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Theoretically speed up SignalProcessor by assuming that the second round of recognitions is good enough

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Cyberarm
2023-02-02 10:38:04 -06:00
parent 0fb19f030c
commit 078a791abc
1 changed files with 15 additions and 1 deletions
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16
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/SignalProcessor.java
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@@ -14,7 +14,7 @@ public class SignalProcessor extends CyberarmState {
private final int fallbackPosition;
private final boolean stateDisabled;
private List<Recognition> updatedRecognitions;
private List<Recognition> updatedRecognitions = null;
public SignalProcessor(Robot robot, String groupName, String actionName) {
this.robot = robot;
@@ -54,7 +54,15 @@ public class SignalProcessor extends CyberarmState {
// the last time that call was made.
List<Recognition> recognitions = robot.getTfod().getUpdatedRecognitions();
boolean secondPass = false;
if (recognitions != null) {
/* Since recognitions will be null unless there has been a change and updatedRecognitions
will be null unless we have had a first pass of recognitions we can safely assume that
we are on our second pass. */
if (updatedRecognitions != null) {
secondPass = true;
}
updatedRecognitions = recognitions;
}
@@ -76,6 +84,12 @@ public class SignalProcessor extends CyberarmState {
}
}
}
/* Attempt to speed up this state by assuming that the second pass of recognitions is
good enough and finish the state */
if (secondPass) {
setHasFinished(true);
}
}
}