diff --git a/TeamCode/src/main/java/org/cyberarm/container/InputChecker.java b/TeamCode/src/main/java/org/cyberarm/container/InputChecker.java deleted file mode 100644 index 438e476..0000000 --- a/TeamCode/src/main/java/org/cyberarm/container/InputChecker.java +++ /dev/null @@ -1,58 +0,0 @@ -package org.cyberarm.container; - -import android.util.Log; - -import com.qualcomm.robotcore.hardware.Gamepad; - -import java.lang.reflect.Field; -import java.util.ArrayList; -import java.util.HashMap; - -public class InputChecker { - private Gamepad gamepad; - private HashMap buttons; - private ArrayList buttonList; - private byte NULL = 0, - PRESSED = 1, - RELEASED= 2; - public InputChecker(Gamepad gamepad) { - this.gamepad = gamepad; - buttons = new HashMap<>(); - buttonList = new ArrayList<>(); - - buttonList.add("a"); buttonList.add("b"); buttonList.add("x"); buttonList.add("y"); - buttonList.add("start"); buttonList.add("guide"); buttonList.add("back"); - buttonList.add("left_bumper"); buttonList.add("right_bumper"); - buttonList.add("left_stick_button"); buttonList.add("right_stick_button"); - buttonList.add("dpad_left"); buttonList.add("dpad_right"); - buttonList.add("dpad_up"); buttonList.add("dpad_down"); - } - - public void update() { - for (int i = 0; i < buttonList.size(); i++) { - try { - Field field = gamepad.getClass().getDeclaredField(buttonList.get(i)); - - if (field.getBoolean(gamepad)) { - buttons.put(buttonList.get(i), PRESSED); - } else { - if (buttons.get(buttonList.get(i)) != null && buttons.get(buttonList.get(i)) == PRESSED) { - buttons.put(buttonList.get(i), RELEASED); - } - } - } catch (NoSuchFieldException|IllegalAccessException e) { - e.printStackTrace(); - } - } - } - - public boolean check(String button) { - boolean state = false; - if (buttons.containsKey(button) && buttons.get(button) == RELEASED) { - Log.d("InputChecker","button \""+button+"\" has been released on \"gamepad"+gamepad.getGamepadId()+"\""); - state = true; - buttons.put(button, NULL); - } - return state; - } -} diff --git a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java index 1ac173a..b96d034 100644 --- a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java +++ b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java @@ -3,6 +3,7 @@ package org.cyberarm.engine.V2; import android.util.Log; import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.Gamepad; import java.util.concurrent.CopyOnWriteArrayList; @@ -15,13 +16,15 @@ public abstract class CyberarmEngine extends OpMode { public static CyberarmEngine instance; //Array To Hold States - private CopyOnWriteArrayList cyberarmStates = new CopyOnWriteArrayList<>(); + final private CopyOnWriteArrayList cyberarmStates = new CopyOnWriteArrayList<>(); private int activeStateIndex = 0; private boolean isRunning; - private static String TAG = "PROGRAM.ENGINE"; + private final static String TAG = "PROGRAM.ENGINE"; public boolean showStateChildrenListInTelemetry = false; + private GamepadChecker gamepadCheckerGamepad1, gamepadCheckerGamepad2; + /** * Called when INIT button on Driver Station is pushed * ENSURE to call super.init() if you override this method @@ -29,6 +32,8 @@ public abstract class CyberarmEngine extends OpMode { public void init() { CyberarmEngine.instance = this; isRunning = false; + gamepadCheckerGamepad1 = new GamepadChecker(this, gamepad1); + gamepadCheckerGamepad2 = new GamepadChecker(this, gamepad2); setup(); @@ -43,12 +48,12 @@ public abstract class CyberarmEngine extends OpMode { * Setup states for engine to use * For example: * 
-   * @
+   * {@code
    *   public void setup() {
    *     addState(new TestState());
    *     addState(new AnotherState(100, 500));
    *   }
-   * 
+   * }
    *
*/ public abstract void setup(); @@ -102,6 +107,9 @@ public abstract class CyberarmEngine extends OpMode { } else { stateTelemetry(state); } + + gamepadCheckerGamepad1.update(); + gamepadCheckerGamepad2.update(); } /** @@ -167,14 +175,11 @@ public abstract class CyberarmEngine extends OpMode { final CyberarmState finalState = state; // if (state.isRunning()) { return; } // Assume that we have already started running this state - new Thread(new Runnable() { - @Override - public void run() { - finalState.prestart(); - finalState.start(); - finalState.startTime = System.currentTimeMillis(); - finalState.run(); - } + new Thread(() -> { + finalState.prestart(); + finalState.start(); + finalState.startTime = System.currentTimeMillis(); + finalState.run(); }).start(); for (CyberarmState kid : state.children) { @@ -199,7 +204,7 @@ public abstract class CyberarmEngine extends OpMode { * Inserts state after the query state plus an offset to ensure logical insertion * @param query State to add state after * @param state State to be inserted - * @return + * @return CyberarmState */ public CyberarmState insertState(CyberarmState query, CyberarmState state) { int index = cyberarmStates.indexOf(query) + query.insertOffset; @@ -213,6 +218,48 @@ public abstract class CyberarmEngine extends OpMode { return state; } + private void buttonDownForStates(CyberarmState state, Gamepad gamepad, String button) { + state.buttonDown(gamepad, button); + + for (CyberarmState child : state.children) { + child.buttonDown(gamepad, button); + } + } + + private void buttonUpForStates(CyberarmState state, Gamepad gamepad, String button) { + state.buttonUp(gamepad, button); + + for (CyberarmState child : state.children) { + child.buttonUp(gamepad, button); + } + } + + /** + * Called by GamepadChecker when it detects that a gamepad button has been pressed + * @param gamepad Gamepad + * @param button String + */ + protected void buttonDown(Gamepad gamepad, String button) { + try { + buttonDownForStates(cyberarmStates.get(activeStateIndex), gamepad, button); + } catch(IndexOutOfBoundsException e){ + /* loop will handle this in a few milliseconds */ + } + } + + /** + * Called by GamepadChecker when it detects that a gamepad button has been released + * @param gamepad Gamepad + * @param button String + */ + protected void buttonUp(Gamepad gamepad, String button) { + try { + buttonUpForStates(cyberarmStates.get(activeStateIndex), gamepad, button); + } catch(IndexOutOfBoundsException e){ + /* loop will handle this in a few milliseconds */ + } + } + /** * This will return false while Engine.setup() is executing, and be true after. * @return Whether the engine main loop is running diff --git a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java index b136a49..9d28f0d 100644 --- a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java +++ b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java @@ -2,6 +2,8 @@ package org.cyberarm.engine.V2; import android.util.Log; +import com.qualcomm.robotcore.hardware.Gamepad; + import java.util.concurrent.CopyOnWriteArrayList; /** @@ -65,6 +67,23 @@ public abstract class CyberarmState implements Runnable { public void stop() { } + /** + * Called when GamepadChecker detects that a gamepad button has been pressed + * @param gamepad Gamepad + * @param button String + */ + public void buttonDown(Gamepad gamepad, String button) { + } + + + /** + * Called when GamepadChecker detects that a gamepad button has been released + * @param gamepad Gamepad + * @param button String + */ + public void buttonUp(Gamepad gamepad, String button) { + } + /** * Add a state which runs in parallel with this one */ @@ -139,7 +158,7 @@ public abstract class CyberarmState implements Runnable { /** * Set whether state has finished or not - * @param value + * @param value boolean */ public void setHasFinished(boolean value) { hasFinished = value; diff --git a/TeamCode/src/main/java/org/cyberarm/engine/V2/GamepadChecker.java b/TeamCode/src/main/java/org/cyberarm/engine/V2/GamepadChecker.java new file mode 100644 index 0000000..e3df8bf --- /dev/null +++ b/TeamCode/src/main/java/org/cyberarm/engine/V2/GamepadChecker.java @@ -0,0 +1,58 @@ +package org.cyberarm.engine.V2; + +import com.qualcomm.robotcore.hardware.Gamepad; + +import java.lang.reflect.Field; +import java.util.HashMap; + +public class GamepadChecker { + private final CyberarmEngine engine; + private final Gamepad gamepad; + private final HashMap buttons = new HashMap<>(); + + public GamepadChecker(CyberarmEngine engine, Gamepad gamepad) { + this.engine = engine; + this.gamepad = gamepad; + + buttons.put("a", false); + buttons.put("b", false); + buttons.put("x", false); + buttons.put("y", false); + + buttons.put("start", false); + buttons.put("guide", false); + buttons.put("back", false); + + buttons.put("left_bumper", false); + buttons.put("right_bumper", false); + + buttons.put("left_stick_button", false); + buttons.put("right_stick_button", false); + + buttons.put("dpad_left", false); + buttons.put("dpad_right", false); + buttons.put("dpad_up", false); + buttons.put("dpad_down", false); + } + + public void update() { + for (String btn : buttons.keySet()) { + try { + Field field = gamepad.getClass().getDeclaredField(btn); + + if (field.getBoolean(gamepad)) { + engine.buttonDown(gamepad, btn); + buttons.put(btn, true); + } else { + if (buttons.get(btn)) { + engine.buttonUp(gamepad, btn); + } + + buttons.put(btn, false); + } + } catch (NoSuchFieldException|IllegalAccessException e) { + e.printStackTrace(); + } + } + } +}