Adding a mechanism for a 'shift display' in Elastic

src/main/java/frc/robot/RobotContainer.java

@@ -4,47 +4,44 @@
 
 package frc.robot;
 
-import com.pathplanner.lib.auto.AutoBuilder;
-
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
-import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.AutoConstants;
 import frc.robot.constants.OIConstants;
 import frc.robot.subsystems.Drivetrain;
+import frc.robot.utilities.Elastic;
 import frc.robot.utilities.Utilities;
 
 public class RobotContainer {
-
-  Boolean isRed;
-
   private Drivetrain drivetrain;
 
-  private Utilities utilities;
-
   private CommandXboxController driver;
 
   private SendableChooser<Command> autoChooser;
 
+  private Timer shiftTimer;
+
   public RobotContainer() {
     drivetrain = new Drivetrain();
 
     driver = new CommandXboxController(OIConstants.kDriverControllerPort);
 
+    shiftTimer = new Timer();
+    shiftTimer.reset();
+
     configureBindings();
   }
   
-
-
-  
-
   private void configureBindings() {
     drivetrain.setDefaultCommand(
       drivetrain.drive(
@@ -55,15 +52,9 @@ public class RobotContainer {
       )
     );
 
-    ShuffleboardTab tab = Shuffleboard.getTab("SideFirst"); 
+    configureShiftDisplay();
-
-  if (Utilities.ShiftFirst() == Alliance.Red) {
-    tab.add("IsRed", isRed);
-}
-
   }
 
-
   public Command getAutonomousCommand() {
     if(AutoConstants.kAutoConfigOk) {
       return autoChooser.getSelected();
@@ -71,4 +62,55 @@ public class RobotContainer {
       return new PrintCommand("Robot Config loading failed, autonomous disabled");
     }
   }
+
+  private void configureShiftDisplay() {
+    SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+    
+    RobotModeTriggers.autonomous().onTrue(new InstantCommand(() -> {
+      shiftTimer.stop();
+      SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+    }));
+
+    RobotModeTriggers.teleop().onTrue(new InstantCommand(() -> {
+      Elastic.selectTab(OIConstants.kTeleopTab);
+      shiftTimer.reset();
+      shiftTimer.start();
+    }));
+
+    new Trigger(() -> shiftTimer.get() <= 10).onTrue(new InstantCommand(() -> {
+      SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+    }));
+
+    new Trigger(() -> shiftTimer.get() > 10 && shiftTimer.get() <= 35).onTrue(new InstantCommand(() -> {
+      SmartDashboard.putStringArray(
+        OIConstants.kCurrentActiveHub, 
+        Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
+      );
+    }));
+
+    new Trigger(() -> shiftTimer.get() > 35 && shiftTimer.get() <= 60).onTrue(new InstantCommand(() -> {
+      SmartDashboard.putStringArray(
+        OIConstants.kCurrentActiveHub, 
+        Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
+      );
+    }));
+
+    new Trigger(() -> shiftTimer.get() > 60 && shiftTimer.get() <= 85).onTrue(new InstantCommand(() -> {
+      SmartDashboard.putStringArray(
+        OIConstants.kCurrentActiveHub, 
+        Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
+      );
+    }));
+
+    new Trigger(() -> shiftTimer.get() > 85 && shiftTimer.get() <= 110).onTrue(new InstantCommand(() -> {
+      SmartDashboard.putStringArray(
+        OIConstants.kCurrentActiveHub, 
+        Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
+      );
+    }));
+
+    new Trigger(() -> shiftTimer.get() > 110).onTrue(new InstantCommand(() -> {
+      SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+    }));
+  }
 }

src/main/java/frc/robot/constants/OIConstants.java

@@ -1,5 +1,7 @@
 package frc.robot.constants;
 
+import edu.wpi.first.wpilibj.util.Color;
+
 public class OIConstants {
     public static final int kDriverControllerPort = 0;
     public static final int kOperatorControllerPort = 1;
@@ -7,4 +9,21 @@ public class OIConstants {
     public static final double kDriveDeadband = .01;
 
     public static final double kJoystickExponential = 3;
+
+    public static final String kTeleopTab = "Teleoperated";
+
+    public static final String kCurrentActiveHub = "Alliance Hub Currently Active";
+
+    public static final String[] kRedBlueDisplay = {
+        Color.kRed.toHexString(),
+        Color.kBlue.toHexString()
+    };
+
+    public static final String[] kRedDisplay = {
+        Color.kRed.toHexString()
+    };
+
+    public static final String[] kBlueDisplay = {
+        Color.kBlue.toHexString()
+    };
 }

src/main/java/frc/robot/utilities/Elastic.java

@@ -0,0 +1,390 @@
+// Copyright (c) 2023-2026 Gold87 and other Elastic contributors
+// This software can be modified and/or shared under the terms
+// defined by the Elastic license:
+// https://github.com/Gold872/elastic_dashboard/blob/main/LICENSE
+
+package frc.robot.utilities;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.PubSubOption;
+import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.networktables.StringTopic;
+
+public final class Elastic {
+  private static final StringTopic notificationTopic =
+      NetworkTableInstance.getDefault().getStringTopic("/Elastic/RobotNotifications");
+  private static final StringPublisher notificationPublisher =
+      notificationTopic.publish(PubSubOption.sendAll(true), PubSubOption.keepDuplicates(true));
+  private static final StringTopic selectedTabTopic =
+      NetworkTableInstance.getDefault().getStringTopic("/Elastic/SelectedTab");
+  private static final StringPublisher selectedTabPublisher =
+      selectedTabTopic.publish(PubSubOption.keepDuplicates(true));
+  private static final ObjectMapper objectMapper = new ObjectMapper();
+
+  /**
+   * Represents the possible levels of notifications for the Elastic dashboard. These levels are
+   * used to indicate the severity or type of notification.
+   */
+  public enum NotificationLevel {
+    /** Informational Message */
+    INFO,
+    /** Warning message */
+    WARNING,
+    /** Error message */
+    ERROR
+  }
+
+  /**
+   * Sends an notification to the Elastic dashboard. The notification is serialized as a JSON string
+   * before being published.
+   *
+   * @param notification the {@link Notification} object containing notification details
+   */
+  public static void sendNotification(Notification notification) {
+    try {
+      notificationPublisher.set(objectMapper.writeValueAsString(notification));
+    } catch (JsonProcessingException e) {
+      e.printStackTrace();
+    }
+  }
+
+  /**
+   * Selects the tab of the dashboard with the given name. If no tab matches the name, this will
+   * have no effect on the widgets or tabs in view.
+   *
+   * <p>If the given name is a number, Elastic will select the tab whose index equals the number
+   * provided.
+   *
+   * @param tabName the name of the tab to select
+   */
+  public static void selectTab(String tabName) {
+    selectedTabPublisher.set(tabName);
+  }
+
+  /**
+   * Selects the tab of the dashboard at the given index. If this index is greater than or equal to
+   * the number of tabs, this will have no effect.
+   *
+   * @param tabIndex the index of the tab to select.
+   */
+  public static void selectTab(int tabIndex) {
+    selectTab(Integer.toString(tabIndex));
+  }
+
+  /**
+   * Represents an notification object to be sent to the Elastic dashboard. This object holds
+   * properties such as level, title, description, display time, and dimensions to control how the
+   * notification is displayed on the dashboard.
+   */
+  public static class Notification {
+    @JsonProperty("level")
+    private NotificationLevel level;
+
+    @JsonProperty("title")
+    private String title;
+
+    @JsonProperty("description")
+    private String description;
+
+    @JsonProperty("displayTime")
+    private int displayTimeMillis;
+
+    @JsonProperty("width")
+    private double width;
+
+    @JsonProperty("height")
+    private double height;
+
+    /**
+     * Creates a new Notification with all default parameters. This constructor is intended to be
+     * used with the chainable decorator methods
+     *
+     * <p>Title and description fields are empty.
+     */
+    public Notification() {
+      this(NotificationLevel.INFO, "", "");
+    }
+
+    /**
+     * Creates a new Notification with all properties specified.
+     *
+     * @param level the level of the notification (e.g., INFO, WARNING, ERROR)
+     * @param title the title text of the notification
+     * @param description the descriptive text of the notification
+     * @param displayTimeMillis the time in milliseconds for which the notification is displayed
+     * @param width the width of the notification display area
+     * @param height the height of the notification display area, inferred if below zero
+     */
+    public Notification(
+        NotificationLevel level,
+        String title,
+        String description,
+        int displayTimeMillis,
+        double width,
+        double height) {
+      this.level = level;
+      this.title = title;
+      this.displayTimeMillis = displayTimeMillis;
+      this.description = description;
+      this.height = height;
+      this.width = width;
+    }
+
+    /**
+     * Creates a new Notification with default display time and dimensions.
+     *
+     * @param level the level of the notification
+     * @param title the title text of the notification
+     * @param description the descriptive text of the notification
+     */
+    public Notification(NotificationLevel level, String title, String description) {
+      this(level, title, description, 3000, 350, -1);
+    }
+
+    /**
+     * Creates a new Notification with a specified display time and default dimensions.
+     *
+     * @param level the level of the notification
+     * @param title the title text of the notification
+     * @param description the descriptive text of the notification
+     * @param displayTimeMillis the display time in milliseconds
+     */
+    public Notification(
+        NotificationLevel level, String title, String description, int displayTimeMillis) {
+      this(level, title, description, displayTimeMillis, 350, -1);
+    }
+
+    /**
+     * Creates a new Notification with specified dimensions and default display time. If the height
+     * is below zero, it is automatically inferred based on screen size.
+     *
+     * @param level the level of the notification
+     * @param title the title text of the notification
+     * @param description the descriptive text of the notification
+     * @param width the width of the notification display area
+     * @param height the height of the notification display area, inferred if below zero
+     */
+    public Notification(
+        NotificationLevel level, String title, String description, double width, double height) {
+      this(level, title, description, 3000, width, height);
+    }
+
+    /**
+     * Updates the level of this notification
+     *
+     * @param level the level to set the notification to
+     */
+    public void setLevel(NotificationLevel level) {
+      this.level = level;
+    }
+
+    /**
+     * @return the level of this notification
+     */
+    public NotificationLevel getLevel() {
+      return level;
+    }
+
+    /**
+     * Updates the title of this notification
+     *
+     * @param title the title to set the notification to
+     */
+    public void setTitle(String title) {
+      this.title = title;
+    }
+
+    /**
+     * Gets the title of this notification
+     *
+     * @return the title of this notification
+     */
+    public String getTitle() {
+      return title;
+    }
+
+    /**
+     * Updates the description of this notification
+     *
+     * @param description the description to set the notification to
+     */
+    public void setDescription(String description) {
+      this.description = description;
+    }
+
+    public String getDescription() {
+      return description;
+    }
+
+    /**
+     * Updates the display time of the notification
+     *
+     * @param seconds the number of seconds to display the notification for
+     */
+    public void setDisplayTimeSeconds(double seconds) {
+      setDisplayTimeMillis((int) Math.round(seconds * 1000));
+    }
+
+    /**
+     * Updates the display time of the notification in milliseconds
+     *
+     * @param displayTimeMillis the number of milliseconds to display the notification for
+     */
+    public void setDisplayTimeMillis(int displayTimeMillis) {
+      this.displayTimeMillis = displayTimeMillis;
+    }
+
+    /**
+     * Gets the display time of the notification in milliseconds
+     *
+     * @return the number of milliseconds the notification is displayed for
+     */
+    public int getDisplayTimeMillis() {
+      return displayTimeMillis;
+    }
+
+    /**
+     * Updates the width of the notification
+     *
+     * @param width the width to set the notification to
+     */
+    public void setWidth(double width) {
+      this.width = width;
+    }
+
+    /**
+     * Gets the width of the notification
+     *
+     * @return the width of the notification
+     */
+    public double getWidth() {
+      return width;
+    }
+
+    /**
+     * Updates the height of the notification
+     *
+     * <p>If the height is set to -1, the height will be determined automatically by the dashboard
+     *
+     * @param height the height to set the notification to
+     */
+    public void setHeight(double height) {
+      this.height = height;
+    }
+
+    /**
+     * Gets the height of the notification
+     *
+     * @return the height of the notification
+     */
+    public double getHeight() {
+      return height;
+    }
+
+    /**
+     * Modifies the notification's level and returns itself to allow for method chaining
+     *
+     * @param level the level to set the notification to
+     * @return the current notification
+     */
+    public Notification withLevel(NotificationLevel level) {
+      this.level = level;
+      return this;
+    }
+
+    /**
+     * Modifies the notification's title and returns itself to allow for method chaining
+     *
+     * @param title the title to set the notification to
+     * @return the current notification
+     */
+    public Notification withTitle(String title) {
+      setTitle(title);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's description and returns itself to allow for method chaining
+     *
+     * @param description the description to set the notification to
+     * @return the current notification
+     */
+    public Notification withDescription(String description) {
+      setDescription(description);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's display time and returns itself to allow for method chaining
+     *
+     * @param seconds the number of seconds to display the notification for
+     * @return the current notification
+     */
+    public Notification withDisplaySeconds(double seconds) {
+      return withDisplayMilliseconds((int) Math.round(seconds * 1000));
+    }
+
+    /**
+     * Modifies the notification's display time and returns itself to allow for method chaining
+     *
+     * @param displayTimeMillis the number of milliseconds to display the notification for
+     * @return the current notification
+     */
+    public Notification withDisplayMilliseconds(int displayTimeMillis) {
+      setDisplayTimeMillis(displayTimeMillis);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's width and returns itself to allow for method chaining
+     *
+     * @param width the width to set the notification to
+     * @return the current notification
+     */
+    public Notification withWidth(double width) {
+      setWidth(width);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's height and returns itself to allow for method chaining
+     *
+     * @param height the height to set the notification to
+     * @return the current notification
+     */
+    public Notification withHeight(double height) {
+      setHeight(height);
+      return this;
+    }
+
+    /**
+     * Modifies the notification's height and returns itself to allow for method chaining
+     *
+     * <p>This will set the height to -1 to have it automatically determined by the dashboard
+     *
+     * @return the current notification
+     */
+    public Notification withAutomaticHeight() {
+      setHeight(-1);
+      return this;
+    }
+
+    /**
+     * Modifies the notification to disable the auto dismiss behavior
+     *
+     * <p>This sets the display time to 0 milliseconds
+     *
+     * <p>The auto dismiss behavior can be re-enabled by setting the display time to a number
+     * greater than 0
+     *
+     * @return the current notification
+     */
+    public Notification withNoAutoDismiss() {
+      setDisplayTimeMillis(0);
+      return this;
+    }
+  }
+}

src/main/java/frc/robot/utilities/PhotonVision.java

@@ -45,6 +45,8 @@ public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
         this.latestResult = null;
     }
 
+    // TODO This periodic method has to be called from somewhere, even though the cameras
+    // could be used in multiple other subsystems
     public void periodic() {
         // TODO Do we care about missed results? Probably not, if we're taking long enough to miss results something else is wrong
         List<PhotonPipelineResult> results = camera.getAllUnreadResults();

src/main/java/frc/robot/utilities/Utilities.java

@@ -1,7 +1,5 @@
 package frc.robot.utilities;
 
-import com.pathplanner.lib.auto.AutoBuilder;
-
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;