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Tested and refactored blackboard

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Cyberarm
2022-12-31 12:56:21 -06:00
parent 0250394f56
commit c0ace898af
8 changed files with 119 additions and 22 deletions
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41
TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java
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@@ -10,7 +10,6 @@ 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;
@@ -32,7 +31,7 @@ public abstract class CyberarmEngine extends OpMode {
// 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<>();
final 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
@@ -139,7 +138,7 @@ public abstract class CyberarmEngine extends OpMode {
// Background tasks
for (CyberarmState task : backgroundTasks) {
initState(task);
stateTelemetry(task);
}
}
@@ -293,21 +292,44 @@ public abstract class CyberarmEngine extends OpMode {
/**
* Retrieve value from blackboard
* @param key String to use to look up value
* @return Returns Object which should be autocast to the correct type
* @return Returns T of stored Object
*/
@SuppressWarnings("unchecked")
public <T> T blackboard_get(String key) {
public <T> T blackboardGet(String key) {
return (T) blackboard.get(key);
}
public String blackboardGetString(String key) {
return (String) blackboard.get(key);
}
public int blackboardGetInt(String key) {
return (int) blackboard.get(key);
}
public long blackboardGetLong(String key) {
return (long) blackboard.get(key);
}
public float blackboardGetFloat(String key) {
return (float) blackboard.get(key);
}
public double blackboardGetDouble(String key) {
return (double) blackboard.get(key);
}
public boolean blackboardGetBoolean(String key) {
return (boolean) 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) {
public <T> T blackboardSet(String key, T value) {
blackboard.put(key, value);
return (T) value;
@@ -319,8 +341,7 @@ public abstract class CyberarmEngine extends OpMode {
* @param value Object
* @return Returns T
*/
@SuppressWarnings("unchecked")
public <T> T blackboard_remove(String key, Object value) {
public <T> T blackboardRemove(String key, T value) {
blackboard.remove(key);
return (T) value;

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", blackboardGetString("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", blackboardGetString("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", blackboardGetString("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_set("parkPlace", "1");
engine.blackboardSet("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_set("parkPlace", "2"));
engine.telemetry.addData("#2", engine.blackboardSet("parkPlace", "2"));
} else if (recognition.getLabel().equals("#3")) {
engine.telemetry.addData("#3",engine.blackboard_set("parkPlace", "3"));
engine.telemetry.addData("#3",engine.blackboardSet("parkPlace", "3"));
} else {
engine.telemetry.addData("#1", engine.blackboard_set("parkPlace", "1"));
engine.telemetry.addData("#1", engine.blackboardSet("parkPlace", "1"));
}
}
}
@@ -90,12 +90,12 @@ public class ConeIdentification extends CyberarmState {
bestConfidence = recognition.getConfidence();
if (recognition.getLabel().equals("2 Bulb")) {
engine.blackboard_set("parkPlace", "2");
engine.blackboardSet("parkPlace", "2");
} else if (recognition.getLabel().equals("3 Panel")) {
engine.blackboard_set("parkPlace", "3");
engine.blackboardSet("parkPlace", "3");
} else {
engine.blackboard_set("parkPlace", "1");
engine.blackboardSet("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.blackboardGetString("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.blackboardGetString("parkPlace");
setHasFinished(true);
}

76
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/TasksEngine.java Normal file
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@@ -0,0 +1,76 @@
package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.cyberarm.engine.V2.CyberarmState;
@TeleOp(name = "TasksEngine", group = "testing")
public class TasksEngine extends CyberarmEngine {
@Override
public void setup() {
addTask(new CyberarmState() {
@Override
public void init() {
engine.blackboardSet("counter", 0);
engine.blackboardSet("string", "I IS STRING");
engine.blackboardSet("boolean", true);
}
@Override
public void exec() {
}
@Override
public void telemetry() {
engine.telemetry.addData("TASK 1", engine.blackboardGetInt("counter"));
engine.telemetry.addData("TASK 1", "I am a task!");
}
});
addTask(new CyberarmState() {
int lastCount = 0, blackboardLastCount = 0;
int count = 0;
double lastRuntime = 0;
@Override
public void exec() {
if (runTime() - lastRuntime >= 1000.0) {
lastRuntime = runTime();
lastCount = count;
blackboardLastCount = engine.blackboardGetInt("counter");
}
engine.blackboardSet("counter", engine.blackboardGetInt("counter") + 1);
count++;
}
@Override
public void telemetry() {
engine.telemetry.addData("TASK 2", engine.blackboardGetString("string"));
engine.telemetry.addData("TASK 2", engine.blackboardGetBoolean("boolean"));
engine.telemetry.addData("TASK 2", engine.blackboardGetInt("counter") - blackboardLastCount);
engine.telemetry.addData("TASK 2", count - lastCount);
engine.telemetry.addData("TASK 2", engine.blackboardGetString("string_NULL") == null);
}
});
addState(new CyberarmState() {
@Override
public void exec() {
if (runTime() >= 10_000) {
setHasFinished(true);
}
}
});
addParallelStateToLastState(new CyberarmState() {
@Override
public void exec() {
}
@Override
public void telemetry() {
engine.telemetry.addData("Parallel state 1", "Hello There");
}
});
}
}