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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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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);
}