Package com.marswars.logging

Class MwLog

java.lang.Object

com.marswars.logging.MwLog

public final class MwLog
extends Object

Logging facade for MW-Lib. Wraps AdvantageKit's Logger with DogLog-compatible call signatures so all log/tunable call sites in both repos are a mechanical DogLog→MwLog find/replace.

Call MwLog.init(BuildConstants.class) once (SubsystemManager does this). All other methods are safe to call before init returns (Logger queues them). Call MwLog.periodic() at the top of each control loop to poll tunables and fire onChange consumers.

Method Summary

Modifier and Type	Method	Description
static void	init(Object buildConstants)	Idempotent.
static boolean	isReplay()	True when running a log replay (AKIT_LOG_PATH env var is set).
static void	log(String key, boolean value)
static void	log(String key, double value)
static void	log(String key, double[] value)
static void	log(String key, double[] value, Unit unit)
static void	log(String key, double value, Unit unit)
static void	log(String key, long value)
static <E extends Enum<E>> void	log(String key, E value)
static void	log(String key, String value)
static void	log(String key, String[] value)
static <T extends StructSerializable> void	log(String key, T value)	Logs any single WPI struct (Pose2d, Pose3d, ChassisSpeeds, Rotation2d, …).
static <T extends StructSerializable> void	log(String key, T[] value)	Logs any WPI struct array (SwerveModuleState[], SwerveModulePosition[], Pose2d[], …).
static void	periodic()	Call once at the top of each control loop.
static void	time(String key)	Starts a named timer.
static void	timeEnd(String key)	Records elapsed seconds since time(key) was called.
static double	timestampSeconds()	Deterministic loop timestamp in seconds (sourced from the log during replay).
static void	tunable(String key, double defaultValue, DoubleConsumer onChange)	Registers a live-tunable double backed by a NetworkTables entry under /Tuning/.

Methods inherited from class java.lang.Object

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

Method Details

init

public static void init(Object buildConstants)

Idempotent. Sets up data receivers and calls Logger.start().

isReplay

public static boolean isReplay()

True when running a log replay (AKIT_LOG_PATH env var is set).

timestampSeconds

public static double timestampSeconds()

Deterministic loop timestamp in seconds (sourced from the log during replay).

periodic

public static void periodic()

Call once at the top of each control loop. Polls tunables and fires onChange consumers when a value has changed since last loop.

tunable

public static void tunable(String key,
 double defaultValue,
 DoubleConsumer onChange)

Registers a live-tunable double backed by a NetworkTables entry under /Tuning/. The consumer is fired immediately with defaultValue, then on every subsequent change. Tunable changes are captured in the log and replay identically.

time

public static void time(String key)

Starts a named timer. Call timeEnd(key) to record elapsed seconds.

timeEnd

public static void timeEnd(String key)

Records elapsed seconds since time(key) was called.

log

public static void log(String key,
 double value)

log

public static void log(String key,
 double value,
 Unit unit)

log

public static void log(String key,
 double[] value)

log

public static void log(String key,
 double[] value,
 Unit unit)

log

public static void log(String key,
 boolean value)

log

public static void log(String key,
 long value)

log

public static void log(String key,
 String value)

log

public static void log(String key,
 String[] value)

log

public static <E extends Enum<E>> void log(String key,
 E value)

log

public static <T extends StructSerializable> void log(String key,
 T value)

Logs any single WPI struct (Pose2d, Pose3d, ChassisSpeeds, Rotation2d, …).

log

public static <T extends StructSerializable> void log(String key,
 T[] value)

Logs any WPI struct array (SwerveModuleState[], SwerveModulePosition[], Pose2d[], …).