[WIP] new bound state objects

src/main/java/lib2202/nt/NtBind.java

@@ -0,0 +1,180 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package lib2202.nt;
+
+import java.lang.reflect.Field;
+import java.util.LinkedList;
+import java.util.function.Consumer;
+import java.util.function.Supplier;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class NtBind extends SubsystemBase {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("root");
+  int count;
+
+  interface apply {
+    Boolean apply();
+  }
+
+  public apply buildDoubleInput(NtBind ntBind, NetworkTable table, String name, Field f, Object state) {
+    var a = new doubleApply();
+    var nt = table.getEntry(name);
+
+    a.current = () -> {
+      try {
+        return f.getDouble(state);
+      } catch (Exception e) {
+        ntBind.ReportError(table.getPath(), name, e);
+        return 0.0;
+      }
+    };
+
+    a.set = (Double val) -> {
+      try {
+        f.setDouble(state, val);
+      } catch (Exception e) {
+        ntBind.ReportError(table.getPath(), name, e);
+      }
+    };
+
+    a.next = () -> nt.getDouble(a.current.get());
+
+    return a;
+  }
+
+
+  public apply buildDoubleOutput(NtBind ntBind, NetworkTable table, String name, Field f, Object state) {
+    var a = new doubleApply();
+    var nt = table.getEntry(name);
+
+    a.current = () -> nt.getDouble(0.0);
+    a.set = (Double val) -> nt.setDouble(val);
+    a.next = () -> {
+      try {
+        return f.getDouble(state);
+      } catch (Exception e) {
+        ntBind.ReportError(table.getPath(), name, e);
+        return 0.0;
+      }
+    };
+
+    return a;
+  }
+
+  class doubleApply implements apply {
+    Supplier<Double> current;
+    Consumer<Double> set;
+    Supplier<Double> next;
+
+    public Boolean apply() {
+      var next = this.next.get();
+      var current = this.current.get();
+
+      if (next != current) {
+        set.accept(next);
+        return true;
+      }
+
+      return false;
+    }
+  }
+
+  class boundData implements apply {
+    LinkedList<apply> applys = new LinkedList<apply>();
+    Runnable onChange;
+
+    public Boolean apply() {
+      Boolean isChanged = false;
+
+      for (var a : applys) {
+        isChanged |= a.apply();
+      }
+
+      if (isChanged && onChange != null) {
+        onChange.run();
+      }
+
+      return isChanged;
+    }
+  }
+
+  LinkedList<boundData> boundObjects = new LinkedList<boundData>();
+
+  public <TStateObject> TStateObject bind(TStateObject state, String name, Runnable onChange) {
+    var classFields = state.getClass().getFields();
+    var data = new boundData();
+    var sub = table.getSubTable(name);
+
+    for (var field : classFields) {
+      for (var annotation : field.getAnnotations()) {
+
+        if (annotation instanceof NtInput) {
+          var ntInput = (NtInput) annotation;
+
+          // figure out we should call it
+          var entryName = ntInput.name();
+          if (entryName == "") {
+            entryName = field.getName();
+          }
+
+          if (field.getType().equals(double.class)) {
+            data.applys.add(buildDoubleInput(this, sub, entryName, field, state));
+          }
+        }
+
+        if (annotation instanceof NtOutput) {
+          var ntOutput = (NtOutput) annotation;
+
+          // figure out we should call it
+          var entryName = ntOutput.name();
+          if (entryName == "") {
+            entryName = field.getName();
+          }
+
+          if (field.getType().equals(double.class)) {
+            data.applys.add(buildDoubleOutput(this, sub, entryName, field, state));
+          }
+        }
+      }
+    }
+
+    boundObjects.add(data);
+    return state;
+  }
+
+  public void ReportError(String table, String name, Exception e) {
+    // todo: real comments and reporting and something
+  }
+
+  private static NtBind instance;
+
+  public static NtBind getInstance() {
+    if (instance == null) {
+      instance = new NtBind();
+    }
+
+    return instance;
+  }
+
+  /** Creates a new NtBind. */
+  public NtBind() {
+  }
+
+  @Override
+  public void periodic() {
+    count++;
+    if (count > 10) {
+      count = 0;
+
+      for (var data : boundObjects) {
+        data.apply();
+      }
+    }
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/lib2202/nt/NtInput.java

@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package lib2202.nt;
+
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+import java.lang.annotation.ElementType;
+
+/** Add your docs here. */
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface NtInput {
+    String name() default "";
+}

src/main/java/lib2202/nt/NtOutput.java

@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package lib2202.nt;
+
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+import java.lang.annotation.ElementType;
+
+/** Add your docs here. */
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface NtOutput {
+    String name() default "";
+}

src/main/java/lib2202/nt/examples/DoubleInput.java

@@ -0,0 +1,28 @@
+package lib2202.nt.examples;
+
+
+import lib2202.nt.NtInput;
+import lib2202.nt.NtOutput;
+import lib2202.nt.NtBind;
+
+public class DoubleInput {
+    class State {
+
+        @NtInput(name = "set")
+        public double SetPoint = 0;
+
+        @NtOutput(name = "err")
+        public double Error = 0;
+
+        // @NtInput()
+    }
+
+    State left = NtBind.getInstance().bind(new State(), "left", this::onChanged);
+    State right = NtBind.getInstance().bind(new State(), "right", this::onChanged);
+
+    void onChanged() {
+        System.out.println("SetPoint: " + left.SetPoint + ", err: " + left.Error);
+        System.out.println("SetPoint: " + right.SetPoint + ", err: " + right.Error);
+    }
+
+}