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Replace usage of ArrayList in CyberarmEngine/State with CopyOnWriteArrayList, added showStateChildrenListInTelemetry variable to list off states children class names in telemetry

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cyberarm
2021-02-12 10:20:33 -06:00
parent f75b05693f
commit b7a64efd56
2 changed files with 14 additions and 8 deletions
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12
TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java
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@@ -4,7 +4,7 @@ import android.util.Log;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import java.util.ArrayList;
import java.util.concurrent.CopyOnWriteArrayList;
/**
* CyberarmEngine Version 2.0 | October 26th 2018
@@ -15,11 +15,12 @@ public abstract class CyberarmEngine extends OpMode {
public static CyberarmEngine instance;
//Array To Hold States
private ArrayList<CyberarmState> cyberarmStates = new ArrayList<>();
private CopyOnWriteArrayList<CyberarmState> cyberarmStates = new CopyOnWriteArrayList<>();
private int activeStateIndex = 0;
private boolean isRunning;
private static String TAG = "PROGRAM.ENGINE: ";
private static String TAG = "PROGRAM.ENGINE";
public boolean showStateChildrenListInTelemetry = false;
/**
* Called when INIT button on Driver Station is pushed
@@ -83,6 +84,11 @@ public abstract class CyberarmEngine extends OpMode {
// Add telemetry to show currently running state
telemetry.addLine("Running state: " +state.getClass().getSimpleName() + ". State: " + activeStateIndex + " of " + (cyberarmStates.size()-1));
if (showStateChildrenListInTelemetry && state.hasChildren()) {
for(CyberarmState child: state.children) {
telemetry.addLine(" Child: " + child.getClass().getSimpleName() + " [" + child.children.size() + "] grandchildren");
}
}
telemetry.addLine();
if (state.getHasFinished() && state.childrenHaveFinished()) {

10
TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java
View File

@@ -2,7 +2,7 @@ package org.cyberarm.engine.V2;
import android.util.Log;
import java.util.ArrayList;
import java.util.concurrent.CopyOnWriteArrayList;
/**
* A State for use with CyberarmEngineV2
@@ -12,7 +12,7 @@ public abstract class CyberarmState implements Runnable {
private volatile boolean isRunning, hasFinished;
public static String TAG = "PROGRAM.STATE";
public CyberarmEngine engine = CyberarmEngine.instance;
public ArrayList<CyberarmState> children = new ArrayList<>();
public CopyOnWriteArrayList<CyberarmState> children = new CopyOnWriteArrayList<>();
public long startTime = 0;
public int insertOffset = 1;
@@ -90,7 +90,7 @@ public abstract class CyberarmState implements Runnable {
/**
* Have all of the states children finished running themselves?
* @return Wether or not all children have finished running
* @return Whether or not all children have finished running
*/
public boolean childrenHaveFinished() {
return childrenHaveFinished(children);
@@ -98,10 +98,10 @@ public abstract class CyberarmState implements Runnable {
/**
* Have all of the states children finished running themselves?
* @param kids ArrayList of children to check for hasFinished()
* @param kids CopyOnWriteArrayList of children to check for hasFinished()
* @return Whether or not all children have finished running
*/
public boolean childrenHaveFinished(ArrayList<CyberarmState> kids) {
public boolean childrenHaveFinished(CopyOnWriteArrayList<CyberarmState> kids) {
boolean allDone = true;
for (CyberarmState state : kids) {