Merge remote-tracking branch 'origin/master'

TeamCode/src/main/java/org/cyberarm/container/InputChecker.java

@@ -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<String, Byte> buttons;
-  private ArrayList<String> 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;
-  }
-}

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<CyberarmState> cyberarmStates = new CopyOnWriteArrayList<>();
+  final private CopyOnWriteArrayList<CyberarmState> 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:
    * <pre>
-   * @<code>
+   * {@code
    *   public void setup() {
    *     addState(new TestState());
    *     addState(new AnotherState(100, 500));
    *   }
-   * </code>
+   * }
    * </pre>
    */
   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() {
+    new Thread(() -> {
-      @Override
+      finalState.prestart();
-      public void run() {
+      finalState.start();
-        finalState.prestart();
+      finalState.startTime = System.currentTimeMillis();
-        finalState.start();
+      finalState.run();
-        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

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;

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<String, Boolean> 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();
+      }
+    }
+  }
+}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java

@@ -22,17 +22,15 @@ public class TeleOpState extends CyberarmState {
 
     @Override
     public void exec() {
+        // GamePad 1
+
+        // TankDrive
         robot.driveWarehouseLeft.setPower(-engine.gamepad1.left_stick_y * maxDriveSpeed);
         robot.driveGoalLeft.setPower(-engine.gamepad1.left_stick_y * maxDriveSpeed);
 
         robot.driveWarehouseRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
         robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
 
-        if (engine.gamepad1.left_bumper){
-            robot.depositorDispenser.setPosition(.5);
-        } else {
-            robot.depositorDispenser.setPosition(0);
-        }
 
         if (engine.gamepad1.right_bumper){
             robot.collectorDispenser.setPosition(.5);
@@ -55,6 +53,13 @@ public class TeleOpState extends CyberarmState {
         }
 
 
+        if (engine.gamepad2.left_bumper){
+            robot.depositorDispenser.setPosition(.5);
+        } else {
+            robot.depositorDispenser.setPosition(0);
+        }
+
+
 
 
     }