[sysid] don't crash when null is provided for log

Resolves wpilibsuite#6507
spacey-sooty · Apr 12, 2024 · e5acd26 · e5acd26
1 parent 74f6486
commit e5acd26
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
@@ -24,7 +24,7 @@ frc2::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
               ->Run([this, state, outputSign] {
                 m_outputVolts = outputSign * timer.Get() * m_config.m_rampRate;
                 m_mechanism.m_drive(m_outputVolts);
-                m_mechanism.m_log(this);
+                m_mechanism.m_log.value()(this);
                 m_recordState(state);
               })
               .FinallyDo([this] {
@@ -52,7 +52,7 @@ frc2::CommandPtr SysIdRoutine::Dynamic(Direction direction) {
       ->RunOnce([this] { m_outputVolts = m_config.m_stepVoltage; })
       .AndThen(m_mechanism.m_subsystem->Run([this, state, outputSign] {
         m_mechanism.m_drive(m_outputVolts * outputSign);
-        m_mechanism.m_log(this);
+        m_mechanism.m_log.value()(this);
         m_recordState(state);
       }))
       .FinallyDo([this] {

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/sysid/SysIdRoutine.h b/wpilibNewCommands/src/main/native/include/frc2/command/sysid/SysIdRoutine.h
@@ -8,6 +8,7 @@
 #include <string>
 #include <string_view>
 #include <utility>
+#include <optional>
 
 #include <frc/Timer.h>
 #include <frc/sysid/SysIdRoutineLog.h>
@@ -76,7 +77,7 @@ class Mechanism {
 
   /// Returns measured data (voltages, positions, velocities) of the mechanism
   /// motors during test routines.
-  std::function<void(frc::sysid::SysIdRoutineLog*)> m_log;
+  std::optional<std::function<void(frc::sysid::SysIdRoutineLog*)>> m_log;
 
   /// The subsystem containing the motor(s) that is (or are) being
   /// characterized.
@@ -106,7 +107,7 @@ class Mechanism {
    *   left null.
    */
   Mechanism(std::function<void(units::volt_t)> drive,
-            std::function<void(frc::sysid::SysIdRoutineLog*)> log,
+            std::optional<std::function<void(frc::sysid::SysIdRoutineLog*)>> log,
             frc2::Subsystem* subsystem, std::string_view name)
       : m_drive{std::move(drive)},
         m_log{std::move(log)},