[DRAFT] Auto register all devices

.run/Build Robot.run.xml

@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="build" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>

.vscode/settings.json

@@ -15,5 +15,12 @@
     "coverage-gutters.coverageFileNames": [
         "jacocoTestReport.xml"
     ],
-    "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m"
+    "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m",
+    "files.watcherExclude": {
+        "**/target": true
+    },
+    "workbench.colorCustomizations": {
+        "minimap.background": "#00000000",
+        "scrollbar.shadow": "#00000000"
+    }
 }

src/main/java/edu/wpi/first/wpilibj/MockDigitalInput.java

@@ -6,6 +6,7 @@
 import dagger.assisted.AssistedFactory;
 import dagger.assisted.AssistedInject;
 
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.io_inputs.XDigitalInputs;
 import xbot.common.controls.sensors.XDigitalInput;
 import xbot.common.injection.DevicePolice;
@@ -29,8 +30,9 @@ public abstract MockDigitalInput create(
     public MockDigitalInput(
             @Assisted("info") DeviceInfo info,
             @Assisted("owningSystemPrefix") String owningSystemPrefix,
-            DevicePolice police) {
-        super(police, info, owningSystemPrefix);
+            DevicePolice police,
+            DataFrameRegistry dataFrameRegistry) {
+        super(police, info, owningSystemPrefix, dataFrameRegistry);
         this.channel = info.channel;
     }
 

src/main/java/edu/wpi/first/wpilibj/MockServo.java

@@ -3,7 +3,7 @@
 import dagger.assisted.Assisted;
 import dagger.assisted.AssistedFactory;
 import dagger.assisted.AssistedInject;
-
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.actuators.XServo;
 import xbot.common.injection.DevicePolice;
 
@@ -17,8 +17,8 @@ public abstract static class MockServoFactory implements XServoFactory {
     }
 
     @AssistedInject
-    public MockServo(@Assisted("channel") int channel, @Assisted("name") String name, DevicePolice police) {
-        super(channel, name, police);
+    public MockServo(@Assisted("channel") int channel, @Assisted("name") String name, DevicePolice police, DataFrameRegistry dataFrameRegistry) {
+        super(channel, name, police, dataFrameRegistry);
     }
 
     @Override

src/main/java/xbot/common/command/BaseRobot.java

@@ -13,7 +13,6 @@
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -49,9 +48,10 @@ public abstract class BaseRobot extends LoggedRobot {
     protected AutonomousCommandSelector autonomousCommandSelector;
 
     protected WebotsClient webots;
+
     protected DevicePolice devicePolice;
     protected SimulationPayloadDistributor simulationPayloadDistributor;
-
+    protected DataFrameRegistry deviceDataFrameRegistry;
     protected List<DataFrameRefreshable> dataFrameRefreshables = new ArrayList<>();
 
     boolean forceWebots = true; // TODO: figure out a better way to swap between simulation and replay.
@@ -124,6 +124,8 @@ public void robotInit() {
             PropertyFactory pf = injectorComponent.propertyFactory();
 
             devicePolice = injectorComponent.devicePolice();
+            deviceDataFrameRegistry = injectorComponent.dataFrameRegistry();
+
             if (forceWebots) {
                 simulationPayloadDistributor = injectorComponent.simulationPayloadDistributor();
             }
@@ -261,9 +263,7 @@ protected void sharedPeriodic() {
 
         // Then, refresh any Subsystem or other components that implement DataFrameRefreshable.
         double dataFrameStart = getPerformanceTimestampInMs();
-        for (DataFrameRefreshable refreshable : dataFrameRefreshables) {
-            refreshable.refreshDataFrame();
-        }
+        refreshAllDataFrames();
         double dataFrameEnd = getPerformanceTimestampInMs();
         Logger.recordOutput("RefreshDevicesMs", dataFrameEnd - dataFrameStart);
 
@@ -275,6 +275,15 @@ protected void sharedPeriodic() {
         outsidePeriodicStart = getPerformanceTimestampInMs();
     }
 
+    public void refreshAllDataFrames() {
+        // all devices are refreshed first, order doesn't matter
+        deviceDataFrameRegistry.refreshAll();
+
+        // other things like subsystems refreshed here, they should be done in order
+        for (DataFrameRefreshable refreshable : dataFrameRefreshables) {
+            refreshable.refreshDataFrame();
+        }
+    }
 
     @Override
     public void simulationInit() {

src/main/java/xbot/common/command/BaseSubsystem.java

@@ -1,23 +1,19 @@
 package xbot.common.command;
 
-import java.util.ArrayList;
-import java.util.List;
-
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import xbot.common.advantage.AKitLogger;
-import xbot.common.advantage.DataFrameRefreshable;
 import xbot.common.properties.IPropertySupport;
 
-public abstract class BaseSubsystem extends SubsystemBase implements IPropertySupport, DataFrameRefreshable {
+public abstract class BaseSubsystem extends SubsystemBase implements IPropertySupport {
 
     protected final Logger log;
     protected final AKitLogger aKitLog;
-    protected final List<DataFrameRefreshable> dataFrameRefreshables = new ArrayList<>();
 
     public BaseSubsystem() {
+        super();
         log = LogManager.getLogger(this.getName());
         aKitLog = new AKitLogger(this);
     }
@@ -26,10 +22,6 @@ public String getPrefix() {
         return this.getName() + "/";
     }
 
-    protected void registerDataFrameRefreshable(DataFrameRefreshable refreshable) {
-        dataFrameRefreshables.add(refreshable);
-    }
-
     /**
      * This method is called on each {@link edu.wpi.first.wpilibj2.command.CommandScheduler} loop.
      * @apiNote Subsystem periodic() methods are not executed in a predictable order.
@@ -40,11 +32,4 @@ protected void registerDataFrameRefreshable(DataFrameRefreshable refreshable) {
     public void periodic() {
         super.periodic();
     }
-
-    @Override
-    public void refreshDataFrame() {
-        for (DataFrameRefreshable refreshable : dataFrameRefreshables) {
-            refreshable.refreshDataFrame();
-        }
-    }
 }

src/main/java/xbot/common/command/DataFrameRegistry.java

@@ -0,0 +1,33 @@
+package xbot.common.command;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import javax.inject.Inject;
+import javax.inject.Singleton;
+
+import xbot.common.advantage.DataFrameRefreshable;
+
+/**
+ * A registry for components that implement {@link DataFrameRefreshable}, which allows them to be refreshed on a regular basis by the {@link BaseRobot}.
+ */
+@Singleton
+public final class DataFrameRegistry {
+    private final List<DataFrameRefreshable> refreshables = new ArrayList<>();
+
+    @Inject
+    public DataFrameRegistry() {}
+
+    public void register(DataFrameRefreshable refreshable) {
+        if (refreshables.contains(refreshable)) {
+            return;
+        }
+        refreshables.add(refreshable);
+    }
+
+    public void refreshAll() {
+        for (DataFrameRefreshable refreshable : refreshables) {
+            refreshable.refreshDataFrame();
+        }
+    }
+}

src/main/java/xbot/common/controls/actuators/XCANMotorController.java

@@ -21,6 +21,7 @@
 import org.littletonrobotics.junction.Logger;
 
 import xbot.common.advantage.DataFrameRefreshable;
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.io_inputs.XCANMotorControllerInputs;
 import xbot.common.controls.io_inputs.XCANMotorControllerInputsAutoLogged;
 import xbot.common.injection.DevicePolice;
@@ -135,7 +136,8 @@ protected XCANMotorController(
             PropertyFactory propertyFactory,
             DevicePolice police,
             String pidPropertyPrefix,
-            XCANMotorControllerPIDProperties defaultPIDProperties
+            XCANMotorControllerPIDProperties defaultPIDProperties,
+            DataFrameRegistry dataFrameRegistry
     ) {
         this.busId = info.busId();
         this.deviceId = info.deviceId();
@@ -189,6 +191,8 @@ protected XCANMotorController(
             }
             this.propertyFactory.setPrefix(this.defaultPropertyPrefix);
         }
+
+        dataFrameRegistry.register(this);
     }
 
     public abstract void setConfiguration(CANMotorControllerOutputConfig outputConfig);

src/main/java/xbot/common/controls/actuators/XServo.java

@@ -2,6 +2,7 @@
 
 import org.littletonrobotics.junction.Logger;
 import xbot.common.advantage.DataFrameRefreshable;
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.XBaseIO;
 import xbot.common.injection.DevicePolice;
 import xbot.common.injection.DevicePolice.DeviceType;
@@ -32,10 +33,11 @@ default XServo create(int channel) {
      * @param name The name of the servo for logging.
      * @param police The device police to register the servo with.
      */
-    protected XServo(int channel, String name, DevicePolice police) {
+    protected XServo(int channel, String name, DevicePolice police, DataFrameRegistry dataFrameRegistry) {
         this.channel = channel;
         this.name = name;
         police.registerDevice(DeviceType.PWM, channel, this);
+        dataFrameRegistry.register(this);
     }
 
     /**

src/main/java/xbot/common/controls/actuators/mock_adapters/MockCANMotorController.java

@@ -16,6 +16,7 @@
 import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.units.measure.Velocity;
 import edu.wpi.first.units.measure.Voltage;
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.actuators.XCANMotorController;
 import xbot.common.controls.actuators.XCANMotorControllerPIDProperties;
 import xbot.common.controls.io_inputs.XCANMotorControllerInputs;
@@ -74,9 +75,10 @@ public MockCANMotorController(
             PropertyFactory propertyFactory,
             DevicePolice police,
             @Assisted("pidPropertyPrefix") String pidPropertyPrefix,
-            @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties
+            @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties,
+            DataFrameRegistry dataFrameRegistry
     ) {
-        super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties);
+        super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties, dataFrameRegistry);
     }
 
     @Override

src/main/java/xbot/common/controls/actuators/wpi_adapters/CANSparkMaxWpiAdapter.java

@@ -23,6 +23,7 @@
 import edu.wpi.first.units.measure.Voltage;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.actuators.XCANMotorController;
 import xbot.common.controls.actuators.XCANMotorControllerPIDProperties;
 import xbot.common.controls.io_inputs.XCANMotorControllerInputs;
@@ -69,9 +70,10 @@ public CANSparkMaxWpiAdapter(
             DevicePolice police,
             RobotAssertionManager assertionManager,
             @Assisted("pidPropertyPrefix") String pidPropertyPrefix,
-            @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties
+            @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties,
+            DataFrameRegistry dataFrameRegistry
     ) {
-        super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties);
+        super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties, dataFrameRegistry);
         this.internalSparkMax = new SparkMax(info.deviceId(), SparkLowLevel.MotorType.kBrushless);
         this.assertionManager = assertionManager;
 

src/main/java/xbot/common/controls/actuators/wpi_adapters/CANTalonFxWpiAdapter.java

@@ -30,6 +30,7 @@
 import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.Alert;
 import org.apache.logging.log4j.LogManager;
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.actuators.XCANMotorController;
 import xbot.common.controls.actuators.XCANMotorControllerPIDProperties;
 import xbot.common.controls.io_inputs.XCANMotorControllerInputs;
@@ -77,9 +78,10 @@ public CANTalonFxWpiAdapter(
             PropertyFactory propertyFactory,
             DevicePolice police,
             @Assisted("pidPropertyPrefix") String pidPropertyPrefix,
-            @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties
+            @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties,
+            DataFrameRegistry dataFrameRegistry
     ) {
-        super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties);
+        super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties, dataFrameRegistry);
         this.internalTalonFx = new TalonFX(info.deviceId(), info.busId().toPhoenixCANBus());
 
         this.rotorPositionSignal = this.internalTalonFx.getRotorPosition(false);

src/main/java/xbot/common/controls/actuators/wpi_adapters/CANVictorSPXWpiAdapter.java

@@ -15,6 +15,7 @@
 import edu.wpi.first.units.measure.Voltage;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.actuators.XCANMotorController;
 import xbot.common.controls.actuators.XCANMotorControllerPIDProperties;
 import xbot.common.controls.io_inputs.XCANMotorControllerInputs;
@@ -57,9 +58,10 @@ public CANVictorSPXWpiAdapter(
             DevicePolice police,
             RobotAssertionManager assertionManager,
             @Assisted("pidPropertyPrefix") String pidPropertyPrefix,
-            @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties
+            @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties,
+            DataFrameRegistry dataFrameRegistry
     ) {
-        super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties);
+        super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties, dataFrameRegistry);
         this.internalVictor = new VictorSPX(info.deviceId());
         this.assertionManager = assertionManager;
 

src/main/java/xbot/common/controls/actuators/wpi_adapters/ServoWPIAdapter.java

@@ -1,5 +1,6 @@
 package xbot.common.controls.actuators.wpi_adapters;
 
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.actuators.XServo;
 import xbot.common.injection.DevicePolice;
 import dagger.assisted.Assisted;
@@ -18,8 +19,8 @@ public abstract static class ServoWPIAdapterFactory implements XServoFactory {
     }
 
     @AssistedInject
-    public ServoWPIAdapter(@Assisted("channel") int channel, @Assisted("name") String name, DevicePolice police) {
-        super(channel, name, police);
+    public ServoWPIAdapter(@Assisted("channel") int channel, @Assisted("name") String name, DevicePolice police, DataFrameRegistry dataFrameRegistry) {
+        super(channel, name, police, dataFrameRegistry);
         this.servo = new Servo(channel);
     }
 

src/main/java/xbot/common/controls/sensors/XAbsoluteEncoder.java

@@ -5,6 +5,7 @@
 import org.littletonrobotics.junction.Logger;
 
 import xbot.common.advantage.DataFrameRefreshable;
+import xbot.common.command.DataFrameRegistry;
 import xbot.common.controls.io_inputs.XAbsoluteEncoderInputs;
 import xbot.common.controls.io_inputs.XAbsoluteEncoderInputsAutoLogged;
 import xbot.common.injection.electrical_contract.DeviceInfo;
@@ -19,9 +20,10 @@ public interface XAbsoluteEncoderFactory {
         XAbsoluteEncoder create(DeviceInfo deviceInfo, String owningSystemPrefix);
     }
 
-    public XAbsoluteEncoder(DeviceInfo info) {
+    public XAbsoluteEncoder(DeviceInfo info, DataFrameRegistry dataFrameRegistry) {
         inputs = new XAbsoluteEncoderInputsAutoLogged();
         this.info = info;
+        dataFrameRegistry.register(this);
     }
 
     public abstract int getDeviceId();