Log message on robot mode changes

[mcm001]

Description

Log messages to the logger immediately at startup and then every time the value changes using a NT listener.

Add startup:

[2025-04-19 09:29:00] [NetworkTables - NTDriverStation] [INFO] ROBOT TRANSITIONED MODES! From NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=false, m_dsAttached=false] to NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=false, m_dsAttached=false]

At connect to roborio

[2025-04-19 09:29:00] [NetworkTables - NTDriverStation] [INFO] ROBOT TRANSITIONED MODES! From NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=false, m_dsAttached=false] to NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=false, m_dsAttached=false]

On transition to disabled, with FMS attached

[2025-04-19 09:29:54] [NetworkTables - NTDriverStation] [INFO] ROBOT TRANSITIONED MODES! From NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=false, m_dsAttached=false] to NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true]

On transition to autonomous

[2025-04-19 09:30:14] [NetworkTables - NTDriverStation] [INFO] ROBOT TRANSITIONED MODES! From NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true] to NtControlWord[m_enabled=true, m_autonomous=true, m_test=false, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true]

On transition to teleop

[2025-04-19 09:31:06] [NetworkTables - NTDriverStation] [INFO] ROBOT TRANSITIONED MODES! From NtControlWord[m_enabled=true, m_autonomous=true, m_test=false, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true] to NtControlWord[m_enabled=true, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true]

I left some comments about potential data races. I haven't had issues yet.

Meta

Merge checklist:

• Pull Request title is short, imperative summary of proposed changes
• The description documents the what and why
• If this PR changes behavior or adds a feature, user documentation is updated
• If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
• If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1
• If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated
• If this PR addresses a bug, a regression test for it is added

[crschardt]

Very good addition. Is it possible to include match time too?

[mcm001]

If that's in NT, yeah absolutely

[mcm001]

@crschardt I don't see it in https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java#L106 . Maybe time for a feature request?

[mcm001]

Let's also publish with it match number/type/event name/etc?

[crschardt]

Added. It's logging the match info on each mode change (if the data is available). I can change that if you would prefer only logging once when the data becomes available.

[mcm001]

This seems reasonable to me! Net positive and no net negative to this afaict. Thank you!!

[mcm001]

Obama.png

[crschardt]

I can't test it without an FMS or some hack to publish match data to NT. (lol) Any suggestions?

[mcm001]

We could test using one of our photonlib examples running a robot sim, which will publish to FMSInfo. I could have added unit tests but its hard to make assertions against console output and I'm lazy.