Fix map errors

blair-robot-project · Nov 3, 2017 · aa28f89 · aa28f89
1 parent ac456c7
commit aa28f89
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Showing 8 changed files with 144 additions and 10 deletions.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java
@@ -107,6 +107,10 @@ public void robotInit() {
 			System.out.println("Config file is bad/nonexistent!");
 			e.printStackTrace();
 		}
+
+		//Read sensors
+		this.robotMap.getUpdater().run();
+
 		//Set fields from the map.
 		this.loggerNotifier = new Notifier(robotMap.getLogger());
 		this.driveSubsystem = robotMap.getDrive();
@@ -179,6 +183,12 @@ public void robotInit() {
 	 */
 	@Override
 	public void teleopInit() {
+		//Do the startup tasks
+		doStartupTasks();
+
+		//Read sensors
+		this.robotMap.getUpdater().run();
+
 		//Run startup command if we start in teleop.
 		if (!enabled) {
 			if (robotMap.getStartupCommand() != null) {
@@ -187,9 +197,8 @@ public void teleopInit() {
 			enabled = true;
 		}
 
-		//Do the startup tasks
 		driveSubsystem.stopMPProcesses();
-		doStartupTasks();
+
 		if (robotMap.getTeleopStartupCommand() != null) {
 			robotMap.getTeleopStartupCommand().start();
 		}
@@ -208,6 +217,10 @@ public void teleopInit() {
 	public void teleopPeriodic() {
 		//Refresh the current time.
 		Clock.updateTime();
+
+		//Read sensors
+		this.robotMap.getUpdater().run();
+
 		//Run all commands. This is a WPILib thing you don't really have to worry about.
 		Scheduler.getInstance().run();
 	}
@@ -217,6 +230,12 @@ public void teleopPeriodic() {
 	 */
 	@Override
 	public void autonomousInit() {
+		//Do startup tasks
+		doStartupTasks();
+
+		//Read sensors
+		this.robotMap.getUpdater().run();
+
 		//Run startup command if we start in auto.
 		if (!enabled) {
 			if (robotMap.getStartupCommand() != null) {
@@ -225,8 +244,6 @@ public void autonomousInit() {
 			enabled = true;
 		}
 
-		//Do startup tasks
-		doStartupTasks();
 		if (robotMap.getAutoStartupCommand() != null) {
 			robotMap.getAutoStartupCommand().start();
 		}
@@ -247,6 +264,8 @@ public void autonomousInit() {
 	public void autonomousPeriodic() {
 		//Update the current time
 		Clock.updateTime();
+		//Read sensors
+		this.robotMap.getUpdater().run();
 		//Run all commands. This is a WPILib thing you don't really have to worry about.
 		Scheduler.getInstance().run();
 	}
@@ -282,6 +301,8 @@ public void testInit() {
 	@Override
 	public void disabledPeriodic() {
 		Clock.updateTime();
+		//Read sensors
+		this.robotMap.getUpdater().run();
 	}
 
 	/**

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java
@@ -7,6 +7,7 @@
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput;
+import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand;
 import org.usfirst.frc.team449.robot.oi.buttons.CommandButton;
 import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
@@ -58,6 +59,12 @@ public class RobotMap2017 {
 	@NotNull
 	private final Command defaultDriveCommand;
 
+	/**
+	 * A runnable that updates cached variables.
+	 */
+	@NotNull
+	private final Runnable updater;
+
 	/**
 	 * The climber for boarding the airship. Can be null.
 	 */
@@ -215,6 +222,7 @@ public class RobotMap2017 {
 	 * @param logger               The logger for recording events and telemetry data.
 	 * @param drive                The drive.
 	 * @param defaultDriveCommand  The command for the drive to run during the teleoperated period.
+	 * @param updater A runnable that updates cached variables.
 	 * @param climber              The climber for boarding the airship. Can be null.
 	 * @param shooter              The multiSubsystem for shooting fuel. Can be null.
 	 * @param camera               The cameras on this robot. Can be null.
@@ -258,6 +266,7 @@ public RobotMap2017(@Nullable List<CommandButton> buttons,
 	                    @NotNull @JsonProperty(required = true) Logger logger,
 	                    @NotNull @JsonProperty(required = true) DriveTalonCluster drive,
 	                    @NotNull @JsonProperty(required = true) YamlCommand defaultDriveCommand,
+	                    @NotNull @JsonProperty(required = true) MappedRunnable updater,
 	                    @Nullable ClimberCurrentLimited climber,
 	                    @Nullable LoggingShooter shooter,
 	                    @Nullable CameraNetwork camera,
@@ -289,6 +298,7 @@ public RobotMap2017(@Nullable List<CommandButton> buttons,
 		this.pneumatics = pneumatics;
 		this.gearHandler = gearHandler;
 		this.logger = logger;
+		this.updater = updater;
 		this.RIOduinoPort = RIOduinoPort;
 		this.allianceSwitch = allianceSwitch;
 		this.dropGearSwitch = dropGearSwitch;
@@ -542,4 +552,12 @@ public boolean getDoMP() {
 	public Command getStartupCommand() {
 		return startupCommand;
 	}
+
+	/**
+	 * @return A runnable that updates cached variables.
+	 */
+	@NotNull
+	public Runnable getUpdater() {
+		return updater;
+	}
 }
diff --git a/...IO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.java b/...IO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.java
@@ -1,8 +1,11 @@
 package org.usfirst.frc.team449.robot.generalInterfaces.updatable;
 
+import com.fasterxml.jackson.annotation.JsonTypeInfo;
+
 /**
  * An interface for any object that caches values.
  */
+@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 public interface Updatable {
 
 	/**

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Updater.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Updater.java
@@ -0,0 +1,42 @@
+package org.usfirst.frc.team449.robot.other;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonIdentityInfo;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.annotation.ObjectIdGenerators;
+import org.jetbrains.annotations.NotNull;
+import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable;
+import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable;
+
+/**
+ * A Runnable for updating cached variables.
+ */
+@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
+public class Updater implements MappedRunnable{
+
+	/**
+	 * The objects to update.
+	 */
+	@NotNull
+	private final Updatable[] updatables;
+
+	/**
+	 * Default constructor
+	 *
+	 * @param updatables The objects to update.
+	 */
+	@JsonCreator
+	public Updater(@NotNull @JsonProperty(required = true) Updatable[] updatables) {
+		this.updatables = updatables;
+	}
+
+	/**
+	 * Update all the updatables.
+	 */
+	@Override
+	public void run() {
+		for (Updatable updatable : updatables){
+			updatable.update();
+		}
+	}
+}
diff --git a/RoboRIO/src/main/resources/ballbasaur_map.yml b/RoboRIO/src/main/resources/ballbasaur_map.yml
@@ -179,4 +179,12 @@ logger:
             eliPoseEstimator
     loopTimeSecs: 0.02
     eventLogFilename: "/home/lvuser/logs/eventLog-"
-    telemetryLogFilename: "/home/lvuser/logs/telemetryLog-"
+    telemetryLogFilename: "/home/lvuser/logs/telemetryLog-"
+updater:
+    org.usfirst.frc.team449.robot.other.Updater:
+        '@id': updater
+        updatables:
+            - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                drive
+            - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad:
+                oi
diff --git a/RoboRIO/src/main/resources/calcifer_outreach_map.yml b/RoboRIO/src/main/resources/calcifer_outreach_map.yml
@@ -354,4 +354,22 @@ buttons:
                 subsystem:
                     org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple:
                         gearHandler
-        action: WHEN_RELEASED
+        action: WHEN_RELEASED
+updater:
+    org.usfirst.frc.team449.robot.other.Updater:
+        '@id': updater
+        updatables:
+            - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                drive
+            - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited:
+                climber
+            - org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach:
+                oi
+            - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
+                overridenPushGearThrottle
+            - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
+                overridenClimbButtonThrottle
+            - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
+                overridingPushGearThrottle
+            - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
+                overridingClimbButtonThrottle
diff --git a/RoboRIO/src/main/resources/nate_map.yml b/RoboRIO/src/main/resources/nate_map.yml
@@ -662,7 +662,7 @@ buttons:
                         climber
         action: WHEN_PRESSED
     -   button:
-            org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
+            org.usfirst.frc.team449.robot.oi.buttons.SimpleButton:
                 climbButton
         command:
             org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires:
@@ -719,12 +719,22 @@ buttons:
                 '@id': openGearHandlerCommand
         action: WHEN_PRESSED
     -   button:
-            org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
+            org.usfirst.frc.team449.robot.oi.buttons.SimpleButton:
                 pushGearButton
         command:
             org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward:
                 '@id': closeGearHandlerCommand
                 subsystem:
                     org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple:
                         gearHandler
-        action: WHEN_RELEASED
+        action: WHEN_RELEASED
+updater:
+    org.usfirst.frc.team449.robot.other.Updater:
+        '@id': updater
+        updatables:
+            - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                drive
+            - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited:
+                climber
+            - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad:
+                oi
diff --git a/RoboRIO/src/main/resources/naveen_map.yml b/RoboRIO/src/main/resources/naveen_map.yml
@@ -723,4 +723,18 @@ buttons:
                 subsystem:
                     org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple:
                         gearHandler
-        action: WHEN_RELEASED
+        action: WHEN_RELEASED
+updater:
+    org.usfirst.frc.team449.robot.other.Updater:
+        '@id': updater
+        updatables:
+            - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                drive
+            - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited:
+                climber
+            - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad:
+                oi
+            - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
+                pushGearThrottle
+            - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
+                climbButtonThrottle