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Update description of vendor support for log replay comparison
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jwbonner committed Oct 18, 2024
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Expand Up @@ -38,19 +38,19 @@ AdvantageKit is **free** and **open-source**. It can be used with hardware from

## Summary

| | Non-Replay | CTRE/Hoot (Nondeterministic) | AdvantageKit (Deterministic) |
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | ---------------------------------- | --------------------------------------------------------------------------------------- | -------------------------------- |
| Record data viewable in AdvantageScope | <center>✅</center> | <center>✅</center> | <center>✅</center> |
| Replay of robot <u>enabled state</u> | <center>❌</center> | <center>✅</center> | <center>✅</center> |
| Replay code <u>highly dependent on vendor APIs</u> | <center>❌</center> | <center>✅\*</center> | <center>❌</center> |
| Replay of <u>Phoenix timestamps</u><br /> | <center>❌</center> | <center>✅\*</center> | <center>❌</center> |
| **Guarantee of <u>replay accuracy</u>**<br /><sub>[Log new outputs](./example-output-logging.md) and [test code changes](./example-bug-fixes.md)</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay <u>complex code logic</u><br /><sub>Commands, autos, pose estimation, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay of all <u>Driver Station data</u><br /><sub>Robot mode, joystick inputs, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay of <u>FPGA timestamps</u><br /><sub>Used by WPILib, commands, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay code using <u>non-CAN inputs</u><br /><sub>Vision, analog inputs, DIOs, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Vendor support | <center>No restrictions</center> | <center>CTRE devices only</center> | <center>No restrictions</center> |
| FRC language support | <center>Java, Python, C++</center> | <center>Java, Python, C++</center> | <center>Java</center> |
| Pricing | <center>Free</center> | <center>Requires [Phoenix Pro](https://store.ctr-electronics.com/phoenix-pro/)</center> | <center>Free</center> |
| | Non-Replay | CTRE/Hoot (Nondeterministic) | AdvantageKit (Deterministic) |
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | ---------------------------------- | --------------------------------------------------------------------------------------- | ---------------------------- |
| Record data viewable in AdvantageScope | <center>✅</center> | <center>✅</center> | <center>✅</center> |
| Replay of robot <u>enabled state</u> | <center>❌</center> | <center>✅</center> | <center>✅</center> |
| <u>Low-level replay</u> of code using Phoenix APIs | <center>❌</center> | <center>✅\*</center> | <center>❌</center> |
| Replay of <u>Phoenix timestamps</u><br /> | <center>❌</center> | <center>✅\*</center> | <center>❌</center> |
| **Guarantee of <u>replay accuracy</u>**<br /><sub>[Log new outputs](./example-output-logging.md) and [test code changes](./example-bug-fixes.md)</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay <u>complex code logic</u><br /><sub>Commands, autos, pose estimation, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay code using <u>any vendor library</u><br /><sub>Phoenix, REVLib, Limelight, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay of all <u>Driver Station data</u><br /><sub>Robot mode, joystick inputs, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay of <u>FPGA timestamps</u><br /><sub>Used by WPILib, commands, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| Replay code using <u>non-CAN inputs</u><br /><sub>Vision, analog inputs, DIOs, etc.</sub> | <center>❌</center> | <center>❌</center> | <center>✅</center> |
| FRC language support | <center>Java, Python, C++</center> | <center>Java, Python, C++</center> | <center>Java</center> |
| Pricing | <center>Free</center> | <center>Requires [Phoenix Pro](https://store.ctr-electronics.com/phoenix-pro/)</center> | <center>Free</center> |

\*Code logic replayed using Hoot Replay may not match the behavior of the real robot. CTRE timestamps available during Hoot Replay use a different time base than the real robot.

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