Release 3.0.0

src/main/java/arachne/lib/AutoManager.java

@@ -0,0 +1,51 @@
+package arachne.lib;
+
+import arachne.lib.scheduler.Schedulable;
+import arachne.lib.sequences.ActionConductor;
+import arachne.lib.sequences.Actionable;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+
+public class AutoManager<AutoT extends Enum<?> & Actionable> implements Schedulable
+{
+ protected static final String DASHBOARD_TAB = "Autonomous";
+ protected static final String SELECTION_KEY = "Auto selection";
+
+ protected final ActionConductor conductor;
+ protected final SendableChooser<AutoT> autoChooser;
+
+ public AutoManager(AutoT defaultAuto, AutoT[] autos) {
+ this.conductor = new ActionConductor();
+
+ this.autoChooser = new SendableChooser<AutoT>();
+ this.autoChooser.setDefaultOption(defaultAuto.toString(), defaultAuto);
+
+ for(AutoT auto : autos) {
+ if(auto != defaultAuto) autoChooser.addOption(auto.toString(), auto);
+ }
+
+ Shuffleboard.getTab(DASHBOARD_TAB).add(SELECTION_KEY, autoChooser);
+ }
+
+ public void startAuto() {
+ startAuto(autoChooser.getSelected());
+ }
+
+ public void startAuto(AutoT auto) {
+ stopAuto();
+ conductor.add(auto);
+ }
+
+ public void stopAuto() {
+ conductor.interrupt();
+ }
+
+ public boolean isRunning() {
+ return conductor.hasActions();
+ }
+
+ @Override
+ public void run() {
+ conductor.run();
+ }
+}

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

@@ -66,4 +66,40 @@ default BooleanPredicate or(BooleanPredicate other) {
  Objects.requireNonNull(other);
  return (value) -> test(value) || other.test(value);
  }
+
+ /**
+ * Returns a composed operator that first applies the {@code before}
+ * operator to its input, and then applies this operator to the result.
+ * If evaluation of either operator throws an exception, it is relayed to
+ * the caller of the composed operator.
+ *
+ * @param before the operator to apply before this operator is applied
+ * @return a composed operator that first applies the {@code before}
+ * operator and then applies this operator
+ * @throws NullPointerException if before is null
+ *
+ * @see #andThen(BooleanPredicate)
+ */
+ default BooleanPredicate compose(BooleanPredicate before) {
+ Objects.requireNonNull(before);
+ return (boolean v) -> test(before.test(v));
+ }
+
+ /**
+ * Returns a composed operator that first applies this operator to
+ * its input, and then applies the {@code after} operator to the result.
+ * If evaluation of either operator throws an exception, it is relayed to
+ * the caller of the composed operator.
+ *
+ * @param after the operator to apply after this operator is applied
+ * @return a composed operator that first applies this operator and then
+ * applies the {@code after} operator
+ * @throws NullPointerException if after is null
+ *
+ * @see #compose(DoubleUnaryOperator)
+ */
+ default BooleanPredicate andThen(BooleanPredicate after) {
+ Objects.requireNonNull(after);
+ return (boolean t) -> after.test(test(t));
+ }
 }

src/main/java/arachne/lib/hardware/DifferentialDrivetrain.java

@@ -4,10 +4,8 @@
 
 import arachne.lib.io.SettableDouble;
 import arachne.lib.listeners.DoubleProperty;
-import arachne.lib.listeners.SimpleDoubleProperty;
 import arachne.lib.pipeline.DoublePipe;
 import arachne.lib.pipeline.DoubleSource;
-import arachne.lib.pipeline.SimpleDoublePipe;
 import arachne.lib.systems.Subsystem;
 
 public abstract class DifferentialDrivetrain extends Subsystem
@@ -25,10 +23,10 @@ public DifferentialDrivetrain(DoubleUnaryOperator outputModifier) {
  tankSource = new TankSource();
  arcadeSource = new ArcadeSource();
 
- leftOutput = new SimpleDoublePipe();
+ leftOutput = new DoublePipe();
  leftOutput.setModifier(outputModifier);
 
- rightOutput = new SimpleDoublePipe();
+ rightOutput = new DoublePipe();
  rightOutput.setModifier(outputModifier);
  }
 
@@ -44,8 +42,8 @@ public class TankSource {
  protected final DoublePipe leftInput, rightInput;
 
  protected TankSource() {
- leftInput = new SimpleDoublePipe();
- rightInput = new SimpleDoublePipe();
+ leftInput = new DoublePipe();
+ rightInput = new DoublePipe();
  }
 
  public SettableDouble getLeftInput() {
@@ -61,8 +59,8 @@ public class ArcadeSource {
  protected final DoubleProperty speedInput, rotationInput;
 
  protected ArcadeSource() {
- speedInput = new SimpleDoubleProperty();
- rotationInput = new SimpleDoubleProperty();
+ speedInput = new DoubleProperty();
+ rotationInput = new DoubleProperty();
  }
 
  public SettableDouble getSpeedInput() {

src/main/java/arachne/lib/hardware/SimpleDifferentialDrivetrain.java

@@ -5,7 +5,6 @@
 import arachne.lib.io.SettableBoolean;
 import arachne.lib.listeners.BooleanProperty;
 import arachne.lib.listeners.DoubleChangeHandler;
-import arachne.lib.listeners.SimpleBooleanProperty;
 import arachne.lib.logic.ArachneMath;
 
 public class SimpleDifferentialDrivetrain extends DifferentialDrivetrain
@@ -17,7 +16,7 @@ public SimpleDifferentialDrivetrain() {
  }
 
  public SimpleDifferentialDrivetrain(boolean isInitiallyTankDrive, boolean squareInputs) {
- this.isTankState = new SimpleBooleanProperty(isInitiallyTankDrive);
+ this.isTankState = new BooleanProperty(isInitiallyTankDrive);
  }
 
  @Override

src/main/java/arachne/lib/io/Gettable.java

@@ -4,6 +4,8 @@
 import java.util.function.Supplier;
 import java.util.function.UnaryOperator;
 
+import arachne.lib.logging.ArachneLogger;
+
 @FunctionalInterface
 public interface Gettable<T> extends Supplier<T>
 {
@@ -15,7 +17,28 @@ default GettableBoolean is(Predicate<T> predicate) {
  return () -> predicate.test(get());
  }
 
- default Gettable<T> withModifier(UnaryOperator<T> modifier) {
+ default Gettable<T> change(UnaryOperator<T> modifier) {
  return () -> modifier.apply(get());
  }
+
+ public static <T> Gettable<T> create(Gettable<T> lambda) {
+ return lambda;
+ }
+
+ public static final class Wrapper<T> implements Gettable<T> {
+ protected Gettable<T> gettable;
+
+ public Wrapper<T> wrap(Gettable<T> gettable) {
+ this.gettable = gettable;
+ return this;
+ }
+
+ @Override
+ public T get() {
+ if(gettable != null) return gettable.get();
+
+ ArachneLogger.getInstance().error("Tried to get Gettable wrapper with no contained gettable, returning null");
+ return null;
+ }
+ }
 }

src/main/java/arachne/lib/io/GettableBoolean.java

@@ -3,6 +3,7 @@
 import java.util.function.BooleanSupplier;
 
 import arachne.lib.function.BooleanPredicate;
+import arachne.lib.logging.ArachneLogger;
 import arachne.lib.sequences.Action;
 import arachne.lib.sequences.Actionable;
 import arachne.lib.sequences.HostAction;
@@ -48,4 +49,25 @@ default GettableBoolean or(GettableBoolean other) {
  default GettableBoolean xor(GettableBoolean other) {
  return () -> this.get() != other.get();
  }
+
+ public static GettableBoolean create(GettableBoolean lambda) {
+ return lambda;
+ }
+
+ public static final class Wrapper implements GettableBoolean {
+ protected GettableBoolean gettable;
+
+ public Wrapper wrap(GettableBoolean gettable) {
+ this.gettable = gettable;
+ return this;
+ }
+
+ @Override
+ public boolean get() {
+ if(gettable != null) return gettable.get();
+
+ ArachneLogger.getInstance().error("Tried to get GettableBoolean wrapper with no contained gettable, returning false");
+ return false;
+ }
+ }
 }

src/main/java/arachne/lib/io/GettableDouble.java

@@ -4,8 +4,7 @@
 import java.util.function.DoubleSupplier;
 import java.util.function.DoubleUnaryOperator;
 
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.PIDSourceType;
+import arachne.lib.logging.ArachneLogger;
 
 @FunctionalInterface
 public interface GettableDouble extends DoubleSupplier
@@ -25,28 +24,28 @@ default GettableBoolean is(DoublePredicate predicate) {
  return () -> predicate.test(get());
  }
 
- default GettableDouble withModifier(DoubleUnaryOperator modifier) {
+ default GettableDouble change(DoubleUnaryOperator modifier) {
  return () -> modifier.applyAsDouble(get());
  }
 
- default PIDSource asPIDSource(PIDSourceType pidSource) {
- return new PIDSource() {
- private PIDSourceType type = pidSource;
-
- @Override
- public double pidGet() {
- return GettableDouble.this.get();
- }
-
- @Override
- public PIDSourceType getPIDSourceType() {
- return type;
- }
+ public static GettableDouble create(GettableDouble lambda) {
+ return lambda;
+ }
+
+ public static final class Wrapper implements GettableDouble {
+ protected GettableDouble gettable;
+
+ public Wrapper wrap(GettableDouble gettable) {
+ this.gettable = gettable;
+ return this;
+ }
+
+ @Override
+ public double get() {
+ if(gettable != null) return gettable.get();
 
- @Override
- public void setPIDSourceType(PIDSourceType pidSource) {
- this.type = pidSource;
- }
- };
+ ArachneLogger.getInstance().error("Tried to get GettableDouble wrapper with no contained gettable, returning 0");
+ return 0;
+ }
  }
 }

src/main/java/arachne/lib/io/Settable.java

@@ -5,5 +5,7 @@
 @FunctionalInterface
 public interface Settable<T> extends Consumer<T>
 {
- // Empty, exists for future features
+ public static <T> Settable<T> create(Settable<T> lambda) {
+ return lambda;
+ }
 }

src/main/java/arachne/lib/io/SettableBoolean.java

@@ -5,5 +5,7 @@
 @FunctionalInterface
 public interface SettableBoolean extends BooleanConsumer
 {
- // Empty, exists for future features
+ public static SettableBoolean create(SettableBoolean lambda) {
+ return lambda;
+ }
 }

src/main/java/arachne/lib/io/SettableDouble.java

@@ -2,13 +2,10 @@
 
 import java.util.function.DoubleConsumer;
 
-import edu.wpi.first.wpilibj.PIDOutput;
-
 @FunctionalInterface
-public interface SettableDouble extends DoubleConsumer, PIDOutput
+public interface SettableDouble extends DoubleConsumer
 {
- @Override
- default void pidWrite(double output) {
- accept(output);
+ public static SettableDouble create(SettableDouble lambda) {
+ return lambda;
  }
 }

src/main/java/arachne/lib/io/sensors/BooleanSensor.java

@@ -0,0 +1,37 @@
+package arachne.lib.io.sensors;
+
+import arachne.lib.io.GettableBoolean;
+import arachne.lib.io.SettableBoolean;
+import arachne.lib.logging.ArachneLogger;
+
+public interface BooleanSensor extends GettableBoolean, SettableBoolean, Resettable
+{
+ public static final class Wrapper implements BooleanSensor {
+ protected BooleanSensor sensor;
+
+ public Wrapper wrap(BooleanSensor sensor) {
+ this.sensor = sensor;
+ return this;
+ }
+
+ @Override
+ public boolean get() {
+ if(sensor != null) return sensor.get();
+
+ ArachneLogger.getInstance().error("Tried to get BooleanSensor wrapper with no contained sensor, returning 0");
+ return false;
+ }
+
+ @Override
+ public void accept(boolean value) {
+ if(sensor != null) sensor.accept(value);
+ else ArachneLogger.getInstance().error("Tried to set BooleanSensor wrapper with no contained sensor");
+ }
+
+ @Override
+ public void reset() {
+ if(sensor != null) sensor.reset();
+ else ArachneLogger.getInstance().error("Tried to reset BooleanSensor wrapper with no contained sensor");
+ }
+ }
+}

src/main/java/arachne/lib/io/sensors/DoubleSensor.java

@@ -0,0 +1,37 @@
+package arachne.lib.io.sensors;
+
+import arachne.lib.io.GettableDouble;
+import arachne.lib.io.SettableDouble;
+import arachne.lib.logging.ArachneLogger;
+
+public interface DoubleSensor extends GettableDouble, SettableDouble, Resettable
+{
+ public static final class Wrapper implements DoubleSensor {
+ protected DoubleSensor sensor;
+
+ public Wrapper wrap(DoubleSensor sensor) {
+ this.sensor = sensor;
+ return this;
+ }
+
+ @Override
+ public double get() {
+ if(sensor != null) return sensor.get();
+
+ ArachneLogger.getInstance().error("Tried to get DoubleSensor wrapper with no contained sensor, returning 0");
+ return 0;
+ }
+
+ @Override
+ public void accept(double value) {
+ if(sensor != null) sensor.accept(value);
+ else ArachneLogger.getInstance().error("Tried to set DoubleSensor wrapper with no contained sensor");
+ }
+
+ @Override
+ public void reset() {
+ if(sensor != null) sensor.reset();
+ else ArachneLogger.getInstance().error("Tried to reset DoubleSensor wrapper with no contained sensor");
+ }
+ }
+}