Add AdvantageKit auto chooser

choreolib/src/main/java/choreo/auto/AutoChooser.java

@@ -16,6 +16,7 @@
 import java.util.HashMap;
 import java.util.Map;
 import java.util.Optional;
+import java.util.function.Function;
 import java.util.function.Supplier;
 
 /**
@@ -51,6 +52,7 @@ public class AutoChooser implements Sendable {
   private Optional<Alliance> allianceAtGeneration = Optional.empty();
   private String nameAtGeneration = NONE_NAME;
   private Command generatedCommand = Commands.none();
+  private Function<String, String> selectionOverride = null;
 
   /** Constructs a new {@link AutoChooser}. */
   public AutoChooser() {}
@@ -69,6 +71,9 @@ public String select(String selectStr) {
 
   private String select(String selectStr, boolean force) {
     selected = selectStr;
+    if (selectionOverride != null) {
+      selected = selectionOverride.apply(selected);
+    }
     if (selected.equals(nameAtGeneration)
         && allianceAtGeneration.equals(DriverStation.getAlliance())) {
       // early return if the selected auto matches the active auto
@@ -93,6 +98,15 @@ private String select(String selectStr, boolean force) {
     return nameAtGeneration;
   }
 
+  /**
+   * Sets a selection override function that modifies the selected option before it is applied.
+   *
+   * @param override The function that modifies the selected option.
+   */
+  protected void setSelectionOverride(Function<String, String> override) {
+    selectionOverride = override;
+  }
+
   /**
    * Add an AutoRoutine to the chooser.
    *
@@ -175,7 +189,7 @@ public void addCmd(String name, Supplier<Command> generator) {
    * @return A command that runs the selected {@link AutoRoutine}
    */
   public Command selectedCommandScheduler() {
-    return Commands.deferredProxy(() -> selectedCommand());
+    return Commands.deferredProxy(this::selectedCommand);
   }
 
   /**
@@ -187,7 +201,7 @@ public Command selectedCommandScheduler() {
    * @return The currently selected command.
    */
   public Command selectedCommand() {
-    if (RobotBase.isSimulation() && nameAtGeneration == NONE_NAME) {
+    if (RobotBase.isSimulation() && nameAtGeneration.equals(NONE_NAME)) {
       select(selected, true);
     }
     return generatedCommand;

docs/choreolib/auto-factory.md

@@ -309,3 +309,43 @@ public class Robot extends TimedRobot {
     }
 }
 ```
+
+## AutoChooser for AdvantageKit Users
+Choreo's base `AutoChooser` does not support log replay. AdvantageKit users should instead copy-and-paste the code below, and use the `AutoChooserAK` class instead of the base `AutoChooser` class.
+
+!!! tip
+    `AutoChooserAK` will automatically register the auto chooser to smart dashboard, meaning that
+    a manual `SmartDashboard.putData` call is no longer necessary.
+
+```java title="AutoChooserAK.java"
+package your.utilities.folder;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import org.littletonrobotics.junction.LogTable;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.inputs.LoggableInputs;
+
+public class AutoChooserAK extends AutoChooserImpl {
+    private String selected = NONE_NAME;
+    private final LoggableInputs replayHandle = new LoggableInputs() {
+        @Override
+        public void toLog(LogTable table) {
+            table.put("selected", selected);
+        }
+
+        @Override
+        public void fromLog(LogTable table) {
+            selected = table.get("selected", selected);
+        }
+    };
+
+    public AutoChooserAK(String name) {
+        setOnSelectOverride(value -> {
+            selected = value;
+            Logger.processInputs(name, replayHandle);
+            return selected;
+        });
+        SmartDashboard.putData(name, this);
+    }
+}
+```