BunyipsLib/org.murraybridgebunyips.bunyipslib/DualTelemetry

DualTelemetry

class DualTelemetry @JvmOverloads constructor(opMode: OpMode, movingAverageTimer: MovingAverageTimer? = null, overheadTag: String? = null, infoString: String? = null) : Telemetry

Telemetry implementation for BunyipsLib, integrating FtcDashboard and Driver Station calls in one object, while providing additional features useful for debugging and telemetry management. This is used internally by BunyipsOpMode to be accessible by the overridden telemetry field.

Author

Lucas Bubner, 2024

Since

1.0.0-pre

Constructors

DualTelemetry

@JvmOverloads

constructor(opMode: OpMode, movingAverageTimer: MovingAverageTimer? = null, overheadTag: String? = null, infoString: String? = null)

Types

Companion

object Companion

HtmlItem

class HtmlItem(value: String, retained: Boolean, val isOverflow: Boolean, dashboardRef: Reference<String>, opMode: OpMode) : Telemetry.Item

Wraps a telemetry item displayed on the DS/FtcDashboard. Uses HTML to alter the way text is displayed based on wrapper utilities.

Properties

dashboardCaptionValueAutoSeparator

var dashboardCaptionValueAutoSeparator: String

The caption value separator used for automatic splitting of the caption and value for FtcDashboard parsing. This value is also used when calling the aliased but legacy addData method (preferred to use add).

logBracketColor

var logBracketColor: String

The color of the brackets in log messages, useful for distinguishing between different timer phases.

loopSpeedSlowAlert

var loopSpeedSlowAlert: Measure<Time>

The time threshold at which the frequency segment will display yellow in the overhead telemetry to alert the user of slow looping times. Note that after RoadRunner.DRIVE_UPDATE_SAFETY_TIMEOUT, the loop timer will display red regardless.

opModeStatus

var opModeStatus: String

A string to display the current 'status' of the OpMode, used for overhead telemetry.

overheadSubtitle

var overheadSubtitle: String

Additional information to display in the overhead telemetry message, as the line under the OpMode name above the timing and controller statistics. By default, this is an empty string.

overrideStatus

var overrideStatus: String?

A string that overrules the status message in the overhead telemetry, such as a warning or error message. Set to null to use the default status message.

Functions

add

fun add(format: Any, vararg args: Any?): DualTelemetry.HtmlItem

Add data to the telemetry object for the Driver Station and FtcDashboard, with integrated formatting. Note that using a separator element (defined by dashboardCaptionValueAutoSeparator, default ": ") in your formatted string will split this to an item for FtcDashboard automagically, replicating what addDashboard would do.

addAction

open override fun addAction(action: Runnable): Any

Add an action to perform before Driver Station telemetry is updated.

addDashboard

fun addDashboard(key: String, value: Any?)

Add any additional telemetry to the FtcDashboard telemetry packet.

addData

open override fun addData(caption: String, value: Any?): Telemetry.Item

open override fun addData(caption: String, format: String, vararg args: Any?): Telemetry.Item

Add data to the telemetry object for the Driver Station and FtcDashboard, with integrated formatting. This is an alias for add, with downcasting to a normal telemetry item. This will be automagically formatted for FtcDashboard.

open override fun <T : Any> ~~addData~~(caption: String, valueProducer: Func<T>): Telemetry.Item

open override fun <T : Any> ~~addData~~(caption: String, format: String, valueProducer: Func<T>): Telemetry.Item

addDS

fun addDS(format: Any, vararg args: Any?): Telemetry.Item

Add any additional telemetry to the Driver Station telemetry object.

addLine

open override fun ~~addLine~~(): Telemetry.Line?

open override fun ~~addLine~~(lineCaption: String): Telemetry.Line?

addNewLine

fun addNewLine(): DualTelemetry.HtmlItem

Add a new line to the telemetry object. This is an alias for add(""), to signify that a new line is intended.

addRetained

fun addRetained(format: Any, vararg args: Any?): DualTelemetry.HtmlItem

Add a data to the telemetry object for the Driver Station and FtcDashboard, with integrated formatting.

clear

open override fun clear()

Clear telemetry on the Driver Station, not including retention

clearAll

open override fun clearAll()

Reset telemetry data, including retention and FtcDashboard

dashboardFieldOverlay

fun dashboardFieldOverlay(): Canvas

Add any field overlay data to the FtcDashboard telemetry packet.

getCaptionValueSeparator

open override fun getCaptionValueSeparator(): String

Get the current caption value separator.

getItemSeparator

open override fun ~~getItemSeparator~~(): String

getMsTransmissionInterval

open override fun getMsTransmissionInterval(): Int

Get the current transmission interval for the Driver Station. FtcDashboard interval can be checked with FtcDashboard.getInstance().getTelemetryTransmissionInterval().

isAutoClear

open override fun isAutoClear(): Boolean

Whether the telemetry object is set to auto-clear after each update for the Driver Station. FtcDashboard will always be false.

log

open override fun ~~log~~(): Telemetry.Log

fun log(format: Any, vararg args: Any?)

fun log(obj: Class<*>, format: Any, vararg args: Any?)

Log a message to the telemetry log, with integrated formatting.

fun log(stck: StackTraceElement, format: Any, vararg args: Any?)

Log a message into the telemetry log

remove

fun remove(vararg items: Telemetry.Item): Boolean

fun remove(items: List<Telemetry.Item>): Boolean

Remove entries from the Driver Station telemetry object.

removeAction

open override fun removeAction(token: Any): Boolean

Remove an action from the telemetry object.

removeItem

open override fun removeItem(item: Telemetry.Item): Boolean

Remove a data item from the telemetry object, which will remove only from the Driver Station. This is an alias for remove.

removeLine

open override fun ~~removeLine~~(line: Telemetry.Line): Boolean

setAutoClear

open override fun setAutoClear(autoClear: Boolean)

Set the telemetry object to auto-clear after each update for the Driver Station.

setCaptionValueSeparator

open override fun setCaptionValueSeparator(dashboardCaptionValueAutoSeparator: String)

Set the current caption value separator.

setDisplayFormat

open override fun setDisplayFormat(displayFormat: Telemetry.DisplayFormat)

Set the current display format for the Driver Station. By default this is already set to HTML formatting, and it is recommended to leave this as-is.

setItemSeparator

open override fun ~~setItemSeparator~~(itemSeparator: String)

setLogCapacity

fun setLogCapacity(capacity: Int)

The maximum number of telemetry logs that can be stored in the telemetry log. If the number of logs exceeds this limit, the oldest logs will be removed to make space for new logs to avoid crashing the Driver Station.

setMsTransmissionInterval

open override fun setMsTransmissionInterval(msTransmissionInterval: Int)

Set the transmission interval in milliseconds for the Driver Station and FtcDashboard.

speak

open override fun speak(text: String)

Speak a message to the Driver Station.

open override fun speak(text: String, languageCode: String, countryCode: String)

Speak a message to the Driver Station with language and country code.

update

open override fun update(): Boolean

Update and push queued telemetry to the Driver Station and FtcDashboard.

Inherited functions

setNumDecimalPlaces

open fun setNumDecimalPlaces(p0: Int, p1: Int)