Added LiveWindow, DashboardBundle, ActuatorSendable

Author: retrodaredevil

README.md

@@ -0,0 +1,5 @@
+# abstract-dashboard
+An abstraction of NetworkTables, Shuffleboard, SmartDashboard, and LiveWindow
+
+### TODO
+* Have master object to hold instances of important stuff

core/src/main/java/com/first1444/dashboard/ActiveComponent.kt

@@ -15,5 +15,21 @@ interface ActiveComponent {
             override fun onRemove() {
             }
         }
+        @JvmStatic
+        fun create(title: String, update: Runnable): ActiveComponent {
+            return object : ActiveComponent {
+                override val title: String = title
+
+                override fun update() {
+                    update.run()
+                }
+                override fun onRemove() {
+                }
+            }
+        }
+        @JvmSynthetic
+        fun create(title: String, update: () -> Unit): ActiveComponent {
+            return create(title, Runnable(update))
+        }
     }
 }

core/src/main/java/com/first1444/dashboard/advanced/ActuatorSendable.kt

@@ -0,0 +1,45 @@
+package com.first1444.dashboard.advanced
+
+import com.first1444.dashboard.ActiveComponent
+import com.first1444.dashboard.BasicDashboard
+import com.first1444.dashboard.enable.EnabledProvider
+
+class ActuatorSendable(
+        private val sendable: Sendable<*>,
+        private val enabledProvider: EnabledProvider,
+        private val reportActuator: Boolean
+) : Sendable<ActiveComponent> {
+    override fun init(title: String, dashboard: BasicDashboard): ActiveComponent {
+        if(reportActuator){
+            SendableHelper(dashboard).setActuator(true)
+        }
+        return object : ActiveComponent {
+            override val title: String get() = title
+
+            private var activeComponent: ActiveComponent? = null
+
+            override fun update() {
+                var activeComponent = this.activeComponent
+                if(enabledProvider.isEnabled){
+                    if(activeComponent == null){
+                        activeComponent = sendable.init(title, dashboard)
+                        this.activeComponent = activeComponent
+                    }
+                    activeComponent.update()
+                } else {
+                    if(activeComponent != null){
+                        activeComponent.onRemove()
+                        this.activeComponent = null
+                    }
+                }
+            }
+
+            override fun onRemove() {
+                activeComponent?.onRemove()
+                activeComponent = null
+            }
+
+        }
+    }
+}
+

core/src/main/java/com/first1444/dashboard/advanced/AdvancedDashboard.kt

@@ -4,6 +4,7 @@ import com.first1444.dashboard.ActiveComponent
 
 interface AdvancedDashboard {
     fun delete(key: String): Boolean
+    fun delete(activeComponent: ActiveComponent): Boolean
 
     fun <T : ActiveComponent>add(key: String, data: Sendable<T>): T
 }

core/src/main/java/com/first1444/dashboard/advanced/BasicAdvancedDashboard.kt

@@ -20,6 +20,20 @@ class BasicAdvancedDashboard(
         return componentMap.remove(key) != null
     }
 
+    override fun delete(activeComponent: ActiveComponent): Boolean {
+        val iterator = componentMap.iterator()
+        while(iterator.hasNext()){
+            val (name, component) = iterator.next()
+            if(component == activeComponent){
+                basicDashboard.delete(name)
+                activeComponent.onRemove()
+                iterator.remove()
+                return true
+            }
+        }
+        return false
+    }
+
     override fun update() {
         for(component in componentMap.values){
             component.update()

core/src/main/java/com/first1444/dashboard/advanced/Sendable.kt

@@ -5,6 +5,11 @@ import com.first1444.dashboard.BasicDashboard
 
 interface Sendable<out T : ActiveComponent> {
     /**
+     * It is possible that [dashboard] will already have some of its properties filled in. This may be because of persistent data
+     * or because of this instance being wrapped in a class such as [ActuatorSendable] which will call [ActiveComponent.onRemove] on the returned
+     * [ActiveComponent] when temporarily stopping updates to the data that this [Sendable] represents
+     *
+     * The caller is responsible for creating [dashboard] and is responsible for removing [dashboard] after [ActiveComponent.onRemove] is called, if the caller wants to.
      * @param title The title. [ActiveComponent.title] should be set to this
      * @param dashboard The dashboard to apply properties to
      * @return An [ActiveComponent] that will be updated and eventually removed

core/src/main/java/com/first1444/dashboard/advanced/SendableBuilder.kt

@@ -0,0 +1,9 @@
+package com.first1444.dashboard.advanced
+
+interface SendableDashboard {
+
+    fun delete(key: String): Boolean
+    fun delete(sendable: Sendable<*>): Boolean
+
+    fun add(key: String, data: Sendable<*>)
+}

core/src/main/java/com/first1444/dashboard/advanced/SendableDashboard.kt

@@ -43,6 +43,11 @@ open class SendableHelper(
         get() = dashboard[".controllable"].getter.getBoolean(false)
         set(value) { dashboard[".controllable"].strictSetter.setBoolean(value) }
 
+    /**
+     * This is primarily used for actuators. It is not clearly defined what Shuffleboard, SmartDashboard, or LiveWindow components use this but it is
+     * not necessary to set this for every component. The general rule is that if it's an actuator, set this to true when it can be controlled, set it to false
+     * when you stop checking for new control input.
+     */
     fun setControllable(value: Boolean): SendableHelper {
         isControllable = value
         return this

core/src/main/java/com/first1444/dashboard/advanced/SendableHelper.kt

@@ -0,0 +1,5 @@
+package com.first1444.dashboard.bundle
+
+import com.first1444.dashboard.ActiveComponent
+
+interface ActiveDashboardBundle : DashboardBundle, ActiveComponent

core/src/main/java/com/first1444/dashboard/bundle/ActiveDashboardBundle.kt

@@ -0,0 +1,17 @@
+package com.first1444.dashboard.bundle
+
+import com.first1444.dashboard.BasicDashboard
+import com.first1444.dashboard.advanced.AdvancedDashboard
+import com.first1444.dashboard.livewindow.LiveWindow
+import com.first1444.dashboard.shuffleboard.Shuffleboard
+
+interface DashboardBundle {
+    val rootDashboard: BasicDashboard
+
+    val shuffleboard: Shuffleboard
+
+    val smartDashboard: AdvancedDashboard
+    val smartDashboardBasic: BasicDashboard
+
+    val liveWindow: LiveWindow
+}

core/src/main/java/com/first1444/dashboard/bundle/DashboardBundle.kt

@@ -0,0 +1,31 @@
+package com.first1444.dashboard.bundle
+
+import com.first1444.dashboard.BasicDashboard
+import com.first1444.dashboard.advanced.AdvancedDashboard
+import com.first1444.dashboard.advanced.BasicAdvancedDashboard
+import com.first1444.dashboard.livewindow.DefaultLiveWindow
+import com.first1444.dashboard.livewindow.LiveWindow
+import com.first1444.dashboard.shuffleboard.implementations.DefaultShuffleboard
+
+class DefaultDashboardBundle(
+        override val rootDashboard: BasicDashboard
+) : ActiveDashboardBundle {
+    override val title: String = "Default Dashboard Bundle"
+
+    override val shuffleboard = DefaultShuffleboard(rootDashboard)
+
+    override val smartDashboardBasic: BasicDashboard = rootDashboard.getSubDashboard("SmartDashboard")
+    override val smartDashboard = BasicAdvancedDashboard("Smart Dashboard", smartDashboardBasic)
+
+    override val liveWindow: LiveWindow = DefaultLiveWindow(rootDashboard)
+
+    override fun update() {
+        shuffleboard.update()
+        smartDashboard.update()
+    }
+
+    override fun onRemove() {
+        shuffleboard.onRemove()
+        smartDashboard.onRemove()
+    }
+}

core/src/main/java/com/first1444/dashboard/bundle/DefaultDashboardBundle.kt

@@ -0,0 +1,5 @@
+package com.first1444.dashboard.enable
+
+interface EnabledProvider {
+    val isEnabled: Boolean
+}

core/src/main/java/com/first1444/dashboard/enable/EnabledProvider.kt

@@ -0,0 +1,5 @@
+package com.first1444.dashboard.enable
+
+interface MutableEnabledProvider : EnabledProvider {
+    override var isEnabled: Boolean
+}

core/src/main/java/com/first1444/dashboard/enable/MutableEnabledProvider.kt

@@ -0,0 +1,9 @@
+package com.first1444.dashboard.enable
+
+class SimpleEnabledProvider
+@JvmOverloads constructor(
+        startEnabled: Boolean = false
+) : MutableEnabledProvider {
+    @Volatile // Just add some thread safety because why not.
+    override var isEnabled: Boolean = startEnabled
+}

core/src/main/java/com/first1444/dashboard/enable/SimpleEnabledProvider.kt

@@ -0,0 +1,5 @@
+package com.first1444.dashboard.livewindow
+
+import com.first1444.dashboard.ActiveComponent
+
+interface ActiveLiveWindow : LiveWindow, ActiveComponent

core/src/main/java/com/first1444/dashboard/livewindow/ActiveLiveWindow.kt

@@ -0,0 +1,29 @@
+package com.first1444.dashboard.livewindow
+
+import com.first1444.dashboard.BasicDashboard
+import com.first1444.dashboard.advanced.SendableDashboard
+
+class DefaultLiveWindow(
+        rootDashboard: BasicDashboard
+) : ActiveLiveWindow {
+    private val dashboard = rootDashboard.getSubDashboard("LiveWindow")
+    private val statusDashboard = dashboard.getSubDashboard(".status")
+    private val enabledEntry = statusDashboard["LW Enabled"]
+
+    override var isEnabled: Boolean = false
+        set(value) {
+            field = value
+            enabledEntry.strictSetter.setBoolean(value)
+        }
+    override val sendableDashboard: SendableDashboard
+        get() = TODO("not implemented") //To change initializer of created properties use File | Settings | File Templates.
+
+    override val title: String = "Live Window"
+
+    override fun update() {
+    }
+
+    override fun onRemove() {
+    }
+
+}

core/src/main/java/com/first1444/dashboard/livewindow/DefaultLiveWindow.kt

@@ -0,0 +1,14 @@
+package com.first1444.dashboard.livewindow
+
+import com.first1444.dashboard.advanced.SendableDashboard
+import com.first1444.dashboard.enable.MutableEnabledProvider
+
+interface LiveWindow : MutableEnabledProvider {
+    /*
+    The design of the WPI LiveWindow API: The live window can be enabled and disabled. In IterativeRobotBase, LiveWindow is
+    enabled only when going into test mode and disabled at every other possible time. Although it can be disabled,
+    telemetry can override this for certain Sendable objects.
+     */
+
+    val sendableDashboard: SendableDashboard
+}

core/src/main/java/com/first1444/dashboard/livewindow/LiveWindow.kt

@@ -0,0 +1,15 @@
+package com.first1444.dashboard.shuffleboard
+
+import com.first1444.dashboard.ActiveComponent
+import com.first1444.dashboard.BasicDashboard
+import com.first1444.dashboard.value.ValueProperty
+import com.first1444.dashboard.value.implementations.PropertyActiveComponent
+
+class PropertyComponent(
+        private val valueProperty: ValueProperty
+) : ShuffleboardComponent<ActiveComponent> {
+    override fun init(title: String, parentDashboard: BasicDashboard, metadataDashboard: BasicDashboard): ActiveComponent {
+        val entry = parentDashboard[title]
+        return PropertyActiveComponent(title, entry, valueProperty)
+    }
+}

core/src/main/java/com/first1444/dashboard/shuffleboard/PropertyComponent.kt

@@ -28,9 +28,12 @@ class DefaultShuffleboardContainer(
             return remove(key)
         }
 
+        override fun delete(activeComponent: ActiveComponent): Boolean {
+            return remove(activeComponent)
+        }
+
         override fun <T : ActiveComponent> add(key: String, data: Sendable<T>): T {
-            val component = SendableComponent(data)
-            return component.init(key, dashboard, metadataDashboard)
+            return add(key, SendableComponent(data))
         }
 
     }

core/src/main/java/com/first1444/dashboard/shuffleboard/implementations/DefaultShuffleboardContainer.kt

@@ -0,0 +1,26 @@
+package com.first1444.dashboard.shuffleboard.implementations
+
+import com.first1444.dashboard.BasicDashboard
+
+class GyroMetadataHelper(
+        private val metadataDashboard: BasicDashboard
+) {
+    private val propertiesDashboard: BasicDashboard get() = metadataDashboard.getSubDashboard("Properties")
+    fun setMajorTickSpacing(majorTickSpacing: Double): GyroMetadataHelper {
+        propertiesDashboard["Major tick spacing"].strictSetter.setDouble(majorTickSpacing)
+        return this
+    }
+    fun setStartingAngle(startingAngleDegrees: Double): GyroMetadataHelper {
+        propertiesDashboard["Starting angle"].strictSetter.setDouble(startingAngleDegrees)
+        return this
+    }
+
+    /**
+     * Only works on early 2020-beta Shuffleboard versions and all versions after 2020
+     * @param isCounterClockwise true to set the gyro to be counter clockwise, false for clockwise
+     */
+    fun setCounterClockwise(isCounterClockwise: Boolean): GyroMetadataHelper {
+        propertiesDashboard["Counter clockwise"].strictSetter.setBoolean(isCounterClockwise)
+        return this
+    }
+}

core/src/main/java/com/first1444/dashboard/shuffleboard/implementations/GyroMetadataHelper.kt

@@ -2,5 +2,5 @@
 dependencies {
     api "edu.wpi.first.ntcore:ntcore-java:$wpiLibVersion"
     implementation "edu.wpi.first.ntcore:ntcore-jni:$wpiLibVersion"
-    implementation "edu.wpi.first.ntcore:ntcore-jni:$wpiLibVersion:linuxx86-64"
+//    implementation "edu.wpi.first.ntcore:ntcore-jni:$wpiLibVersion:linuxx86-64"
 }

wpi/build.gradle

@@ -7,6 +7,9 @@ import com.first1444.dashboard.advanced.Sendable
 class VideoSourceSendable(
         private val uri: String
 ) : Sendable<ActiveComponent> {
+    companion object {
+        const val CAMERA_SERVER_PROTOCOL = "camera_server://"
+    }
     override fun init(title: String, dashboard: BasicDashboard): ActiveComponent {
         dashboard[".ShuffleboardURI"].strictSetter.setString(uri)
         return ActiveComponent.createTitleOnly(title)