list, choose "Lauch Logger" and press the "Start" button (a green triangle).
• You will then see in TERMINAL something like (which means the Logger is working):

RoboRIO IP address: 10.0.20.2
9 subscriptions read from "./src/main/deploy/configuration.json".

NT: starting network client
NetworkTable subscriptions:
logger; heartbeat; 0
SmartDashboard; target(button[0]); ""
SmartDashboard; target(button[1]); ""
SmartDashboard; target(button[2]); ""
limelight; botpose; [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
SmartDashboard; Pose (Estimated); ""
SmartDashboard; Pose (LimeLight); ""
SmartDashboard; Wheel Encoder Positions; ""
SmartDashboard; Target ID; ""

connections: [10.0.20.2]
progress: 0/1800.0
progress: 1/1800.0
progress: 2/1800.0
progress: 3/1800.0
progress: 4/1800.0

Starting Visualizer

• To run the Visualizer on your Mac, you need to open ".vscode/lauch.json" and replace "Windows" with "MacOS". No such change is necessary on Windows.
• In VS Code, choose the "Run and Debug" icon (a white triangle and a bug).
• In the "RUN AND DEBUG" list, choose "Lauch Visualizer" and press the "Start" button (a green triangle).
• You will then see in TERMINAL something like (which means the Visualizer is working):

3 target chooser labels read from "./src/main/deploy/configuration.json".
10 poses read from "./src/main/deploy/configuration.json".
8 tags read from "./src/main/deploy/frc2023.fmap".
Visualizer connected to localhost:10000

Stopping Logger/Visualizer

• Press the "Stop" button (a red rectangle) in VS Code or
• In TERMINAL, press the C key while holding down the Ctrly key.