Release 3.0-alpha

Initial release

.gitignore

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+# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
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+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
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+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Java ###
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+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
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+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+### Linux ###
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+### VisualStudioCode ###
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+### Windows ###
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+!gradle-wrapper.jar
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+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
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+# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+*.json
+*gradle*

examples/arachne/examples/ArcadeDriveRobot.java

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+package arachne.examples;
+
+import arachne.lib.hardware.DifferentialDrivetrain;
+import arachne.lib.hardware.SimpleDifferentialDrivetrain;
+import arachne.lib.pipeline.SimpleDoubleSource;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.Talon;
+
+public class ArcadeDriveRobot extends RobotBase
+{
+ public static DifferentialDrivetrain drivetrain = new SimpleDifferentialDrivetrain(false);
+
+ @Override
+ @SuppressWarnings("resource")
+ public void startCompetition() {
+ Joystick controller = new Joystick(0);
+
+ SpeedController
+ leftMotor = new Talon(0),
+ rightMotor = new Talon(1);
+
+ new SimpleDoubleSource(controller::getX).attachOutput(drivetrain.arcadeSource.getRotationInput());
+ new SimpleDoubleSource(controller::getY).attachOutput(drivetrain.arcadeSource.getSpeedInput());
+
+ drivetrain.getLeftOutput().attachOutput(leftMotor::set);
+ drivetrain.getLeftOutput().attachOutput(rightMotor::set);
+ }
+}

src/main/java/arachne/lib/ArachneRobot.java

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+package arachne.lib;
+
+import arachne.lib.game.GameState;
+import arachne.lib.logging.ArachneLogger;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.NotifierJNI;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.Watchdog;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class ArachneRobot extends RobotBase
+{
+ public static final double DEFAULT_PERIOD = 0.02;
+
+ protected final double loopPeriod;
+ protected final Watchdog watchdog;
+
+ // The C pointer to the notifier object. We don't use it directly, it is
+ // just passed to the JNI bindings.
+ protected final int notifierHandle = NotifierJNI.initializeNotifier();
+
+ protected GameState gameState;
+
+ public ArachneRobot() {
+ this(DEFAULT_PERIOD);
+ }
+
+ public ArachneRobot(double loopPeriod) {
+ this.loopPeriod = loopPeriod;
+ this.watchdog = new Watchdog(loopPeriod, this::handleLoopOverrun);
+ }
+
+ @Override
+ public void startCompetition() {
+ initialize();
+
+ // Tell the DS that the robot is ready to be enabled
+ HAL.observeUserProgramStarting();
+
+ double nextLoopTime = RobotController.getFPGATime() * 1e-6 + loopPeriod;
+ updateAlarm(nextLoopTime);
+
+ // Loop forever, calling Arachne's execution and state change functions
+ while(true) {
+ try {
+ if(NotifierJNI.waitForNotifierAlarm(notifierHandle) == 0) break;
+
+ nextLoopTime += loopPeriod;
+ updateAlarm(nextLoopTime);
+
+ loopFunc();
+ }
+ catch(Exception e) {
+ errorFallback(e);
+ }
+ }
+ }
+
+ /**
+ * Update the alarm hardware to reflect the next alarm.
+ */
+ protected void updateAlarm(double nextLoopTime) {
+ NotifierJNI.updateNotifierAlarm(notifierHandle, (long) (nextLoopTime * 1e6));
+ }
+
+ protected void loopFunc() {
+ watchdog.reset();
+
+ // Determine current state
+ GameState newState;
+ if(isDisabled()) newState = GameState.DISABLED;
+ else if(isAutonomous()) newState = GameState.AUTO;
+ else if(isOperatorControl()) newState = GameState.TELEOP;
+ else newState = GameState.TELEOP;
+
+ // Handle state change
+ if(gameState != newState) {
+ // Only enable live window and actuator widgets in test mode
+ if(newState == GameState.TEST) {
+ LiveWindow.setEnabled(true);
+ Shuffleboard.enableActuatorWidgets();
+ }
+ else {
+ LiveWindow.setEnabled(false);
+ Shuffleboard.disableActuatorWidgets();
+ }
+
+ // Handle mode-specific state changes
+ onStateChange(gameState, newState);
+ watchdog.addEpoch("onStateChange: " + gameState + " -> " + newState);
+ }
+
+ // Execute periodic code for state
+ gameState = newState;
+ gameState.halObserver.run();
+
+ execute(gameState);
+ watchdog.addEpoch("execute: " + gameState);
+
+ watchdog.disable();
+
+ // Update displayed values
+ SmartDashboard.updateValues();
+ LiveWindow.updateValues();
+ Shuffleboard.update();
+
+ // Warn on loop time overruns
+ if(watchdog.isExpired()) watchdog.printEpochs();
+ }
+
+ protected void initialize() {}
+ protected void execute(GameState state) {}
+ protected void onStateChange(GameState oldState, GameState newState) {}
+
+ protected void errorFallback(Exception exception) {
+ ArachneLogger.getInstance().critical("Error from inside robot's loopFunc(): " + exception.getMessage());
+ DriverStation.reportError(exception.getMessage(), exception.getStackTrace());
+ }
+
+ protected void handleLoopOverrun() {
+ DriverStation.reportWarning("Loop time of " + loopPeriod + "s overrun\n", false);
+ }
+}

src/main/java/arachne/lib/BindingManager.java

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+package arachne.lib;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+public abstract class BindingManager<RobotT>
+{
+ public static <BindingManagerT extends BindingManager<RobotT>, RobotT extends RobotBase> BindingManagerT create(RobotT robot, Supplier<BindingManagerT> bindingManagerSupplier) {
+ BindingManagerT bindingManager = bindingManagerSupplier.get();
+ bindingManager.createBindings(robot);
+
+ return bindingManager;
+ }
+
+ protected abstract void createBindings(RobotT robot);
+}

src/main/java/arachne/lib/HardwareManager.java

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+package arachne.lib;
+
+import java.util.function.Supplier;
+
+public abstract class HardwareManager
+{
+ public static <T extends HardwareManager> T create(Supplier<T> hardwareManagerSupplier) {
+ T hardwareManager = hardwareManagerSupplier.get();
+ hardwareManager.initializeHardware();
+
+ return hardwareManager;
+ }
+
+ protected abstract void initializeHardware();
+}

src/main/java/arachne/lib/function/BooleanConsumer.java

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+package arachne.lib.function;
+
+import java.util.Objects;
+
+import arachne.lib.io.SettableBoolean;
+
+@FunctionalInterface
+public interface BooleanConsumer
+{
+ void accept(boolean value);
+
+ default SettableBoolean andThen(SettableBoolean after) {
+ Objects.requireNonNull(after);
+ return (value) -> { accept(value); after.accept(value); };
+ }
+}

src/main/java/arachne/lib/function/BooleanFunction.java

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+package arachne.lib.function;
+
+@FunctionalInterface
+public interface BooleanFunction<R> {
+
+ /**
+ * Applies this function to the given argument.
+ *
+ * @param value the function argument
+ * @return the function result
+ */
+ R apply(boolean value);
+}