From 597b17d91404b0e5e2426676f563ea002ad475f9 Mon Sep 17 00:00:00 2001
From: Eli <emichaelbarnett@gmail.com>
Date: Wed, 27 Feb 2019 23:28:23 -0500
Subject: [PATCH] improve default annotations

---
 .../io/github/oblarg/logexample/Robot.java    |  2 +-
 .../logexample/commands/LoggedCommand.java    |  5 ++--
 lib/build.gradle                              |  4 +++
 .../java/io/github/oblarg/oblog/Logger.java   | 28 +++++++++++++++----
 4 files changed, 30 insertions(+), 9 deletions(-)

diff --git a/examples/src/main/java/io/github/oblarg/logexample/Robot.java b/examples/src/main/java/io/github/oblarg/logexample/Robot.java
index 3b12e90..a116da2 100644
--- a/examples/src/main/java/io/github/oblarg/logexample/Robot.java
+++ b/examples/src/main/java/io/github/oblarg/logexample/Robot.java
@@ -38,7 +38,7 @@ public class Robot extends TimedRobot {
   private LoggedCommand command10Seconds = new LoggedCommand(10);
 
 
-  @Log.DifferentialDrive
+  @Log
   private static DifferentialDrive drive = new DifferentialDrive(new Victor(1), new Victor(2));
 
   //This is loggable, but will not be logged due to the exclude annotation.
diff --git a/examples/src/main/java/io/github/oblarg/logexample/commands/LoggedCommand.java b/examples/src/main/java/io/github/oblarg/logexample/commands/LoggedCommand.java
index 5a09dca..b298b9b 100644
--- a/examples/src/main/java/io/github/oblarg/logexample/commands/LoggedCommand.java
+++ b/examples/src/main/java/io/github/oblarg/logexample/commands/LoggedCommand.java
@@ -9,7 +9,7 @@ public class LoggedCommand extends Command implements Loggable {
 
     private double timeout;
 
-    @Config.Command
+    @Config
     private Command thisCommand = this;
 
     //logs a graph of time since initialized
@@ -28,12 +28,13 @@ public String configureLogName() {
     public LoggedCommand(double timeout){
         super(timeout);
         this.timeout = timeout;
+
+        setRunWhenDisabled(true);
     }
 
     @Override
     public void execute(){
         time = timeSinceInitialized();
-        System.out.println("Executing!");
     }
 
     @Override
diff --git a/lib/build.gradle b/lib/build.gradle
index f4f7e08..6c3a23c 100644
--- a/lib/build.gradle
+++ b/lib/build.gradle
@@ -25,6 +25,10 @@ dependencies {
     compile wpi.deps.vendor.java()
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    simulation rootProject.files('libs/halsim_ds_socketd.dll')
+    simulation "edu.wpi.first.halsim:halsim_ds_socket:${wpi.wpilibVersion}:${wpi.platforms.desktop}@zip"
+    simulation "edu.wpi.first.halsim:halsim_ds_socket:${wpi.wpilibVersion}:${wpi.platforms.desktop}debug@zip"
 }
 
 /* Utils */
diff --git a/lib/src/main/java/io/github/oblarg/oblog/Logger.java b/lib/src/main/java/io/github/oblarg/oblog/Logger.java
index a95eb3d..18dee60 100644
--- a/lib/src/main/java/io/github/oblarg/oblog/Logger.java
+++ b/lib/src/main/java/io/github/oblarg/oblog/Logger.java
@@ -1,11 +1,18 @@
 package io.github.oblarg.oblog;
 
+import edu.wpi.cscore.VideoSource;
 import edu.wpi.first.networktables.EntryListenerFlags;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.*;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.PIDCommand;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
+import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardContainer;
+import edu.wpi.first.wpilibj.shuffleboard.WidgetType;
 import io.github.oblarg.oblog.annotations.*;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
@@ -280,6 +287,11 @@ private interface SetterProcessor {
 
 
     private static final Map<Class<? extends Annotation>, FieldProcessor> configFieldHandler = Map.ofEntries(
+            entry(Config.class,
+                    (supplier, rawParams, bin, name) -> {
+                        Config params = (Config) rawParams;
+                        bin.add((params.name().equals("NO_NAME")) ? name : params.name(), (Sendable) supplier.get());
+                    }),
             entry(Config.Command.class,
                     (supplier, rawParams, bin, name) -> {
                         Config.Command params = (Config.Command) rawParams;
@@ -310,9 +322,13 @@ private interface SetterProcessor {
             entry(Log.class,
                     (supplier, rawParams, bin, name) -> {
                         Log params = (Log) rawParams;
-                        Logger.registerEntry(
-                                bin.add((params.name().equals("NO_NAME")) ? name : params.name(), supplier.get()).getEntry(),
-                                supplier);
+                        if (supplier.get() instanceof Sendable) {
+                            bin.add((params.name().equals("NO_NAME")) ? name : params.name(), (Sendable) supplier.get());
+                        } else {
+                            Logger.registerEntry(
+                                    bin.add((params.name().equals("NO_NAME")) ? name : params.name(), supplier.get()).getEntry(),
+                                    supplier);
+                        }
                     }),
             entry(Log.NumberBar.class,
                     (supplier, rawParams, bin, name) -> {
@@ -484,7 +500,7 @@ private interface SetterProcessor {
                     })
     );
 
-    private static Map<Class, Function<Object, Object>> setterCaster = Map.ofEntries(
+    private static final Map<Class, Function<Object, Object>> setterCaster = Map.ofEntries(
             entry(Integer.TYPE, (value) -> ((Number) value).intValue()),
             entry(Integer.class, (value) -> ((Number) value).intValue()),
             entry(Double.TYPE, (value) -> ((Number) value).doubleValue()),