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Use wpilib's builtin StructGenerator instead of custom RecordStruct #237

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Use wpilib's builtin StructGenerator instead of custom RecordStruct #237

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9 changes: 5 additions & 4 deletions akit/src/main/java/org/littletonrobotics/junction/LogTable.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
import edu.wpi.first.util.protobuf.ProtobufBuffer;
import edu.wpi.first.util.struct.Struct;
import edu.wpi.first.util.struct.StructBuffer;
import edu.wpi.first.util.struct.StructGenerator;
import edu.wpi.first.util.struct.StructSerializable;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.util.Color;
Expand Down Expand Up @@ -843,9 +844,9 @@ public <T extends StructSerializable> void put(String key, T[][] value) {
}
}

private Struct<?> findRecordStructType(Class<?> classObj) {
private Struct<?> findRecordStructType(Class<? extends Record> classObj) {
if (!structTypeCache.containsKey(classObj.getName())) {
structTypeCache.put(classObj.getName(), new RecordStruct(classObj));
structTypeCache.put(classObj.getName(), StructGenerator.genRecord(classObj));

// Warn about record logging when enabled
if (DriverStation.isEnabled()) {
Expand Down Expand Up @@ -888,7 +889,7 @@ public <R extends Record> void put(String key, R value) {
public <R extends Record> void put(String key, R... value) {
if (value == null) return;
// If struct is supported, write as struct
Struct<R> struct = (Struct<R>) findRecordStructType(value.getClass().getComponentType());
Struct<R> struct = (Struct<R>) findRecordStructType((Class<? extends Record>) value.getClass().getComponentType());
if (struct != null) {
put(key, struct, value);
}
Expand Down Expand Up @@ -1606,7 +1607,7 @@ public <R extends Record> R[] get(String key, R... defaultValue) {
String typeString = data.get(prefix + key).customTypeStr;
if (typeString.startsWith("struct:")) {
Struct<R> struct =
(Struct<R>) findRecordStructType(defaultValue.getClass().getComponentType());
(Struct<R>) findRecordStructType((Class<? extends Record>) defaultValue.getClass().getComponentType());
if (struct != null) {
return get(key, struct, defaultValue);
}
Expand Down
327 changes: 0 additions & 327 deletions akit/src/main/java/org/littletonrobotics/junction/RecordStruct.java
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