Replay Tool

.gitignore

@@ -183,3 +183,5 @@ simgui-ds.json
 simgui.json
 
 !src/main/deploy/photon-configs/*.zip
+
+/prev-log.txt

build.gradle

@@ -80,6 +80,37 @@ task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
 }
 compileJava.finalizedBy checkAkitInstall
 
+sourceSets {
+    tools {
+        compileClasspath += sourceSets.main.compileClasspath + sourceSets.main.output
+        runtimeClasspath += sourceSets.main.runtimeClasspath + sourceSets.main.output
+    }
+}
+
+import org.gradle.internal.os.OperatingSystem
+
+project.ext.lwjglVersion = "3.3.3"
+
+switch (OperatingSystem.current()) {
+	case OperatingSystem.LINUX:
+		project.ext.lwjglNatives = "natives-linux"
+		def osArch = System.getProperty("os.arch")
+		if (osArch.startsWith("arm") || osArch.startsWith("aarch64")) {
+			project.ext.lwjglNatives += osArch.contains("64") || osArch.startsWith("armv8") ? "-arm64" : "-arm32"
+		} else if  (osArch.startsWith("ppc")) {
+			project.ext.lwjglNatives += "-ppc64le"
+		} else if  (osArch.startsWith("riscv")) {
+			project.ext.lwjglNatives += "-riscv64"
+		}
+		break
+	case OperatingSystem.MAC_OS:
+		project.ext.lwjglNatives = "natives-macos"
+		break
+	case OperatingSystem.WINDOWS:
+		project.ext.lwjglNatives = "natives-windows"
+		break
+}
+
 dependencies {
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
@@ -104,6 +135,14 @@ dependencies {
 
     implementation 'org.apache.httpcomponents:httpclient:4.5.14'
     implementation 'org.apache.httpcomponents:httpmime:4.5.14'
+
+    toolsImplementation platform("org.lwjgl:lwjgl-bom:$lwjglVersion")
+    toolsImplementation "org.lwjgl:lwjgl"
+	toolsImplementation "org.lwjgl:lwjgl-nfd"
+	toolsRuntimeOnly "org.lwjgl:lwjgl::$lwjglNatives"
+	toolsRuntimeOnly "org.lwjgl:lwjgl-nfd::$lwjglNatives"
+    toolsImplementation wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    toolsImplementation wpi.java.vendor.jniRelease(wpi.platforms.desktop)
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -150,3 +189,9 @@ gversion {
     timeZone     = "America/New_York"
     indent       = "  "
 }
+
+task(replay, dependsOn: "build", type: JavaExec) {
+    mainClass = "frc.robot.Replay"
+    classpath = sourceSets.tools.runtimeClasspath
+    systemProperties["java.library.path"] = new File(project.projectDir, "build/jni/release")
+}

src/main/java/frc/robot/Robot.java

@@ -182,6 +182,12 @@ public void testInit() {
     @Override
     public void testPeriodic() {}
 
+    private static String logFile = null;
+
+    public static void setReplayFile(String logFile) {
+        Robot.logFile = logFile;
+    }
+
 
     private static final String environmentVariable = "AKIT_LOG_PATH";
     private static final String advantageScopeFileName = "akit-log-path.txt";
@@ -192,6 +198,9 @@ public void testPeriodic() {}
      * available 3. The result of the prompt displayed to the user
      */
     public static String findReplayLog() {
+        if (Robot.logFile != null) {
+            return Robot.logFile;
+        }
         // Read environment variables
         String envPath = System.getenv(environmentVariable);
         if (envPath != null) {

src/tools/java/frc/robot/Replay.java

@@ -0,0 +1,77 @@
+package frc.robot;
+
+import static org.lwjgl.system.MemoryStack.stackPush;
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileReader;
+import java.io.IOException;
+import java.io.PrintWriter;
+import java.nio.ByteBuffer;
+import org.littletonrobotics.junction.LogFileUtil;
+import org.lwjgl.PointerBuffer;
+import org.lwjgl.system.MemoryStack;
+import org.lwjgl.util.nfd.NFDFilterItem;
+import org.lwjgl.util.nfd.NativeFileDialog;
+import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**  */
+public class Replay {
+
+    /**  */
+    public static void main(String[] argv) {
+        File prevPath = new File(Filesystem.getLaunchDirectory(), "prev-log.txt");
+        NativeFileDialog.NFD_Init();
+        String logPath;
+        try (MemoryStack stack = stackPush()) {
+            NFDFilterItem.Buffer filters = NFDFilterItem.malloc(1);
+            filters.get(0).name(stack.UTF8("WPILog Files")).spec(stack.UTF8("wpilog"));
+
+            ByteBuffer defaultPath = null;
+            if (prevPath.exists()) {
+                String prev = new File(readToString(prevPath).trim()).getParent();
+                defaultPath = stack.UTF8(prev);
+            }
+
+            PointerBuffer pp = stack.mallocPointer(1);
+            int res = NativeFileDialog.NFD_OpenDialog(pp, filters, defaultPath);
+            if (res != NativeFileDialog.NFD_OKAY) {
+                return;
+            }
+            logPath = pp.getStringUTF8();
+        }
+        NativeFileDialog.NFD_Quit();
+        try {
+            try (PrintWriter out = new PrintWriter(prevPath)) {
+                out.print(logPath);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+
+        Robot.setReplayFile(logPath);
+        RobotBase.startRobot(Robot::new);
+    }
+
+    private static String readToString(File f) {
+        BufferedReader reader;
+        try {
+            reader = new BufferedReader(new FileReader(f));
+            StringBuilder stringBuilder = new StringBuilder();
+            String line = null;
+            String ls = System.getProperty("line.separator");
+            while ((line = reader.readLine()) != null) {
+                stringBuilder.append(line);
+                stringBuilder.append(ls);
+            }
+            // delete the last new line separator
+            stringBuilder.deleteCharAt(stringBuilder.length() - 1);
+            reader.close();
+            return stringBuilder.toString();
+        } catch (IOException e) {
+            e.printStackTrace();
+            return null;
+        }
+    }
+
+}

vendordeps/photonlib-json-1.0.json

@@ -0,0 +1,57 @@
+{
+  "fileName": "photonlib.json",
+  "name": "photonlib",
+  "version": "v2024.3.1",
+  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+  "frcYear": "2024",
+  "mavenUrls": [
+    "https://maven.photonvision.org/repository/internal",
+    "https://maven.photonvision.org/repository/snapshots"
+  ],
+  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-cpp",
+      "version": "v2024.3.1",
+      "libName": "photonlib",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2024.3.1",
+      "libName": "photontargeting",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-java",
+      "version": "v2024.3.1"
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-java",
+      "version": "v2024.3.1"
+    }
+  ]
+}