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Made blackboard system a first-class member of CyberarmEngine, added support for background tasks (queue-less states) to CyberarmEngine, added helper method for adding parallel states to last added state of engine.

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Cyberarm
2022-12-31 10:58:25 -06:00
parent 1ef383de18
commit 0250394f56
7 changed files with 118 additions and 17 deletions
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111
TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java
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@@ -11,9 +11,15 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Act
import java.lang.reflect.Constructor;
import java.lang.reflect.InvocationTargetException;
import java.util.HashMap;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.CopyOnWriteArrayList;
/**
* CyberarmEngine Version 3.0 | December 31st 2022
* After a few years of use, it's safe to say this implementation is stable and reasonably feature complete.
* * Added support for background tasks that run unqueued for the duration of the op mode unless stopped.
* * Added thread-safe 'blackboard' for storing bits that need to be easily shared between states/tasks.
*
* CyberarmEngine Version 2.0 | October 26th 2018
* AN Experimental reimplementation of GoldfishPi's original Engine system.
* Designed to be easily maintainable, extensible, and easy to understand.
@@ -23,9 +29,12 @@ public abstract class CyberarmEngine extends OpMode {
public static CyberarmEngine instance;
//Array To Hold States
final private CopyOnWriteArrayList<CyberarmState> cyberarmStates = new CopyOnWriteArrayList<>();
public HashMap<String, String> blackboard = new HashMap<>();
private int activeStateIndex = 0;
private boolean isRunning;
// Array to Hold Tasks
final private CopyOnWriteArrayList<CyberarmState> backgroundTasks = new CopyOnWriteArrayList<>();
// HashMap to store data for States and Tasks
private ConcurrentHashMap<String, Object> blackboard = new ConcurrentHashMap<>();
private int activeStateIndex = 0; // Index of currently running state
private boolean isRunning; // Whether engine is running or not
private final static String TAG = "PROGRAM.ENGINE";
public boolean showStateChildrenListInTelemetry = false;
@@ -49,6 +58,11 @@ public abstract class CyberarmEngine extends OpMode {
for (CyberarmState state: cyberarmStates) {
initState(state);
}
// Background tasks
for (CyberarmState task : backgroundTasks) {
initState(task);
}
}
/**
@@ -73,6 +87,11 @@ public abstract class CyberarmEngine extends OpMode {
if (cyberarmStates.size() > 0) {
runState(cyberarmStates.get(0));
}
// Background tasks
for (CyberarmState task : backgroundTasks) {
runState(task);
}
}
/**
@@ -95,7 +114,11 @@ public abstract class CyberarmEngine extends OpMode {
}
// Add telemetry to show currently running state
telemetry.addLine("Running state: " +state.getClass().getSimpleName() + ". State: " + activeStateIndex + " of " + (cyberarmStates.size()-1));
telemetry.addLine(
"Running state: " +state.getClass().getSimpleName() + ". State: " +
(activeStateIndex + 1) + " of " + (cyberarmStates.size()) +
" (" + activeStateIndex + "/" + (cyberarmStates.size() - 1) + ")");
if (showStateChildrenListInTelemetry && state.hasChildren()) {
for(CyberarmState child: state.children) {
telemetry.addLine(" Child: " + child.getClass().getSimpleName() + " [" + child.children.size() + "] grandchildren");
@@ -113,6 +136,11 @@ public abstract class CyberarmEngine extends OpMode {
} else {
stateTelemetry(state);
// Background tasks
for (CyberarmState task : backgroundTasks) {
initState(task);
}
}
gamepadCheckerGamepad1.update();
@@ -128,7 +156,10 @@ public abstract class CyberarmEngine extends OpMode {
stopState(state);
}
// Background tasks
for (CyberarmState task : backgroundTasks) {
stopState(task);
}
}
/**
@@ -225,6 +256,76 @@ public abstract class CyberarmEngine extends OpMode {
return state;
}
/**
* Adds state to the most recently added top level state as a parallel state
* @param state State to add to last top level state
* @return CyberarmState
*/
public CyberarmState addParallelStateToLastState(CyberarmState state) {
CyberarmState parentState = cyberarmStates.get(cyberarmStates.size() - 1);
Log.i(TAG, "Adding parallel cyberarmState "+ state.getClass() + " to parent state " + parentState.getClass());
parentState.addParallelState((state));
return state;
}
/**
* Adds state as a background task that is run until the opmode stops
* background tasks are not queued, they are all started at once.
* @param state State to add to list
* @return CyberarmState
*/
public CyberarmState addTask(CyberarmState state) {
Log.i(TAG, "Adding task cyberarmState "+ state.getClass());
backgroundTasks.add(state);
if (isRunning()) {
initState(state);
runState(state);
}
return state;
}
/**
* Retrieve value from blackboard
* @param key String to use to look up value
* @return Returns Object which should be autocast to the correct type
*/
@SuppressWarnings("unchecked")
public <T> T blackboard_get(String key) {
return (T) blackboard.get(key);
}
/**
* Set value of key to value
* @param key String
* @param value Object
* @return Returns T
*/
@SuppressWarnings("unchecked")
public <T> T blackboard_set(String key, Object value) {
blackboard.put(key, value);
return (T) value;
}
/**
* Remove value from blackboard
* @param key String
* @param value Object
* @return Returns T
*/
@SuppressWarnings("unchecked")
public <T> T blackboard_remove(String key, Object value) {
blackboard.remove(key);
return (T) value;
}
private void buttonDownForStates(CyberarmState state, Gamepad gamepad, String button) {
state.buttonDown(gamepad, button);

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java
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@@ -96,6 +96,6 @@ public class LeftSideAutonomousEngine extends CyberarmEngine {
public void loop() {
super.loop();
telemetry.addData("BlackBoard Input", blackboard.get("parkPlace"));
telemetry.addData("BlackBoard Input", blackboard_get("parkPlace"));
}
}

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightFourConeAutonomousEngine.java
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@@ -148,6 +148,6 @@ public class RightFourConeAutonomousEngine extends CyberarmEngine {
public void loop() {
super.loop();
telemetry.addData("BlackBoard Input", blackboard.get("parkPlace"));
telemetry.addData("BlackBoard Input", blackboard_get("parkPlace"));
}
}

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java
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@@ -97,6 +97,6 @@ public class RightSideAutonomousEngine extends CyberarmEngine {
public void loop() {
super.loop();
telemetry.addData("BlackBoard Input", blackboard.get("parkPlace"));
telemetry.addData("BlackBoard Input", blackboard_get("parkPlace"));
}
}

14
TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java
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@@ -21,7 +21,7 @@ public class ConeIdentification extends CyberarmState {
@Override
public void init() {
engine.blackboard.put("parkPlace", "1");
engine.blackboard_set("parkPlace", "1");
robot.tfod.activate();
initTime = System.currentTimeMillis();
}
@@ -50,11 +50,11 @@ public class ConeIdentification extends CyberarmState {
engine.telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
if (recognition.getLabel().equals("#2")) {
engine.telemetry.addData("#2", engine.blackboard.put("parkPlace", "2"));
engine.telemetry.addData("#2", engine.blackboard_set("parkPlace", "2"));
} else if (recognition.getLabel().equals("#3")) {
engine.telemetry.addData("#3",engine.blackboard.put("parkPlace", "3"));
engine.telemetry.addData("#3",engine.blackboard_set("parkPlace", "3"));
} else {
engine.telemetry.addData("#1", engine.blackboard.put("parkPlace", "1"));
engine.telemetry.addData("#1", engine.blackboard_set("parkPlace", "1"));
}
}
}
@@ -90,12 +90,12 @@ public class ConeIdentification extends CyberarmState {
bestConfidence = recognition.getConfidence();
if (recognition.getLabel().equals("2 Bulb")) {
engine.blackboard.put("parkPlace", "2");
engine.blackboard_set("parkPlace", "2");
} else if (recognition.getLabel().equals("3 Panel")) {
engine.blackboard.put("parkPlace", "3");
engine.blackboard_set("parkPlace", "3");
} else {
engine.blackboard.put("parkPlace", "1");
engine.blackboard_set("parkPlace", "1");
}
}
}

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverParkPlaceState.java
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@@ -43,7 +43,7 @@ public class DriverParkPlaceState extends CyberarmState {
setHasFinished(true);
return;
}
String placement = engine.blackboard.get("parkPlace");
String placement = engine.blackboard_get("parkPlace");
if (placement != null) {
if (!placement.equals(intendedPlacement)){
setHasFinished(true);

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java
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@@ -16,7 +16,7 @@ public class PathDecision extends CyberarmState {
@Override
public void exec() {
String placement = engine.blackboard.get("parkPlace");
String placement = engine.blackboard_get("parkPlace");
setHasFinished(true);
}