Dev/parrellel routine

.pre-commit-config.yaml

@@ -13,7 +13,7 @@ repos:
     -   id: pretty-format-json
         args: [--autofix]
     - id: trailing-whitespace
--   repo: https://github.com/team5499/pre-commit-hooks
+-   repo: https://github.com/team5419/pre-commit-hooks
     rev: v0.3.2
     hooks:
     -   id: ktlint-wrapper

.travis.yml

@@ -2,14 +2,19 @@ sudo: required
 services:
 - docker
 script:
-- export BRANCH=$(if [ "$TRAVIS_PULL_REQUEST" == "false" ]; then echo $TRAVIS_BRANCH; else echo $TRAVIS_PULL_REQUEST_BRANCH; fi)
-- docker run -t -d -v $(pwd):/code:rw --name frc-testing-image team5499/frc-testing-image:frc2019; docker exec frc-testing-image /code/gradlew -p /code test jacocoTestReport
+- export BRANCH=$(if [ "$TRAVIS_PULL_REQUEST" == "false" ]; then echo $TRAVIS_BRANCH;
+  else echo $TRAVIS_PULL_REQUEST_BRANCH; fi)
+- docker run -t -d -v $(pwd):/code:rw --name frc-testing-image team5419/frc-testing-image;
+  docker exec frc-testing-image /code/gradlew -p /code test jacocoTestReport
 after_success:
-- if [ "$BRANCH" == "master" ]; then docker run -t -d -v $(pwd):/code:rw --name frc-testing-image-java8 team5499/frc-testing-image; docker exec frc-testing-image-java8 /code/gradlew -p /code dokkaJavadoc; fi
-- if [ "$BRANCH" == "master" ]; then docker exec frc-testing-image /code/gradlew -p /code publishToTeamRepo --username=$USERNAME --password=$PASSWORD --url=$URL; fi
+- if [ "$BRANCH" == "master" ]; then docker run -t -d -v $(pwd):/code:rw --name frc-testing-image-java8
+  team5419/frc-testing-image:version-2018.1.0; docker exec frc-testing-image-java8
+  /code/gradlew -p /code dokkaJavadoc; fi
+- if [ "$BRANCH" == "master" ]; then docker exec frc-testing-image /code/gradlew -p
+  /code publishToTeamRepo --username=$USERNAME --password=$PASSWORD --url=$URL; fi
 - bash <(curl -s https://codecov.io/bash)
 env:
   global:
-  - secure: i11zToxl8eKnEHrMyrL17VAk38Mv4o1YAky5b2hg03eSX5qD5q+oFlnCi3WpK8oro0LAinESlTCgIETbnv3qM79RVC+FkfgrUKEitUPvTFS1zkRUlT+dgco3sD7fYZX7IOQ25T3uFIc1F4aXkIGSor/E+5pZU0wmTH0vFoTeyuX9Oo4zGOQi3UmccE3hkzkoKVIhyU+RLUp6aCylMnuLiMbUNDijMNhYqU5Zm+/gN9qmZiHJsst7Vkc+oobnpbdOmZoDNaw53a1D3y0+jlwriQe4Bk/lKMxbWWungpO6KIcV0JLiv/lDmMYX/tnL4xPq6/EecoDNLDWNWNVWcyYjgOpafdjEJ6h/mzvJxUv27bXM57FGzBXA+fy2PT4+tQvkimDeb3Y+YTbohs26cpImRCP148colyjy8aQPWW4BkQieiSZDSEmfhNyDXLXxRfBRx5jj0zSkUtVClabHrFzsJ4lZOqaucRLNKWs7VF0PxE8vFNQHliUhyXZkwrob8xB+lrB0ekI1rrDkCIxzdf5J+r+2bpUuXqv4SiNNVWBgasc7d+ye6UV9el2u6ItRhhVHItFPhnYYFTv3QtZ44mSbjlCU2dRkSPR71cd+Csn3edCjrOwHPd35GgIGrHnIv7/NQetvqtMdfg/+6WMzt3WPkzLgMTEOJY0t1TVvitNV3YA=
-  - secure: wXy6aDSe9nfd1KjnBBzBG5X4PTIhpVStdvEs5Y/vA8zEWuszf4P2YDzIjf0lKL+K/Ed9GLeaKFdXac1i9VG3mChOxVWQ3kd5Mp5mNm/3iGEQ3OHJ43q9uKJTsSZOuuTHBHfJmLUwxk3Dnz7on3XU0XZKODuIxY0iqEIZ0RFcryIo0VE5glDfAvoqJRkbs56ruBMcZfh3Xx9NdebQN9rglT3w/WEeb7TLgECKkF5ic8wB4YEpEvJm1UvlqtT8TZjpsgmSUxbagTAyy9dIXHAIaksXNHaRBhgs7D0a4xlf6MExp2sp75qBK/5lGqGG+RR8PcYlisw+nH/vnP1AQm3ujP5rL4vkCoLFk4+DVMlnScpiBDI482UM581YnCOlotXF2Oh34QEMVn0SQ0w6yNghLhMhlVk1EDjy/msttvAEef15Xm3f5njIQuzDljvigWRTAPE81peDY6EAXQAsNE3C29N6XLMVFgiefI5NF+PZ+Tu0geYOhP1r3GBixj6W+w3NfC/ZwzapVoA+6OimhYDNOETVLrrIkln4FtU+/RrCtqk1zZhLg22JkxHCNU5NuIiwC8sQcd+hquw63tZVc9vFXFdcVLJZLa/mgtFWUfVKOIQSjua18H4VqZAUP2p9EPcMYJgHRDh2P47R9zFdRdnD7CdNel8uWtdT4P4UFTytnuk=
-  - secure: H4xBumrS4Z8OXqW+evg/iczS0kRaK7g/HAn7g+a4bwxfHYME6CN7hvwy9MY+McidDcXz/BD88eJnZ4/SyKUdlFFd5PqN5tiUGkHsY9QcQjRTw5alNgONk8S5vHDXqlRizF5EKUm7yBC4DRgFlmhF4TJybxwjI3dSFrKYakvEEtlCC6O3JuXq/PYdoz95AbmoxVrqkGwAojDZdhZ6UggeN+IJYi1h1FZGA0mD5PMKUKAHKxl5WVy9cQYV/+cc4Qy4c/0mrPBZ4KRbHA+UWxEnA/H9DARWLSQsDMZy7QCcQ0OXuM21kVVPt2qNE8wZQ074oX+MKcJbnvGT+AJpDPJwL+iRjch8SuDVpLOWE/LDcNE+r3PjUuL6HdA7/NBN0jhOsKTB3N/D3ehRGpkWlwXnK3zw9/P7HJ6I9MXPf4hq89B+Rg9vRdLAhVxFIuTOLMONVJyALrzX4sm7TaJAdfNC0NIBZpwWKmHzN3eVQovapUfEPo+no2cMXOxwyV/tKXeg6Hf+u4PvHNcmmyCnEDLNd4syayYHWExh4nHkGQPAa6fpQ7FNUdo0AkvwK6lU5ylpHsbsjcWOgWQ7vjbuu08mJ3JsNgb3Lo3kNSm9PXECC9M4rIjyUzTGrFZsS2GbtaS9M0txO1B8Ysv59Y3wruMZ89vpeOoZI6gJoHkLvU7FvYo=
+  - secure: kOC0dbgpMXULsMY9rUXM+p4gsORHa/nLzVGO3DjGASo9V9aLDTcIH1FrxDmmXlT7yq6wCaQ6Qag+9ORQyYYNIozvNFE5Bu6cvKtUEQL1ejGUdstPMf1dCzxAv8L1IAzVhuszwVKbkAWCIPfnk+HOBeTt+JTPcU3XRZ1h8pT8K7OUlVTq+YExz6ba+R9slgsy/zhzkT3a9LTXjaI+FMcRXiX5GTAf4D4rhspVrls7rJ9TayM3tDdOA7+E3KiINFArIiR55rPweMYzq4EepwF1y28UKwACDCF9G17rlZUWQd1/FlUaRRH7Raqfe8M1pzPAjsJ3pY45ymuSCt+23LXtI273x3Fx3wcZyWsHtbUtSGaSyEVXG10uATk0YYnZmIpjGgci2H+p96tw9Q/uHT0zbfgXdGN717Cwzwn4ywBmzMPxDtwNJBzAM27qUI/wzOTrGwpUxetLqdWHe5vPDMskxi7YkLOH9Tyi9L6fY2PLztLN3FwSBaH0o9MDCca5iFdPQKnut8+jtLKc2NlcQe76HGNuk4pSDeEanK1zk2ac2Qo/FSQ4luHZOFa+r6aEHABK3EpfMQ8z9681Z4jY/TmLaGtFFv4kYxGvO4zkHoJcQcFpT8mRWxL8tDg8KyW228VNkucBVHSLzyddEi+0VcanAju7UNFMNyaDwPqG/hGqW0o=
+  - secure: pVcUGU+vNcilbe5y3+g0l173j0KW+/PVrVJE97k471jRgLkEH8W9nRWw0rcZmOEfSM+p5a1l8ubzqzriiJKIexVXkGfrL8k6tSibUY2HCcFG9RZPvCyqZvPqBFSpf11xQ/iKlGzjRKHmc39P4+jLUkVWIQYS496pLx/bzKBWYzUwTXOrHq9a26mBJ3Ud4iLK/Ztq06u1cZ1IE7Vo1x4f20+uF0ZKnhhLT1jDxS2W5mT3XGQWatlnLdhSy6qKOpdld1O4961hh9XrNvvAtqIZqWbfWLwMQ1y4c9oxhuon2e8/r6eovdess9d/bziqzadtimvmVVR8zHhKRx5F0G9ZqnmR5vnhL82hVKKYZmP4WNZvMJhdKmxtgiEWn5Idf/QqHpYCzPscEUqpfNNAzd5EA07UoRfExantO5QaI4IK6AOvy3J8RoG+ajbnwVFK6F+xahavOTAmV+LkRQbzN10srXpv1YsE0Y7L/R/RtThfzXI1Cq8+A5iItZb703VxAHaqVgFeL/VEDEaN31/ytxzQJ/dI33BrGAM+tM4LNe1H5CnvDzrHWy+a8jWXpUbrupi4Nk1plX+zE3uqjK/M2Wm8/IupVO9Euv7vme3uPkw+tSssnZQLvQE+AlbeaFjfaynCjkrTvj7AfBFmfU+L4EJDFVi9/ojwScWGwe5CaXvixAE=
+  - secure: QXqmDtpf4J4g33LQT/zUVlkQ+3+9Xsy6LwqTSi2aKbfQkBKKzvHhCVRqpudedgjtXyQmU4WK6LXRpyFGAL6BLeOY1eRzCVxfhIw4c3HTxwUlfx40kl/BTT/nyKzg2rZxf5+IIvejWRZQ+59+M/RClzv5gWD4WDW6wwvEfRbZ30rTgHIjvNZ2W/mrvuQcDNTps/HkJmbbS/oUP76sgKDEo4DL1qAVNsFrNpLa8p6gPzzLqevZcpW2RBtvEvpZ5SKoHs5SeKryWnq0shBsb0skuRV35HNhOvcLPWBYTPzxp5LjxN5EF+1akrAWMB38GHSbOAyZVH4sbupU928gK1Gyzs+zDP7ZKcAMcrwqGZcTBSbcUq0vVYNg+LRTORJ+jmcDwBSaGntpqUcKBXmyB1SGq9f79qCmGSJTBM5VLXcKPApT+hdx1p/B3F9NUNie/wcM7qOwsH3ROLryPwf+FmYlFxnZ5gHAt5nVWhXQDVijWBpnCIeHkoiI6eUMt4+feaifi+y1BwQyPpmZAsxfqvXrQm6M1UmBqNzaupc/ss/VRE0K1ExnXb5mNMl4m2V8TN7d/PgKmlwG9J4mA+C5hpcx7qHbno/rCJmWMqKk00KFB55MzdXyw3x2t2cxmf3ryy+qE7Y9Vp/7T3vdW94zh/zFsV7fZBfE4UPigbNKQ0kgzrs=

MonkeyLib.iml

@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="JAVA_MODULE" version="4">
+  <component name="EclipseModuleManager">
+    <conelement value="org.eclipse.buildship.core.gradleclasspathcontainer" />
+    <src_description expected_position="0">
+      <src_folder value="file://$MODULE_DIR$/src/main/kotlin" expected_position="0" />
+      <src_folder value="file://$MODULE_DIR$/src/test/kotlin" expected_position="1" />
+    </src_description>
+  </component>
+  <component name="NewModuleRootManager">
+    <output url="file://$MODULE_DIR$/bin/default" />
+    <exclude-output />
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/.gradle" />
+      <excludeFolder url="file://$MODULE_DIR$/build" />
+    </content>
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="library" name="org.eclipse.buildship.core.gradleclasspathcontainer" level="application" />
+  </component>
+</module>

README.md

@@ -1,6 +1,6 @@
-# MonkeyLib
+# fault
 
-[![Build Status](https://travis-ci.org/team5499/MonkeyLib.svg?branch=master)](https://travis-ci.org/team5499/MonkeyLib)
-[![Code Coverage](https://codecov.io/gh/team5499/MonkeyLib/branch/master/graph/badge.svg)](https://codecov.io/gh/team5499/MonkeyLib)
+[![Build Status](https://travis-ci.org/team5419/fault.svg?branch=master)](https://travis-ci.org/team5419/fault)
+[![Code Coverage](https://codecov.io/gh/team5419/fault/branch/master/graph/badge.svg)](https://codecov.io/gh/team5419/fault)
 
-MonkeyLib is team 5499's base kotlin code used in all of our robots. Mostly contains math and utilities
+fault is team 5419's base kotlin code used in all of our robots. Mostly contains math and utilities

build.gradle

@@ -2,7 +2,7 @@ import org.gradle.api.tasks.options.Option
 
 plugins {
     id 'org.jetbrains.kotlin.jvm' version '1.3.20'
-    id "edu.wpi.first.GradleRIO" version "2019.3.2"
+    id "edu.wpi.first.GradleRIO" version "2019.4.1"
     id 'java-library'
     id 'maven-publish'
     id 'jacoco'
@@ -34,7 +34,7 @@ dependencies {
 
 }
 
-group = 'org.team5499'
+group = 'org.team5419'
 version = '2.11.0'
 
 
@@ -106,14 +106,14 @@ task install_hooks(dependsOn: 'tox')
 publishing {
     publications {
         library(MavenPublication) {
-            artifactId = 'monkey-lib'
+            artifactId = 'fault'
             from components.java
             artifact sourcesJar
             artifact javadocJar
             pom {
-                name = 'MonkeyLib'
-                description = 'Commonly used utilities in FRC Team 5499\'s codebase'
-                url = 'https://github.com/team5499/MonkeyLib'
+                name = 'fault'
+                description = 'Commonly used utilities in FRC Team 5419\'s codebase'
+                url = 'https://github.com/team5419/fault'
             }
         }
     }

src/main/kotlin/org/team5499/monkeyLib/Controller.kt → src/main/kotlin/org/team5419/fault/Controller.kt

@@ -1,7 +1,7 @@
-package org.team5499.monkeyLib
+package org.team5419.fault
 
-import org.team5499.monkeyLib.util.time.ITimer
-import org.team5499.monkeyLib.util.time.WPITimer
+import org.team5419.fault.util.time.ITimer
+import org.team5419.fault.util.time.WPITimer
 
 public abstract class Controller(timer: ITimer = WPITimer()) {
 

src/main/kotlin/org/team5499/monkeyLib/Subsystem.kt → src/main/kotlin/org/team5419/fault/Subsystem.kt

@@ -1,7 +1,7 @@
-package org.team5499.monkeyLib
+package org.team5419.fault
 
-import org.team5499.monkeyLib.util.time.ITimer
-import org.team5499.monkeyLib.util.time.WPITimer
+import org.team5419.fault.util.time.ITimer
+import org.team5419.fault.util.time.WPITimer
 
 abstract class Subsystem(timer: ITimer = WPITimer()) {
 

src/main/kotlin/org/team5499/monkeyLib/auto/Action.kt → src/main/kotlin/org/team5419/fault/auto/Action.kt

@@ -1,34 +1,34 @@
-package org.team5499.monkeyLib.auto
-
-import org.team5499.monkeyLib.util.time.ITimer
-import org.team5499.monkeyLib.util.time.WPITimer
-
-public open class Action(timeoutSeconds: Double, timer: ITimer = WPITimer()) {
-
-    private val mTimer: ITimer
-    private val mTimeoutSeconds: Double
-
-    init {
-        mTimer = timer
-        mTimeoutSeconds = timeoutSeconds
-    }
-
-    public open fun start() {
-        mTimer.stop()
-        mTimer.reset()
-        mTimer.start()
-    }
-
-    public open fun update() {}
-
-    protected fun timedOut(): Boolean {
-        val t = mTimer.get()
-        return (t >= mTimeoutSeconds)
-    }
-
-    public open fun next(): Boolean {
-        return timedOut()
-    }
-
-    public open fun finish() {}
-}
+package org.team5419.fault.auto
+
+import org.team5419.fault.util.time.ITimer
+import org.team5419.fault.util.time.WPITimer
+
+public open class Action(timeoutSeconds: Double, timer: ITimer = WPITimer()) {
+
+    private val mTimer: ITimer
+    private val mTimeoutSeconds: Double
+
+    init {
+        mTimer = timer
+        mTimeoutSeconds = timeoutSeconds
+    }
+
+    public open fun start() {
+        mTimer.stop()
+        mTimer.reset()
+        mTimer.start()
+    }
+
+    public open fun update() {}
+
+    protected fun timedOut(): Boolean {
+        val t = mTimer.get()
+        return (t >= mTimeoutSeconds)
+    }
+
+    public open fun next(): Boolean {
+        return timedOut()
+    }
+
+    public open fun finish() {}
+}

src/main/kotlin/org/team5419/fault/auto/NothingAction.kt

@@ -0,0 +1,6 @@
+package org.team5419.fault.auto
+
+import org.team5419.fault.util.time.ITimer
+import org.team5419.fault.util.time.WPITimer
+
+public class NothingAction(timeout: Double, timer: ITimer = WPITimer()) : Action(timeout, timer)

src/main/kotlin/org/team5499/monkeyLib/auto/ParallelAction.kt → src/main/kotlin/org/team5419/fault/auto/ParallelAction.kt

@@ -1,44 +1,44 @@
-package org.team5499.monkeyLib.auto
-
-import org.team5499.monkeyLib.util.time.ITimer
-import org.team5499.monkeyLib.util.time.WPITimer
-
-class ParallelAction(vararg actions: Action, timer: ITimer = WPITimer()) : Action(0.0, timer) {
-
-    private val mActions: Array<out Action>
-
-    init {
-        mActions = actions.copyOf()
-    }
-
-    override fun start() {
-        super.start()
-        for (a: Action in mActions) {
-            a.start()
-        }
-    }
-
-    override fun update() {
-        super.update()
-        for (a: Action in mActions) {
-            a.update()
-        }
-    }
-
-    @Suppress("ReturnCount")
-    override fun next(): Boolean {
-        for (a: Action in mActions) {
-            if (!a.next()) {
-                return false
-            }
-        }
-        return true
-    }
-
-    override fun finish() {
-        super.finish()
-        for (a: Action in mActions) {
-            a.finish()
-        }
-    }
-}
+package org.team5419.fault.auto
+
+import org.team5419.fault.util.time.ITimer
+import org.team5419.fault.util.time.WPITimer
+
+class ParallelAction(vararg actions: Action, timer: ITimer = WPITimer()) : Action(0.0, timer) {
+
+    private val mActions: Array<out Action>
+
+    init {
+        mActions = actions.copyOf()
+    }
+
+    override fun start() {
+        super.start()
+        for (a: Action in mActions) {
+            a.start()
+        }
+    }
+
+    override fun update() {
+        super.update()
+        for (a: Action in mActions) {
+            a.update()
+        }
+    }
+
+    @Suppress("ReturnCount")
+    override fun next(): Boolean {
+        for (a: Action in mActions) {
+            if (!a.next()) {
+                return false
+            }
+        }
+        return true
+    }
+
+    override fun finish() {
+        super.finish()
+        for (a: Action in mActions) {
+            a.finish()
+        }
+    }
+}

src/main/kotlin/org/team5419/fault/auto/ParrallelRoutine.kt

@@ -0,0 +1,63 @@
+
+package org.team5419.fault.auto
+
+import org.team5419.fault.math.geometry.Rotation2d
+import org.team5419.fault.math.geometry.Vector2
+import org.team5419.fault.math.geometry.Pose2d
+
+public class ParrallelRoutine(name: String, startPose: Pose2d, vararg routines: Routine) {
+/*: Routine(name, startPose, routines) {*/
+
+    private val routines: Array<out Routine>
+    var stepNumber: Int
+        get() = field
+    val name: String
+        get() = field
+    val startPose: Pose2d
+        get() = field
+
+    @Suppress("SpreadOperator")
+    public constructor(name: String, vararg routines: Routine) :
+        this(name, Pose2d(Vector2(0, 0), Rotation2d.fromDegrees(0.0)), *routines)
+
+    init {
+        this.stepNumber = 0
+        this.name = name
+        this.startPose = startPose
+        this.routines = routines.copyOf()
+    }
+
+    // use an array instead?
+    // returns MutableList of all current Actions
+    public fun getCurrentActions(): MutableList<Action> {
+        val actions: MutableList<Action> = mutableListOf<Action>()
+        for (r: Routine in this.routines) actions.add(r.getCurrentAction())
+        return actions
+    }
+
+    // advance all subroutines
+    public fun advanceRoutine() {
+        if (!this.isLastStep()) {
+            stepNumber++
+            for (r: Routine in this.routines) r.advanceRoutine()
+        }
+    }
+
+    // returns true if all subroutines are done
+    public fun isLastStep(): Boolean {
+        for (r: Routine in this.routines) {
+            if (!r.isLastStep()) {
+                return false
+            }
+        }
+        return true
+    }
+
+    // resets all subroutines
+    public fun reset() {
+        this.stepNumber = 0
+        for (r: Routine in this.routines) {
+            r.reset()
+        }
+    }
+}