From d28671c74335d19204b3fe4629c743f8e6f2efd9 Mon Sep 17 00:00:00 2001
From: GearBoxFox <98189655+GearBoxFox@users.noreply.github.com>
Date: Thu, 7 Mar 2024 13:21:48 -0500
Subject: [PATCH 1/2] publish swerve states and poses in proper format

---
 src/main/java/frc/robot/Robot.java        |  2 +-
 src/main/java/lib/logger/DataLogUtil.java | 40 ++++++++---------------
 2 files changed, 15 insertions(+), 27 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 075be444..9452b152 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -47,7 +47,7 @@ public void robotInit() {
     String logPath = "/media/sda1/aoede";
 
     DataLogManager.start(logPath);
-    DriverStation.startDataLog(DataLogManager.getLog());
+    DriverStation.startDataLog(DataLogManager.getLog());`
 
     SignalLogger.setPath(logPath);
     SignalLogger.start();
diff --git a/src/main/java/lib/logger/DataLogUtil.java b/src/main/java/lib/logger/DataLogUtil.java
index ad2cf73c..4aee0de7 100644
--- a/src/main/java/lib/logger/DataLogUtil.java
+++ b/src/main/java/lib/logger/DataLogUtil.java
@@ -73,15 +73,13 @@ public void addString(String logName, Supplier<String> updateChecker, boolean up
     }
 
     public void addPose2d(String logName, Supplier<Pose2d> updateChecker, boolean updateNT) {
-      addDoubleArray(logName + "/translation",
+      addDoubleArray(logName,
           () -> new double[]{
               updateChecker.get().getX(),
-              updateChecker.get().getY()
+              updateChecker.get().getY(),
+              updateChecker.get().getRotation().getRadians()
           },
           updateNT);
-      addDouble(logName + "/rotation",
-          () -> updateChecker.get().getRotation().getDegrees(),
-          updateNT);
     }
 
     public void addPose2dArray(String logName, Supplier<Pose2d[]> updateChecker, boolean updateNT) {
@@ -94,15 +92,11 @@ public void addPose2dArray(String logName, Supplier<Pose2d[]> updateChecker, boo
     }
 
     public void addPose3d(String logName, Supplier<Pose3d> updateChecker, boolean updateNT) {
-      addDoubleArray(logName + "/translation",
+      addDoubleArray(logName,
               () -> new double[] {
                       updateChecker.get().getX(),
                       updateChecker.get().getY(),
-                      updateChecker.get().getZ()
-              },
-              updateNT);
-      addDoubleArray(logName + "/rotation",
-              () -> new double[] {
+                      updateChecker.get().getZ(),
                       updateChecker.get().getRotation().getQuaternion().getW(),
                       updateChecker.get().getRotation().getQuaternion().getX(),
                       updateChecker.get().getRotation().getQuaternion().getY(),
@@ -120,22 +114,16 @@ public void addPose3dArray(String logName, Supplier<Pose3d[]> updateChecker, boo
       }
     }
 
-    public void addSwerveModuleState(String logName, Supplier<SwerveModuleState> updateChecker, boolean updateNT) {
-      addDouble(logName + "/velocity",
-              () -> updateChecker.get().speedMetersPerSecond,
-              updateNT);
-      addDouble(logName + "/postion",
-              () -> updateChecker.get().angle.getRadians(),
-              updateNT);
-    }
-
     public void addSwerveModuleStateArray(String logName, Supplier<SwerveModuleState[]> updateChecker, boolean updateNT) {
-      for (int i = 0; i < updateChecker.get().length; i++) {
-        int finalI = i;
-        addSwerveModuleState(logName + "/" + i,
-                () -> updateChecker.get()[finalI],
-                updateNT);
-      }
+      addDoubleArray(logName, () -> {
+                double[] stateArray = new double[8];
+                for (int i = 0; i < updateChecker.get().length * 2; i += 2) {
+                  stateArray[i] = updateChecker.get()[(int) (i / 2.0)].angle.getRadians();
+                  stateArray[i + 1] = updateChecker.get()[(int) (i / 2.0)].speedMetersPerSecond;
+                }
+                return stateArray;
+              },
+              updateNT);
     }
 
     public void updateLogs() {

From 3876ecba3f65d63ccaade0c7a55a8a7c25d66bba Mon Sep 17 00:00:00 2001
From: GearBoxFox <98189655+GearBoxFox@users.noreply.github.com>
Date: Thu, 7 Mar 2024 13:24:30 -0500
Subject: [PATCH 2/2] string null safety for sonarqube

---
 src/main/java/lib/logger/DataLogUtil.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/java/lib/logger/DataLogUtil.java b/src/main/java/lib/logger/DataLogUtil.java
index 4aee0de7..5a67af64 100644
--- a/src/main/java/lib/logger/DataLogUtil.java
+++ b/src/main/java/lib/logger/DataLogUtil.java
@@ -8,6 +8,7 @@
 
 import java.util.ArrayList;
 import java.util.List;
+import java.util.Objects;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
@@ -22,7 +23,7 @@ public class DataLogUtil {
 
   public static DataLogTable getTable(String name) {
     for (DataLogTable table : logTables) {
-      if (table.name == name) {
+      if (Objects.equals(table.name, name)) {
         return table;
       }
     }