From 078a791abc089bd44adc8cc49034214a6c8e2f90 Mon Sep 17 00:00:00 2001
From: Cyberarm <matthewlikesrobots@gmail.com>
Date: Thu, 2 Feb 2023 10:38:04 -0600
Subject: [PATCH] Theoretically speed up SignalProcessor by assuming that the
 second round of recognitions is good enough

---
 .../states/autonomous/SignalProcessor.java       | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/SignalProcessor.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/SignalProcessor.java
index 4d2d3d0..4333c0b 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/SignalProcessor.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/SignalProcessor.java
@@ -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);
+            }
         }
     }