Annotations

@Logged marks a field, or a method with no parameters, to be logged every loop without a WolfKit.log call.

public class Shooter {
    @Logged private double velocityRpm;                 // Shooter/velocityRpm
    @Logged(key = "Shooter/Ready") boolean atSpeed;     // Shooter/Ready
    @Logged public double getCurrentAmps() { ... }      // Shooter/CurrentAmps
}

Keys

The default key is the class name, a slash and the member name. For a method, a leading get is dropped. key replaces the whole key.

What can be annotated

Type	Logged as
double, int, long, float and other numbers	Number
boolean	Boolean
String, enums	Text
double[]	Number array
SDK Pose2D; Pedro Pose and Path with the pedro module	Pose or path
Any other object	Its own @Logged members, under its class name

Fields may be private or static. Prefer annotating a field over a method where you can: a method’s return value is boxed on every loop.

Nested objects

An annotated field that holds one of your own objects logs that object’s @Logged members. Give the field a key to tell instances of the same class apart:

public class Drive {
    @Logged(key = "FrontLeft") Module frontLeft;   // FrontLeft/angle, FrontLeft/speed
    @Logged(key = "FrontRight") Module frontRight; // FrontRight/angle, FrontRight/speed
}

Registering objects

WolfKit needs to know which objects to read.

• The OpMode is registered automatically. Annotated fields on the OpMode, and objects reachable through annotated fields, need nothing more.
• Anything else is registered once with WolfKit.register(this), typically in its constructor.

Registrations last for one OpMode run.

When values are logged

• Iterative OpModes (OpMode): after every loop(), automatically.
• LinearOpModes: each time the OpMode calls telemetry.update().
• Explicitly: call WolfKit.logAll() once per loop. After an OpMode calls it, the automatic logging is switched off for that run so nothing is logged twice.

Other types

WolfKit.adapter teaches @Logged a type it does not know:

WolfKit.adapter(Vector2d.class, (key, v) -> WolfKit.log(key, new double[] {v.x, v.y}));