Merge pull request #31 from flamingchickens1540/adjustable-manager

Improve AdjustableManager

src/main/java/org/team1540/base/adjustables/AdjustableManager.java

@@ -5,6 +5,7 @@
 import java.lang.reflect.Field;
 import java.util.LinkedList;
 import java.util.List;
+import org.team1540.base.util.SimpleLoopCommand;
 
 /**
  * Class to manage creating and updating adjustables (tunables and telemetry values.) Add an object
@@ -19,6 +20,12 @@ public class AdjustableManager {
   private List<TunableField> tunables = new LinkedList<>();
   private List<TelemetryField> telemetry = new LinkedList<>();
 
+  private boolean enabled = true;
+
+  private AdjustableManager() {
+    new SimpleLoopCommand("AdjustableManager Update", this::run).start();
+  }
+
   public static AdjustableManager getInstance() {
     return instance;
   }
@@ -95,40 +102,49 @@ public void add(Object object) {
     }
   }
 
-  /**
-   * Updates adjustable values. This method should be called in {@code robotPeriodic()} in your main
-   * {@code Robot} class.
-   */
-  public void update() {
-    synchronized (lock) {
-      // Update tunables
-      for (TunableField tf : tunables) {
-        try {
-          if (!SmartDashboard.containsKey(tf.label)) {
-            //noinspection unchecked
-            tf.type.putFunction.put(tf.label, tf.field.get(tf.obj));
-          } else {
-            //noinspection unchecked
-            tf.field.set(tf.obj, tf.type.getFunction.get(tf.label, tf.field.get(tf.obj)));
+  private void run() {
+    if (enabled) {
+      synchronized (lock) {
+        // Update tunables
+        for (TunableField tf : tunables) {
+          try {
+            if (!SmartDashboard.containsKey(tf.label)) {
+              //noinspection unchecked
+              tf.type.putFunction.put(tf.label, tf.field.get(tf.obj));
+            } else {
+              //noinspection unchecked
+              tf.field.set(tf.obj, tf.type.getFunction.get(tf.label, tf.field.get(tf.obj)));
+            }
+          } catch (IllegalAccessException e) {
+            DriverStation.reportError(e.getMessage(), true);
           }
-        } catch (IllegalAccessException e) {
-          DriverStation.reportError(e.getMessage(), true);
         }
-      }
 
-      // Update telemetry
-      for (TelemetryField tf : telemetry) {
-        try {
-          //noinspection unchecked
-          tf.type.putFunction.put(tf.label, tf.field.get(tf.obj));
-        } catch (IllegalAccessException e) {
-          DriverStation.reportError(e.toString(), true);
+        // Update telemetry
+        for (TelemetryField tf : telemetry) {
+          try {
+            //noinspection unchecked
+            tf.type.putFunction.put(tf.label, tf.field.get(tf.obj));
+          } catch (IllegalAccessException e) {
+            DriverStation.reportError(e.toString(), true);
+          }
         }
       }
     }
   }
 
+  /**
+   * Updates adjustable values. This method should be called in {@code robotPeriodic()} in your main
+   * {@code Robot} class.
+   *
+   * @deprecated No longer necessary; now updates automatically.
+   */
+  public void update() {
+    run();
+  }
+
   private static class TunableField {
+
     Object obj;
     Field field;
     TunableType type;
@@ -143,6 +159,7 @@ public TunableField(Object obj, Field field, TunableType type, String label) {
   }
 
   private static class TelemetryField {
+
     Object obj;
     Field field;
     TelemetryType type;
@@ -155,4 +172,12 @@ public TelemetryField(Object obj, Field field, TelemetryType type, String label)
       this.label = label;
     }
   }
+
+  public boolean isEnabled() {
+    return enabled;
+  }
+
+  public void setEnabled(boolean enabled) {
+    this.enabled = enabled;
+  }
 }

src/main/java/org/team1540/base/testing/AdjustableTestRobot.java

@@ -3,6 +3,7 @@
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.command.Scheduler;
 import org.team1540.base.adjustables.AdjustableManager;
 import org.team1540.base.adjustables.Telemetry;
 import org.team1540.base.adjustables.Tunable;
@@ -44,7 +45,6 @@ public void robotPeriodic() {
     iTimes2 = i * 2;
     stringPlusChickens = string + "Chickens";
     notB = !b;
-
-    AdjustableManager.getInstance().update();
+    Scheduler.getInstance().run();
   }
 }

src/main/java/org/team1540/base/util/SimpleLoopCommand.java

@@ -0,0 +1,52 @@
+package org.team1540.base.util;
+
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * A simple way to construct a {@link Command} which executes every tick. <p> To create a {@code
+ * SimpleLoopCommand} easily, simply pass it a no-argument lambda containing the code you would like
+ * to execute. For example, to create a {@link Command} that requires the {@code Robot.shifter}
+ * {@link Subsystem}, simply write:
+ * <pre>
+ *   Command shift = new SimpleLoopCommand(() -&gt; Robot.shifter.shift(), Robot.shifter);
+ * </pre>
+ *
+ * Multiple {@code Subystems} can be added onto the end of the constructor to add multiple
+ * requirements. <p> This can be used to quickly and easily put a button on the
+ * SmartDashboard/Shuffleboard to run some code. Use {@link SmartDashboard#putData(Sendable)} to
+ * pass it a newly created instance of this class.
+ */
+public class SimpleLoopCommand extends Command {
+
+  private Executable executable;
+
+  /**
+   * Creates a new {@code SimpleLoopCommand}.
+   *
+   * @param name The name of the commmand. This is required to avoid everything being called
+   * SimpleCommand.
+   * @param action The code to run when the command executes.
+   * @param requirements The {@link Subsystem Subsystems} required by the command (if any).
+   */
+  public SimpleLoopCommand(String name, Executable action, Subsystem... requirements) {
+    super(name);
+    executable = action;
+
+    for (Subsystem requirement : requirements) {
+      requires(requirement); // java_irl
+    }
+  }
+
+  @Override
+  protected void execute() {
+    executable.execute();
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+}