Dev/ml3

.gitignore

@@ -1,8 +1,13 @@
+*.iml
+*.ipr
+*.iws
 .classpath
 .gradle/
+.idea/
 .project
 .settings/
 .vscode/
 bin/
 build/
+out/
 virtualenv_run/

README.md

@@ -1,6 +1,4 @@
-# MonkeyLib
-
-[![Build Status](https://travis-ci.org/team5499/MonkeyLib.svg?branch=master)](https://travis-ci.org/team5499/MonkeyLib)
-[![Code Coverage](https://codecov.io/gh/team5499/MonkeyLib/branch/master/graph/badge.svg)](https://codecov.io/gh/team5499/MonkeyLib)
-
-MonkeyLib is team 5499's base kotlin code used in all of our robots. Mostly contains math and utilities
+# Fault
+
+My own branch of Fault
+

build.gradle

@@ -8,6 +8,7 @@ plugins {
     id 'jacoco'
     id 'maven'
     id 'org.jetbrains.dokka' version '0.9.17'
+    id 'idea'
 }
 
 repositories {
@@ -32,10 +33,12 @@ dependencies {
     testCompile 'org.powermock:powermock-module-junit4:1.6.6'
     testCompile 'org.powermock:powermock-api-mockito2:1.6.6'
 
+    testCompile group: 'org.knowm.xchart', name: 'xchart', version: '3.5.4'
+
 }
 
-group = 'org.team5499'
-version = '2.11.0'
+group = 'org.team5419'
+version = '3.0.0-SNAPSHOT'
 
 
 task sourcesJar(type: Jar) {
@@ -106,14 +109,14 @@ task install_hooks(dependsOn: 'tox')
 publishing {
     publications {
         library(MavenPublication) {
-            artifactId = 'monkey-lib'
+            artifactId = 'fault'
             from components.java
             artifact sourcesJar
             artifact javadocJar
             pom {
-                name = 'MonkeyLib'
-                description = 'Commonly used utilities in FRC Team 5499\'s codebase'
-                url = 'https://github.com/team5499/MonkeyLib'
+                name = 'Fault'
+                description = 'Commonly used utilities in FRC Team 5419\'s codebase'
+                url = 'https://github.com/team5419/fault'
             }
         }
     }

src/main/kotlin/org/team5419/fault/BerkeliumRobot.kt

@@ -0,0 +1,90 @@
+package org.team5419.fault
+
+import edu.wpi.first.hal.FRCNetComm
+import edu.wpi.first.hal.HAL
+import edu.wpi.first.wpilibj.RobotBase
+import edu.wpi.first.wpilibj.TimedRobot
+import org.team5419.fault.math.units.SIUnit
+import org.team5419.fault.math.units.Second
+import org.team5419.fault.subsystems.Subsystem
+import org.team5419.fault.subsystems.SubsystemManager
+
+@Suppress("TooManyFunctions")
+abstract class BerkeliumRobot(period: SIUnit<Second>) {
+
+    protected val wrappedValue = WpiTimedRobot(period.value)
+
+    protected inner class WpiTimedRobot(period: Double = 0.05) : TimedRobot(period) {
+
+        private val kLanguageKotlin = 6
+
+        init {
+            HAL.report(FRCNetComm.tResourceType.kResourceType_Language, kLanguageKotlin)
+        }
+
+        override fun robotInit() {
+            [email protected]()
+            SubsystemManager.init()
+        }
+
+        override fun autonomousInit() {
+            [email protected]()
+            SubsystemManager.autoReset()
+        }
+
+        override fun teleopInit() {
+            [email protected]()
+            SubsystemManager.teleopReset()
+        }
+
+        override fun disabledInit() {
+            [email protected]()
+            SubsystemManager.zeroOutputs()
+        }
+
+        override fun testInit() {
+            [email protected]()
+        }
+
+        override fun robotPeriodic() {
+            [email protected]()
+            if (!isDisabled) SubsystemManager.periodic()
+        }
+
+        override fun autonomousPeriodic() {
+            [email protected]()
+        }
+
+        override fun teleopPeriodic() {
+            [email protected]()
+        }
+
+        override fun disabledPeriodic() {
+            [email protected]()
+        }
+
+        override fun testPeriodic() {
+            [email protected]()
+        }
+    }
+
+    protected open fun robotInit() {}
+    protected open fun autonomousInit() {}
+    protected open fun teleopInit() {}
+    protected open fun disabledInit() {}
+    protected open fun testInit() {}
+
+    protected open fun robotPeriodic() {}
+    protected open fun autonomousPeriodic() {}
+    protected open fun teleopPeriodic() {}
+    protected open fun disabledPeriodic() {}
+    protected open fun testPeriodic() {}
+
+    open operator fun Subsystem.unaryPlus() {
+        SubsystemManager.addSubsystem(this)
+    }
+
+    fun start() {
+        RobotBase.startRobot { wrappedValue }
+    }
+}

src/main/kotlin/org/team5419/fault/Controller.kt

@@ -0,0 +1,10 @@
+package org.team5419.fault
+
+interface Controller {
+
+    fun start()
+
+    fun update()
+
+    fun reset()
+}

src/main/kotlin/org/team5419/fault/auto/Action.kt

@@ -0,0 +1,91 @@
+package org.team5419.fault.auto
+
+import org.team5419.fault.math.units.SIUnit
+import org.team5419.fault.math.units.SIUnitBuilder
+import org.team5419.fault.math.units.Second
+import org.team5419.fault.util.BooleanSource
+import org.team5419.fault.util.Source
+import org.team5419.fault.util.or
+import org.team5419.fault.util.time.ITimer
+import org.team5419.fault.util.time.WPITimer
+
+typealias NothingAction = Action
+
+open class Action(
+    private val timer: ITimer = WPITimer()
+) {
+
+    protected var mTimeout = SIUnitBuilder(0.0).seconds
+
+    protected var finishCondition = FinishCondition(Source(false))
+
+    open fun start() {
+        timer.stop()
+        timer.reset()
+        timer.start()
+    }
+
+    open fun update() {}
+
+    protected fun timedOut() = (timer.get() >= mTimeout)
+
+    open fun next(): Boolean {
+        return finishCondition()
+    }
+
+    open fun finish() {}
+
+    protected class FinishCondition(
+        private var source: BooleanSource
+    ) : BooleanSource {
+        override fun invoke() = source()
+
+        operator fun plusAssign(other: BooleanSource) {
+            source = source or other
+        }
+
+        fun set(other: BooleanSource) {
+            source = other
+        }
+    }
+
+    fun withExit(condition: BooleanSource) = also { finishCondition += condition }
+
+    fun overrideExit(condition: BooleanSource) = also { finishCondition.set(condition) }
+
+    fun withTimeout(time: SIUnit<Second>) = also {
+        this.mTimeout = time
+        finishCondition += { timedOut() }
+    }
+}
+
+open class ConditionalAction(
+    private val condition: BooleanSource,
+    private val ifTrue: Action? = null,
+    private val ifFalse: Action? = null
+) : Action() {
+
+    private var selectedAction: Action? = null
+    private val selectedActionDone = { if (selectedAction != null) selectedAction!!.next() else true }
+
+    init {
+        finishCondition += { timedOut() }
+        finishCondition += selectedActionDone
+    }
+
+    override fun start() {
+        super.start()
+        selectedAction = if (condition()) ifTrue else ifFalse
+        if (selectedAction != null) selectedAction!!.start()
+    }
+
+    override fun update() {
+        super.update()
+        if (selectedAction != null) selectedAction!!.update()
+    }
+
+    override fun finish() {
+        if (selectedAction != null) selectedAction!!.finish()
+        selectedAction = null
+    }
+}