UnitTelemetry.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.internal;
 
import io.avaje.jsonb.Jsonb;
import java.util.HashMap;
import java.util.IdentityHashMap;
import java.util.Map;
import org.wpilib.telemetry.TelemetryTable;
import org.wpilib.units.Measure;
import org.wpilib.units.Unit;

public final class UnitTelemetry {
  private static final Jsonb s_json = Jsonb.instance();
  private static final Map<Unit, String> s_unitMetadata = new IdentityHashMap<>();
  private static final Map<String, String> s_symbolMetadata = new HashMap<>();
 
  private UnitTelemetry() {
    throw new UnsupportedOperationException("This is a utility class!");
  }

  public static String getUnitMetadata(Unit unit) {
    synchronized (s_unitMetadata) {
      String metadata = s_unitMetadata.get(unit);
      if (metadata != null) {
        return metadata;
      }
      metadata = s_json.toJson(unit.symbol());
      s_unitMetadata.put(unit, metadata);
      return metadata;
    }
  }

  public static String getUnitMetadata(String unitSymbol) {
    synchronized (s_symbolMetadata) {
      String metadata = s_symbolMetadata.get(unitSymbol);
      if (metadata != null) {
        return metadata;
      }
      metadata = s_json.toJson(unitSymbol);
      s_symbolMetadata.put(unitSymbol, metadata);
      return metadata;
    }
  }

  public static void log(TelemetryTable table, String name, Measure<?> value) {
    Unit baseUnit = value.unit().getBaseUnit();
    table.setProperty(name, "unit", getUnitMetadata(baseUnit));
    table.log(name, value.baseUnitMagnitude());
  }

  public static void log(TelemetryTable table, String name, double value, Unit unit) {
    table.setProperty(name, "unit", getUnitMetadata(unit.getBaseUnit()));
    table.log(name, unit.toBaseUnits(value));
  }

  public static void log(TelemetryTable table, String name, double value, String unitSymbol) {
    table.setProperty(name, "unit", getUnitMetadata(unitSymbol));
    table.log(name, value);
  }

  public static void log(TelemetryTable table, String name, int value, Unit unit) {
    log(table, name, (double) value, unit);
  }

  public static void log(TelemetryTable table, String name, long value, Unit unit) {
    log(table, name, (double) value, unit);
  }
}