Add CTRE CANivore and Phoenix Pro support

.styleguide

@@ -23,6 +23,7 @@ includeOtherLibs {
   ^glass
   ^GLFW
   ^cscore
+  ^ctre
   ^Eigen
   ^fmt/
   ^frc

sysid-application/src/integrationtest-generation/native/cpp/GenerationTest.cpp

@@ -44,6 +44,7 @@ wpi::StringMap<wpi::SmallVector<sysid::HardwareType, 2>>
         {std::string{sysid::motorcontroller::kVictorSPX.name}, kGeneralEncs},
         {std::string{sysid::motorcontroller::kTalonSRX.name}, kTalonEncs},
         {std::string{sysid::motorcontroller::kTalonFX.name}, kBuiltInEncs},
+        {std::string{sysid::motorcontroller::kTalonFXPro.name}, kBuiltInEncs},
         {std::string{sysid::motorcontroller::kSPARKMAXBrushless.name},
          kSMaxEncs},
         {std::string{sysid::motorcontroller::kSPARKMAXBrushed.name}, kSMaxEncs},
@@ -66,6 +67,7 @@ wpi::StringMap<wpi::SmallVector<std::string_view, 4>> gyroCtorMap = {
     {std::string{sysid::gyro::kAnalogGyro.name}, kAnalogCtors},
     {std::string{sysid::gyro::kPigeon.name}, kPigeonCtors},
     {std::string{sysid::gyro::kPigeon2.name}, kAnalogCtors},
+    {std::string{sysid::gyro::kPigeon2Pro.name}, kAnalogCtors},
     {std::string{sysid::gyro::kADXRS450.name}, kADXRS450Ctors},
     {std::string{sysid::gyro::kNavX.name}, kNavXCtors},
     {std::string{sysid::gyro::kADIS16448.name}, kADIS16448Ctors},
@@ -140,6 +142,8 @@ class GenerationTest : public ::testing::Test {
                motorController == sysid::motorcontroller::kVictorSPX.name ||
                motorController == sysid::motorcontroller::kTalonFX.name) {
       voltageAccessor = "CTRE";
+    } else if (motorController == sysid::motorcontroller::kTalonFXPro.name) {
+      voltageAccessor = "CTRE (Pro)";
     } else if (motorController == sysid::motorcontroller::kVenom.name) {
       voltageAccessor = "Venom";
     } else {
@@ -176,6 +180,8 @@ class GenerationTest : public ::testing::Test {
       FindInLog(fmt::format("Pigeon, {}", pigeonPortStr));
     } else if (gyro == sysid::gyro::kPigeon2.name) {
       FindInLog(fmt::format("Pigeon2, {} (CAN)", gyroCtor));
+    } else if (gyro == sysid::gyro::kPigeon2Pro.name) {
+      FindInLog(fmt::format("Pigeon2, {} (CAN) (Pro)", gyroCtor));
     } else if (gyro == sysid::gyro::kADXRS450.name ||
                gyro == sysid::gyro::kADIS16448.name ||
                gyro == sysid::gyro::kADIS16470.name) {

sysid-application/src/main/native/cpp/generation/ConfigManager.cpp

@@ -25,6 +25,9 @@ wpi::json ConfigManager::Generate(size_t occupied) {
   // Create the JSON to return.
   wpi::json json;
 
+  // Keep a CANivore name vector around that we can push our names into
+  std::vector<std::string> canivoreNames;
+
   // Add motor ports.
   json["primary motor ports"] =
       SliceVector(m_config.primaryMotorPorts, occupied);
@@ -38,6 +41,13 @@ wpi::json ConfigManager::Generate(size_t occupied) {
   }
   json["motor controllers"] = motorControllers;
 
+  // Add CANivore busses
+  canivoreNames.clear();
+  for (size_t i = 0; i < occupied; i++) {
+    canivoreNames.push_back(std::string(m_config.canivoreNames[i].data()));
+  }
+  json["canivore names"] = canivoreNames;
+
   // Add motor inversions.
   json["primary motors inverted"] =
       SliceVector(m_config.primaryMotorsInverted, occupied);
@@ -47,6 +57,8 @@ wpi::json ConfigManager::Generate(size_t occupied) {
   // Add encoder ports.
   json["primary encoder ports"] = m_config.primaryEncoderPorts;
   json["secondary encoder ports"] = m_config.secondaryEncoderPorts;
+  json["encoder canivore name"] =
+      std::string(m_config.encoderCANivoreName.data());
 
   // Add encoder type.
   json["encoder type"] = m_config.encoderType.name;
@@ -63,6 +75,7 @@ wpi::json ConfigManager::Generate(size_t occupied) {
   // Add gyro type and constructor.
   json["gyro"] = m_config.gyro.name;
   json["gyro ctor"] = m_config.gyroCtor;
+  json["gyro canivore name"] = std::string(m_config.gyroCANivoreName.data());
 
   // Add advanced encoder settings.
   json["encoding"] = m_config.encoding;

sysid-application/src/main/native/cpp/generation/HardwareType.cpp

@@ -25,6 +25,9 @@ HardwareType sysid::motorcontroller::FromMotorControllerName(
   if (name == "TalonFX") {
     return sysid::motorcontroller::kTalonFX;
   }
+  if (name == "TalonFX (Pro)") {
+    return sysid::motorcontroller::kTalonFXPro;
+  }
   if (name == "SPARK MAX (Brushless)") {
     return sysid::motorcontroller::kSPARKMAXBrushless;
   }

sysid-application/src/main/native/cpp/view/Generator.cpp

@@ -134,6 +134,8 @@ void Generator::CANCoderSetup(bool drive) {
   ImGui::SameLine();
   ImGui::Checkbox(drive ? "Left Encoder Inverted" : "Encoder Inverted",
                   &m_settings.primaryEncoderInverted);
+  ImGui::SameLine();
+  ImGui::SetNextItemWidth(80);
   if (drive) {
     ImGui::SetNextItemWidth(ImGui::GetFontSize() * 2);
     ImGui::InputInt("R CANCoder Port", &m_settings.secondaryEncoderPorts[1], 0,
@@ -142,6 +144,10 @@ void Generator::CANCoderSetup(bool drive) {
     ImGui::Checkbox("Right Encoder Inverted",
                     &m_settings.secondaryEncoderInverted);
   }
+  ImGui::SetNextItemWidth(80);
+  ImGui::InputText("CANcoder CANivore Name",
+                   m_settings.encoderCANivoreName.data(),
+                   m_settings.encoderCANivoreName.size());
 }
 
 void Generator::RegularEncoderSetup(bool drive) {
@@ -167,8 +173,10 @@ void Generator::UpdateFromConfig() {
 
   // Setting right Idxs for the GUI
   if (mainMotorController == sysid::motorcontroller::kTalonSRX ||
-      mainMotorController == sysid::motorcontroller::kTalonFX) {
-    if (mainMotorController == sysid::motorcontroller::kTalonFX) {
+      mainMotorController == sysid::motorcontroller::kTalonFX ||
+      mainMotorController == sysid::motorcontroller::kTalonFXPro) {
+    if (mainMotorController == sysid::motorcontroller::kTalonFX ||
+        mainMotorController == sysid::motorcontroller::kTalonFXPro) {
       m_encoderIdx = GetNewIdx(ArrayConcat(kBuiltInEncoders, kGeneralEncoders),
                                encoderTypeName);
     } else {
@@ -292,6 +300,7 @@ void Generator::Display() {
     auto& mc = m_settings.motorControllers;
     auto& pi = m_settings.primaryMotorsInverted;
     auto& si = m_settings.secondaryMotorsInverted;
+    auto& cn = m_settings.canivoreNames;
 
     // Ensure that our vector contains i+1 elements.
     if (pm.size() == i) {
@@ -300,6 +309,7 @@ void Generator::Display() {
       mc.emplace_back(motorControllerNames[0]);
       pi.emplace_back(false);
       si.emplace_back(false);
+      cn.emplace_back(std::array<char, 32>{'r', 'i', 'o', '\0'});
     }
 
     // Make sure elements have unique IDs.
@@ -346,6 +356,15 @@ void Generator::Display() {
     ImGui::SameLine();
     ImGui::Checkbox(drive ? "L Inverted" : "Inverted", &pi[i]);
 
+    if (m_settings.motorControllers[i] == sysid::motorcontroller::kTalonFX ||
+        m_settings.motorControllers[i] == sysid::motorcontroller::kTalonFXPro) {
+      // Add CANivore name if we are using a CTRE motor controller
+      ImGui::SameLine();
+      ImGui::SetNextItemWidth(80);
+      ImGui::InputText("MC CANivore Name", m_settings.canivoreNames[i].data(),
+                       m_settings.canivoreNames[i].size());
+    }
+
     // Add right side drivetrain ports (if the analysis type is drivetrain).
     if (drive) {
       ImGui::SetNextItemWidth(ImGui::GetFontSize() * 2);
@@ -383,8 +402,10 @@ void Generator::Display() {
   // Add encoder selection.
   ImGui::SetNextItemWidth(ImGui::GetFontSize() * kTextBoxWidthMultiple);
   if (mainMotorController == sysid::motorcontroller::kTalonSRX ||
-      mainMotorController == sysid::motorcontroller::kTalonFX) {
-    if (mainMotorController == sysid::motorcontroller::kTalonFX) {
+      mainMotorController == sysid::motorcontroller::kTalonFX ||
+      mainMotorController == sysid::motorcontroller::kTalonFXPro) {
+    if (mainMotorController == sysid::motorcontroller::kTalonFX ||
+        mainMotorController == sysid::motorcontroller::kTalonFXPro) {
       GetEncoder(ArrayConcat(kBuiltInEncoders, kGeneralEncoders));
       if (m_encoderIdx < 1) {
         RegularEncoderSetup(drive);
@@ -489,9 +510,16 @@ void Generator::Display() {
       if (m_isTalon) {
         m_settings.gyroCtor = "WPI_TalonSRX-" + m_settings.gyroCtor;
       }
-    } else if (gyroType == sysid::gyro::kPigeon2) {
+    } else if (gyroType == sysid::gyro::kPigeon2 ||
+               gyroType == sysid::gyro::kPigeon2Pro) {
       ImGui::InputInt("CAN ID", &m_gyroPort, 0, 0);
-      m_settings.gyroCtor = std::to_string(m_gyroPort);
+      ImGui::SameLine();
+      ImGui::SetNextItemWidth(80);
+      ImGui::InputText("Gyro CANivore Name", m_settings.gyroCANivoreName.data(),
+                       m_settings.gyroCANivoreName.size());
+      m_settings.gyroCtor = std::to_string(m_gyroPort) + ", " +
+                            std::string{m_settings.gyroCANivoreName.begin(),
+                                        m_settings.gyroCANivoreName.end()};
     } else if (gyroType == sysid::gyro::kADXRS450) {
       ImGui::Combo("SPI Port", &m_gyroParam, kADXRS450Ctors,
                    IM_ARRAYSIZE(kADXRS450Ctors));
@@ -536,7 +564,8 @@ void Generator::Display() {
   sysid::CreateTooltip(
       "This is the number of encoder counts per revolution for your encoder.\n"
       "Common values for this are here:\nCTRE Magnetic Encoder: 4096\nFalcon "
-      "500 Integrated: 2048\nREV Throughbore: 8192\nNEO (and NEO 550) "
+      "500 Integrated: 2048\nFalcon 500 running Phoenix Pro (Pro already "
+      "handles this value): 1\nREV Throughbore: 8192\nNEO (and NEO 550) "
       "Integrated "
       "Encoders (REV already handles this value): 1");
 

sysid-application/src/main/native/include/sysid/generation/ConfigManager.h

@@ -23,6 +23,10 @@ namespace sysid {
  * inversions, etc. It also includes numerical data such as EPR.
  */
 struct ConfigSettings {
+  /**
+   * Maximum length of a CANivore name is 32 characters
+   */
+  static constexpr int kMaxCANivoreNameLength = 32;
   /**
    * Ports for the primary motor controllers. For general mechanisms this is the
    * motor ports that will be used. For drivetrains these are the left-side
@@ -42,6 +46,12 @@ struct ConfigSettings {
   wpi::SmallVector<HardwareType, 3> motorControllers = {
       sysid::motorcontroller::kPWM, sysid::motorcontroller::kPWM};
 
+  /**
+   * The CANivore name if it's on a Non-RIO bus
+   */
+  wpi::SmallVector<std::array<char, kMaxCANivoreNameLength>, 3> canivoreNames =
+      {{'r', 'i', 'o', '\0'}, {'r', 'i', 'o', '\0'}};
+
   /**
    * If the primary motor controllers (general mechanism motors / left
    * drivetrain motors) should be inverted or not.
@@ -73,6 +83,12 @@ struct ConfigSettings {
    */
   std::array<int, 2> secondaryEncoderPorts = {2, 3};
 
+  /**
+   * CANivore names for the CANcoder sensors if they're not on the RIO bus.
+   */
+  std::array<char, kMaxCANivoreNameLength> encoderCANivoreName = {'r', 'i', 'o',
+                                                                  '\0'};
+
   /**
    * If the primary encoder (general mechanism motors / left drivetrain encoder)
    * should be inverted or not.
@@ -110,6 +126,12 @@ struct ConfigSettings {
    */
   std::string gyroCtor = "0";
 
+  /**
+   * The CANivore name of a Pigeon2 if it's on a Non-RIO bus
+   */
+  std::array<char, kMaxCANivoreNameLength> gyroCANivoreName = {'r', 'i', 'o',
+                                                               '\0'};
+
   /**
    * If the encoder is plugged into the roboRIO, there's the option to set it's
    * encoding setting to reduce noise.
@@ -136,18 +158,21 @@ struct ConfigSettings {
 const ConfigSettings kRomiConfig{{0},
                                  {1},
                                  {sysid::motorcontroller::kPWM},
+                                 {{'r', 'i', 'o', '\0'}},
                                  {true},
                                  {false},
                                  sysid::encoder::kRoboRIO,
                                  {4, 5},
                                  {6, 7},
+                                 {{'r', 'i', 'o', '\0'}},
                                  false,
                                  false,
                                  1440.0,
                                  1.0,
                                  1.0,
                                  sysid::gyro::kRomiGyro,
-                                 ""};
+                                 "",
+                                 {'r', 'i', 'o', '\0'}};
 
 /**
  * This class manages generating the JSON configuration from a reference to the

sysid-application/src/main/native/include/sysid/generation/HardwareType.h

@@ -58,14 +58,14 @@ constexpr HardwareType kPWM{"PWM"};
 constexpr HardwareType kTalonSRX{"TalonSRX"};
 constexpr HardwareType kVictorSPX{"VictorSPX"};
 constexpr HardwareType kTalonFX{"TalonFX"};
+constexpr HardwareType kTalonFXPro{"TalonFX (Pro)"};
 constexpr HardwareType kSPARKMAXBrushless{"SPARK MAX (Brushless)"};
 constexpr HardwareType kSPARKMAXBrushed{"SPARK MAX (Brushed)"};
 constexpr HardwareType kVenom{"Venom"};
 
-constexpr std::array<HardwareType, 7> kMotorControllers = {
-    kPWM,     kTalonSRX,          kVictorSPX,
-    kTalonFX, kSPARKMAXBrushless, kSPARKMAXBrushed,
-    kVenom};
+constexpr std::array<HardwareType, 8> kMotorControllers = {
+    kPWM,        kTalonSRX,          kVictorSPX,       kTalonFX,
+    kTalonFXPro, kSPARKMAXBrushless, kSPARKMAXBrushed, kVenom};
 
 /**
  * Returns an existing motor controller HardwareType from a string_view. Throws
@@ -107,6 +107,7 @@ constexpr HardwareType kADIS16470{"ADIS16470"};
 constexpr HardwareType kNavX{"NavX"};
 constexpr HardwareType kPigeon{"Pigeon"};
 constexpr HardwareType kPigeon2{"Pigeon2"};
+constexpr HardwareType kPigeon2Pro{"Pigeon2 (Pro)"};
 constexpr HardwareType kRomiGyro{"Romi"};
 constexpr HardwareType kNoGyroOption{"None"};