Manager

.github/scripts/visualizeStates.py

@@ -0,0 +1,184 @@
+import sys
+import re
+from pathlib import Path
+from graphviz import Digraph
+
+# ---------- Parsing ManagerStates ----------
+def get_manager_states(manager_states_path):
+    text = Path(manager_states_path).read_text(encoding="utf8")
+
+    pattern = re.compile(
+        r"""
+        (\w+)\s*
+        \(\s*
+            "(.*?)"\s*,\s*
+            ([^,]+)\s*,\s*
+            ([^,]+)\s*,\s*
+            ([^,]+)\s*,\s*
+            ([^)]+)
+        \)
+        """,
+        re.VERBOSE | re.DOTALL,
+    )
+
+    states = {}
+
+    for m in pattern.finditer(text):
+        name = m.group(1)
+
+        def clean(x: str) -> str:
+            x = x.strip()
+            x = re.sub(r".*?\.", "", x)
+            x = re.sub(r"\(.*\)", "", x)
+            return x
+
+        states[name] = {
+            "Intake": clean(m.group(3)),
+            "Hopper": clean(m.group(4)),
+            "Shooter": clean(m.group(5)),
+            "Climber": clean(m.group(6)),
+            "connectionsTo": [],
+        }
+
+    return states
+
+# ---------- Parsing Triggers ----------
+def get_triggers(manager_path):
+    file = Path(manager_path).read_text(encoding="utf8")
+    return re.findall(r"addTrigger\([\s\S]*?\);", file)
+
+def parse_triggers(triggers):
+    parsed = []
+
+    for t in triggers:
+        m = re.search(
+            r"""
+            addTrigger\(
+                \s*(?:\w+\.)?(\w+)\s*,      # from
+                \s*(?:\w+\.)?(\w+)\s*,      # to
+                \s*(.*?)                    # condition (FULL)
+            \)\s*;
+            """,
+            t,
+            re.VERBOSE | re.DOTALL,
+        )
+        if not m:
+            continue
+
+        condition = m.group(3).strip()
+
+        # Remove lambda wrapper
+        condition = re.sub(r"^\(\)\s*->\s*", "", condition)
+
+        # Remove controller prefixes
+        condition = re.sub(r"(?:DRIVER|OPERATOR)_CONTROLLER::get", "", condition)
+        condition = re.sub(r".*?::", "", condition)
+
+        parsed.append({
+            "from": m.group(1),
+            "to": m.group(2),
+            "condition": condition,
+        })
+
+    return parsed
+
+def attach_triggers(state_map, triggers):
+    for t in triggers:
+        if t["from"] in state_map:
+            state_map[t["from"]]["connectionsTo"].append(t)
+
+# ---------- Graphviz helpers ----------
+def node_id(name: str) -> str:
+    return re.sub(r"\W+", "_", name)
+
+EDGE_COLORS = [
+    "#f6e05e", "#68d391", "#63b3ed", "#fc8181",
+    "#90cdf4", "#faf089", "#fbb6ce", "#9f7aea"
+]
+
+# ---------- Visualization ----------
+def generate_graph(state_map):
+    dot = Digraph("StateMachine", format="png", engine="dot")
+
+    dot.attr(
+        rankdir="TB",
+        bgcolor="#1e1e2f",
+        fontname="Helvetica",
+        nodesep="0.6",
+        ranksep="0.9",
+    )
+
+    dot.attr(
+        "node",
+        shape="box",
+        style="rounded,filled",
+        fillcolor="#2d2d3c",
+        color="#68d391",
+        fontcolor="white",
+        fontname="Helvetica-Bold",
+        fontsize="11",
+        penwidth="1.4",
+    )
+
+    dot.attr(
+        "edge",
+        fontname="Helvetica",
+        fontsize="9",
+        arrowsize="0.8",
+    )
+
+    # Nodes
+    for state, info in state_map.items():
+        lines = [
+            f"{state}",
+            "────────────",
+            f"Intake   → {info['Intake']}",
+            f"Hopper   → {info['Hopper']}",
+            f"Shooter  → {info['Shooter']}",
+            f"Climber  → {info['Climber']}",
+        ]
+        label = "\n".join(lines)
+
+        if state == "IDLE":
+            dot.node(
+                node_id(state),
+                label=label,
+                fillcolor="#3e2c1c",
+                color="#f6ad55",
+                penwidth="2.5",
+            )
+        else:
+            dot.node(node_id(state), label=label)
+
+    # Edges
+    color_index = 0
+    for state, info in state_map.items():
+        if not info["connectionsTo"]:
+            continue
+
+        color = EDGE_COLORS[color_index % len(EDGE_COLORS)]
+        color_index += 1
+
+        for c in info["connectionsTo"]:
+            dot.edge(
+                node_id(state),
+                node_id(c["to"]),
+                label=c["condition"],
+                color=color,
+                fontcolor=color,
+                penwidth="1.8",
+            )
+
+    dot.render("state_machine", cleanup=True)
+    print("Rendered state_machine.png")
+
+# ---------- Main ----------
+def main(managerStatesPath, managerPath):
+    state_map = get_manager_states(managerStatesPath)
+    triggers = parse_triggers(get_triggers(managerPath))
+    attach_triggers(state_map, triggers)
+    generate_graph(state_map)
+    print("Success!")
+
+if __name__ == "__main__":
+    main(sys.argv[1], sys.argv[2])

.github/workflows/visualizeStates.yml

@@ -0,0 +1,61 @@
+name: Visualize States
+
+on:
+  pull_request:
+    types:
+      - reopened
+      - opened
+      - synchronize
+
+jobs:
+  generate-graph:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v3
+
+    - name: Install system dependencies
+      run: |
+          sudo apt-get update
+          sudo apt-get install -y graphviz
+
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.x'
+
+    - name: Install dependencies
+      run: |
+        pip install graphviz
+
+    - name: Run graph generation
+      id: run-script
+      run: |
+        python3 .github/scripts/visualizeStates.py ./src/main/java/frc/robot/Subsystems/Manager/ManagerStates.java ./src/main/java/frc/robot/Subsystems/Manager/Manager.java
+        echo "exit_code=$?" >> $GITHUB_OUTPUT
+      continue-on-error: true
+
+    - name: Upload graph as artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: state-machine-graph
+        path: state_machine.png
+
+    - name: Comment on PR
+      uses: actions/github-script@v6
+      with:
+        script: |
+          const prNumber = context.payload.pull_request.number;
+          const exitCode = Number(process.env.EXIT_CODE);
+          const commentBody = exitCode === 0
+              ? "✅ State machine graph generated and uploaded."
+              : "⚠️ Something went wrong while generating the state machine graph.";
+
+          github.rest.issues.createComment({
+            issue_number: prNumber,
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            body: commentBody
+          })
+      env:
+        EXIT_CODE: ${{ steps.run-script.outputs.exit_code }}

Other/AscopeFiles/PutAscopeModelsAndConfigHere.txt

@@ -0,0 +1 @@
+hmm

Other/Dashboards/PutDriverDashBoardHere.txt

@@ -0,0 +1 @@
+hmmmmmm

Other/Sim/GoatedSimConfig.json

@@ -0,0 +1,143 @@
+{
+  "Docking": {
+    "Data": [
+      "DockNode          ID=0x00000002 Pos=-2,2 Size=1926,1098 Split=X",
+      "DockNode        ID=0x00000001 Parent=0x00000002 SizeRef=1153,1095 Split=Y",
+      "DockNode      ID=0x0000000F Parent=0x00000001 SizeRef=991,210 Split=X",
+      "DockNode    ID=0x0000000D Parent=0x0000000F SizeRef=519,140 Split=X",
+      "DockNode  ID=0x0000000B Parent=0x0000000D SizeRef=257,140 Selected=0x39AD1970",
+      "DockNode  ID=0x0000000C Parent=0x0000000D SizeRef=280,140 Selected=0xD58031C5",
+      "DockNode    ID=0x0000000E Parent=0x0000000F SizeRef=632,140 Selected=0x513EDE86",
+      "DockNode      ID=0x00000010 Parent=0x00000001 SizeRef=991,883 Split=Y Selected=0xB5CBE9F0",
+      "DockNode    ID=0x00000012 Parent=0x00000010 SizeRef=1153,233 Split=Y Selected=0xF9AD29AD",
+      "DockNode  ID=0x00000014 Parent=0x00000012 SizeRef=1155,199 Selected=0x5446CBB7",
+      "DockNode  ID=0x00000015 Parent=0x00000012 SizeRef=1155,240 Selected=0xF9AD29AD",
+      "DockNode    ID=0x00000013 Parent=0x00000010 SizeRef=1153,650 Selected=0xB5CBE9F0",
+      "DockNode        ID=0x00000011 Parent=0x00000002 SizeRef=767,1095 Split=Y",
+      "DockNode      ID=0x00000007 Parent=0x00000011 SizeRef=313,611 Split=X Selected=0x3E3C37F1",
+      "DockNode    ID=0x00000003 Parent=0x00000007 SizeRef=309,746 Selected=0x3E3C37F1",
+      "DockNode    ID=0x00000004 Parent=0x00000007 SizeRef=458,746 Selected=0x2D9B9756",
+      "DockNode      ID=0x00000008 Parent=0x00000011 SizeRef=313,287 Split=Y Selected=0x6AE6D891",
+      "DockNode    ID=0x00000005 Parent=0x00000008 SizeRef=313,32 Split=X Selected=0x6AE6D891",
+      "DockNode  ID=0x00000009 Parent=0x00000005 SizeRef=295,176 Selected=0x6AE6D891",
+      "DockNode  ID=0x0000000A Parent=0x00000005 SizeRef=472,176 Selected=0xC8493FD8",
+      "DockNode    ID=0x00000006 Parent=0x00000008 SizeRef=313,316 Selected=0x138219D4"
+    ]
+  },
+  "MainWindow": {
+    "GLOBAL": {
+      "font": "Roboto Bold",
+      "fps": "120",
+      "height": "1051",
+      "maximized": "1",
+      "style": "3",
+      "userScale": "2",
+      "width": "1920",
+      "xpos": "0",
+      "ypos": "29"
+    }
+  },
+  "Window": {
+    "###/AdvantageKit/RealOutputs/Alerts": {
+      "Collapsed": "0",
+      "Pos": "137,171",
+      "Size": "300,148"
+    },
+    "###/FMSInfo": {
+      "Collapsed": "0",
+      "Pos": "60,60",
+      "Size": "168,206"
+    },
+    "###/SmartDashboard/Auto Chooser": {
+      "Collapsed": "0",
+      "DockId": "0x0000000E,0",
+      "Pos": "521,20",
+      "Size": "633,211"
+    },
+    "###/SmartDashboard/Field": {
+      "Collapsed": "0",
+      "DockId": "0x00000013,0",
+      "Pos": "-2,450",
+      "Size": "1155,650"
+    },
+    "###/SmartDashboard/VisionSystemSim-Vision/Sim Field": {
+      "Collapsed": "0",
+      "DockId": "0x00000015,0",
+      "Pos": "-1,233",
+      "Size": "1155,441"
+    },
+    "###/SmartDashboard/VisionSystemSim-main/Sim Field": {
+      "Collapsed": "0",
+      "DockId": "0x00000014,0",
+      "Pos": "-2,215",
+      "Size": "1155,233"
+    },
+    "###FMS": {
+      "Collapsed": "0",
+      "DockId": "0x0000000A,0",
+      "Pos": "1452,750",
+      "Size": "472,32"
+    },
+    "###Joysticks": {
+      "Collapsed": "0",
+      "DockId": "0x00000006,0",
+      "Pos": "1155,784",
+      "Size": "769,316"
+    },
+    "###Keyboard 0 Settings": {
+      "Collapsed": "0",
+      "DockId": "0x00000003,0",
+      "Pos": "1156,20",
+      "Size": "309,746"
+    },
+    "###NetworkTables": {
+      "Collapsed": "0",
+      "DockId": "0x00000004,0",
+      "Pos": "1155,2",
+      "Size": "769,746"
+    },
+    "###NetworkTables Info": {
+      "Collapsed": "0",
+      "Pos": "939,136",
+      "Size": "681,492"
+    },
+    "###Other Devices": {
+      "Collapsed": "0",
+      "Pos": "558,386",
+      "Size": "312,1173"
+    },
+    "###Plot <0>": {
+      "Collapsed": "0",
+      "Pos": "65,61",
+      "Size": "700,400"
+    },
+    "###PowerDistributions": {
+      "Collapsed": "0",
+      "Pos": "245,155",
+      "Size": "200,456"
+    },
+    "###System Joysticks": {
+      "Collapsed": "0",
+      "DockId": "0x00000009,0",
+      "Pos": "1155,750",
+      "Size": "295,32"
+    },
+    "###Timing": {
+      "Collapsed": "0",
+      "DockId": "0x0000000C,0",
+      "Pos": "552,2",
+      "Size": "601,211"
+    },
+    "Debug##Default": {
+      "Collapsed": "0",
+      "Pos": "60,60",
+      "Size": "400,400"
+    },
+    "Robot State": {
+      "Collapsed": "0",
+      "DockId": "0x0000000B,0",
+      "Pos": "-2,2",
+      "Size": "552,211"
+    }
+  }
+}