Get sim, sim replay, deploy and deploy replay to work.

src/pykit/loggedrobot.py

@@ -35,7 +35,7 @@ def __init__(self):
         # Because in "robotpy test" this code starts at time 0
         # and hal.waitForNotifierAlarm returns (current_time_or_stopped, status)
         # with current_time_or_stopped assigned to 0 when hal.stopNotifier is called
-        # or when the the current time is 0, and hal.stopNotifier is signal to
+        # or when the current time is 0, and hal.stopNotifier is signal to
         # exit the infinite loop, the stop is prematurely detected at time 0.
         # Force the program to wait until self._periodUs for the first periodic loop
         # so that current_time_or_stopped will contain a non-zero current time and the
@@ -58,6 +58,14 @@ def startCompetition(self) -> None:
         This method replaces the standard `IterativeRobotBase.startCompetition`
         to inject logging and precise timing control.
         """
+
+        Logger.startReciever()
+        startCompetitionTime = RobotController.getFPGATime()
+        Logger.periodicAfterUser(startCompetitionTime, 0)
+        stop = Logger.periodicBeforeUser()
+        if stop:
+            Logger.end()
+            return
         self.robotInit()
 
         if self.isSimulation():
@@ -68,8 +76,6 @@ def startCompetition(self) -> None:
         print("Robot startup complete!")
         hal.observeUserProgramStarting()
 
-        Logger.startReciever()
-
         while True:
             # Wait for next cycle using HAL notifier for precise timing
             if self.useTiming:
@@ -93,7 +99,7 @@ def startCompetition(self) -> None:
 
             # Run logger pre-user code (load inputs from log or sensors)
             periodicBeforeStart = RobotController.getFPGATime()
-            Logger.periodicBeforeUser()
+            stop = Logger.periodicBeforeUser()
 
             # Execute user periodic code and measure timing
             userCodeStart = RobotController.getFPGATime()
@@ -104,3 +110,7 @@ def startCompetition(self) -> None:
             Logger.periodicAfterUser(
                 userCodeEnd - userCodeStart, userCodeStart - periodicBeforeStart
             )
+            if stop:
+                break
+
+        Logger.end()

src/pykit/logger.py

@@ -246,18 +246,16 @@ def getTimestamp(cls) -> int:
 
         :return: The current timestamp in microseconds.
         """
-        if cls.isReplay():
-            return cls.entry.getTimestamp()
-        # RobotController.getFPGATime may be untyped; ensure int
-        return int(RobotController.getFPGATime())
+        return cls.entry.getTimestamp()
 
     @classmethod
-    def periodicBeforeUser(cls):
+    def periodicBeforeUser(cls) -> bool:
         """
         Called periodically before the user's robot code.
         This method updates the log table with new data, either from the replay source
         or from the live robot hardware.
         """
+        stop = False
         cls.cycleCount += 1
         if cls.running:
             entryUpdateStart = RobotController.getFPGATime()
@@ -273,9 +271,7 @@ def periodicBeforeUser(cls):
                         print(
                             "[ERROR] This robot did not start properly, is the replay logfile from PyKit?"
                         )
-                    else:
-                        cls.end()
-                    raise SystemExit(0)
+                    stop = True
 
             dsStart = RobotController.getFPGATime()
             # In replay mode, simulate driver station inputs from log
@@ -302,6 +298,7 @@ def periodicBeforeUser(cls):
                 "Logger/DashboardInputsMS",
                 (dashboardInputEnd - dashboardInputStart) / 1000.0,
             )
+        return stop
 
     @classmethod
     def periodicAfterUser(cls, userCodeLength: int, periodicBeforeLength: int):

src/pykit/wpilog/wpilogwriter.py

@@ -36,7 +36,7 @@ class WPILOGWriter(LogDataReciever):
     folder: str
     filename: str
     randomIdentifier: str
-    dsAttachedTime: int = 0
+    dsAttachedTime: float = 0.0
     autoRename: bool
     logDate: datetime.datetime | None
     logMatchText: str
@@ -172,7 +172,7 @@ def putTable(self, table: LogTable) -> None:
                     ) > 5 or RobotBase.isSimulation():
                         self.logDate = datetime.datetime.now()
                 else:
-                    self.dsAttachedTime = 0
+                    self.dsAttachedTime = 0.0
 
                 matchType: MatchType
                 match table.get("DriverStation/MatchType", 0):