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Device Health Manager

The device health manager is a system for logging when things go wrong in subsystems, e.g. when a motor/sensor gets disconnected or has an error.

How it works

Each subsystem must implement getHealth(): 

@Override
public boolean getHealth() {
    // should return `true` if the system is fine and `false` if something is disconnected/not working
    return isEverythingFine;
}

The DeviceHealthManager will go through each subsystem and log if a system reports itself as unhealthy. Robot.java should call DeviceHealthManager.logHealth() every tick and DeviceHealthManager.printHealth(currentControlMode) when going into Disabled from another state.

There are two fault states it keeps:

  • Current faults only record what's unhealthy right now; if a system recovers the current fault for it will disappear
  • Sticky faults will persist even if the system recovers; useful for knowing if a system went down at all during a match.

Where it logs

The DeviceHealthManager will log the status of motors and sensors in the driver station's console when the robot disables. 

===== ROBOT HEALTH REPORT =====
>>>>>>> From Teleop
Current faults: none
Sticky faults: Pivot, Affector
===============================

It will also continuously log the faults to NetworkTables under AdvantageKit/Health/:

  • Health/Momentary/Healthy will be true if nothing is currently having issues.
  • Health/Sticky/Healthy will be true if nothing has had issues at all during the match.
  • Health/Momentary/Faults and Health/Sticky/Faults will log exactly what systems have/had issues, or "nothing" if no issues are/were detected.