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feat(Dairy): changed to use Dairy Features #15

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feat(Dairy): changed to use Dairy Features #15

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7 changes: 5 additions & 2 deletions PhotonCore/build.gradle
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Expand Up @@ -5,6 +5,7 @@ plugins {

repositories {
mavenCentral()
maven { url 'https://jitpack.io' }
}

android {
Expand Down Expand Up @@ -42,8 +43,10 @@ afterEvaluate {
}

dependencies {
compileOnly 'org.jetbrains:annotations:15.0'
compileOnly "androidx.annotation:annotation:1.7.0"
compileOnly 'org.jetbrains:annotations:13.0'
compileOnly "androidx.annotation:annotation:1.1.0"

compileOnly('com.github.Dairy-Foundation.Dairy:Core:pre-release-2-0')

compileOnly 'org.firstinspires.ftc:RobotCore:9.0.1'
compileOnly 'org.firstinspires.ftc:Hardware:9.0.1'
Expand Down
20 changes: 0 additions & 20 deletions PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/Photon.java
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This file was deleted.

67 changes: 52 additions & 15 deletions PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/PhotonCore.java
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Expand Up @@ -2,6 +2,9 @@

import android.content.Context;

import androidx.annotation.NonNull;
import androidx.annotation.Nullable;

import com.outoftheboxrobotics.photoncore.hardware.PhotonLynxVoltageSensor;
import com.outoftheboxrobotics.photoncore.hardware.motor.PhotonDcMotor;
import com.outoftheboxrobotics.photoncore.hardware.motor.PhotonLynxDcMotorController;
Expand All @@ -15,10 +18,8 @@
import com.qualcomm.hardware.lynx.LynxModuleIntf;
import com.qualcomm.hardware.lynx.LynxServoController;
import com.qualcomm.hardware.lynx.LynxVoltageSensor;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.OpModeManager;
import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerImpl;
import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerNotifier;
import com.qualcomm.robotcore.exception.RobotCoreException;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.CRServoImpl;
Expand All @@ -31,19 +32,48 @@

import org.firstinspires.ftc.ftccommon.external.OnCreateEventLoop;

import java.lang.annotation.Annotation;
import java.lang.annotation.Documented;
import java.lang.annotation.ElementType;
import java.lang.annotation.Inherited;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Objects;
import java.util.Set;
import java.util.concurrent.Semaphore;

public class PhotonCore implements OpModeManagerNotifier.Notifications {
import dev.frozenmilk.dairy.core.Feature;
import dev.frozenmilk.dairy.core.dependencyresolution.dependencies.Dependency;
import dev.frozenmilk.dairy.core.dependencyresolution.dependencyset.DependencySet;
import dev.frozenmilk.dairy.core.wrapper.Wrapper;
import dev.frozenmilk.util.cell.LateInitCell;

public class PhotonCore implements Feature {
private final LateInitCell<Annotation> attach = new LateInitCell<>();
private final DependencySet dependencySet = new DependencySet(this)
.includesExactlyOneOf(Attach.class)
.bindOutputTo(attach);
@NonNull
@Override
public Set<Dependency<?, ?>> getDependencies() {
return dependencySet;
}

// Configuration and singleton values
private static final String TAG = "PhotonCore";
private static final PhotonCore instance = new PhotonCore();
public static final boolean DEBUG=true;
public static Photon photon;
public static boolean attached() {
return instance.isAttached();
}
@Nullable
public static Attach photon() {
return (Attach) instance.attach.safeGet();
}

private OpModeManagerImpl opModeManager;

Expand All @@ -54,8 +84,7 @@ public class PhotonCore implements OpModeManagerNotifier.Notifications {
public static void attachEventLoop(Context context, FtcEventLoop eventLoop)
{
if(DEBUG) RobotLog.ii(TAG, "attachEventLoop: Attached PhotonCore to event loop");
eventLoop.getOpModeManager().registerListener(instance);
instance.opModeManager=eventLoop.getOpModeManager();
instance.opModeManager = eventLoop.getOpModeManager();
}

public static void acquire(LynxModuleIntf module) throws InterruptedException {
Expand All @@ -67,18 +96,17 @@ public static void release(LynxModuleIntf module) throws InterruptedException {
}

@Override
public void onOpModePreInit(OpMode opMode) {
public void preUserInitHook(@NonNull Wrapper opMode) {
if(opModeManager.getActiveOpModeName().equals(OpModeManager.DEFAULT_OP_MODE_NAME))
return;

photon = opMode.getClass().getAnnotation(Photon.class);
if(photon!=null) {
if(photon()!=null) {

if(DEBUG) RobotLog.ii(TAG, "onOpModePreInit: Enabling PhotonCore optimizations for opMode %s", opModeManager.getActiveOpModeName());

HardwareMap hardwareMap = opMode.hardwareMap;
HardwareMap hardwareMap = opMode.getOpMode().hardwareMap;
// Get the names of devices using reflection
Map<HardwareDevice, Set<String>> deviceNames = ReflectionUtils.getFieldValue(opMode.hardwareMap, "deviceNames");
Map<HardwareDevice, Set<String>> deviceNames = ReflectionUtils.getFieldValue(opMode.getOpMode().hardwareMap, "deviceNames");
assert deviceNames!=null;

// The first step is to replace all LynxModules with PhotonLynxModules
Expand Down Expand Up @@ -238,8 +266,17 @@ public void onOpModePreInit(OpMode opMode) {
}*/
}
}
@Override
public void onOpModePreStart(OpMode opMode) {}
@Override
public void onOpModePostStop(OpMode opMode) {}

/**
* Add this to a {@link com.qualcomm.robotcore.eventloop.opmode.OpMode} in order to apply PhotonCore optimizations
*/
@Documented
@Inherited
@Target(ElementType.TYPE)
@Retention(RetentionPolicy.RUNTIME)
public @interface Attach {
int maximumParallelCommands() default 8;

boolean singleThreadOptimized() default true;
}
}
1 change: 0 additions & 1 deletion ...re/src/main/java/com/outoftheboxrobotics/photoncore/hardware/PhotonLynxVoltageSensor.java
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Expand Up @@ -2,7 +2,6 @@

import android.content.Context;

import com.outoftheboxrobotics.photoncore.Photon;
import com.outoftheboxrobotics.photoncore.PhotonLastKnown;
import com.outoftheboxrobotics.photoncore.hardware.motor.commands.PhotonLynxGetADCCommand;
import com.qualcomm.hardware.lynx.LynxModule;
Expand Down
4 changes: 2 additions & 2 deletions ...a/com/outoftheboxrobotics/photoncore/hardware/motor/commands/PhotonLynxGetADCCommand.java
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Expand Up @@ -39,7 +39,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -48,7 +48,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...ftheboxrobotics/photoncore/hardware/motor/commands/PhotonLynxGetBulkInputDataCommand.java
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Expand Up @@ -38,7 +38,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -47,7 +47,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...photoncore/hardware/motor/commands/PhotonLynxGetMotorChannelCurrentAlertLevelCommand.java
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Expand Up @@ -38,7 +38,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -47,7 +47,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...oxrobotics/photoncore/hardware/motor/commands/PhotonLynxGetMotorChannelEnableCommand.java
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Expand Up @@ -34,7 +34,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -43,7 +43,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...eboxrobotics/photoncore/hardware/motor/commands/PhotonLynxGetMotorChannelModeCommand.java
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Expand Up @@ -38,7 +38,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -47,7 +47,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...oxrobotics/photoncore/hardware/motor/commands/PhotonLynxGetMotorConstantPowerCommand.java
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Expand Up @@ -38,7 +38,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -47,7 +47,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...otoncore/hardware/motor/commands/PhotonLynxGetMotorPIDControlLoopCoefficientsCommand.java
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Expand Up @@ -35,7 +35,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -44,7 +44,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...toncore/hardware/motor/commands/PhotonLynxGetMotorPIDFControlLoopCoefficientsCommand.java
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Expand Up @@ -35,7 +35,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -44,7 +44,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...xrobotics/photoncore/hardware/motor/commands/PhotonLynxGetMotorTargetPositionCommand.java
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Expand Up @@ -38,7 +38,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -47,7 +47,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...xrobotics/photoncore/hardware/motor/commands/PhotonLynxGetMotorTargetVelocityCommand.java
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Expand Up @@ -38,7 +38,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -47,7 +47,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...theboxrobotics/photoncore/hardware/motor/commands/PhotonLynxResetMotorEncoderCommand.java
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Expand Up @@ -38,7 +38,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -47,7 +47,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
4 changes: 2 additions & 2 deletions ...photoncore/hardware/motor/commands/PhotonLynxSetMotorChannelCurrentAlertLevelCommand.java
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Expand Up @@ -38,7 +38,7 @@ public void onNackReceived(LynxNack nack) {

@Override
public void acquireNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.acquireNetworkLock();
}else {
PhotonCore.acquire(module);
Expand All @@ -47,7 +47,7 @@ public void acquireNetworkLock() throws InterruptedException {

@Override
public void releaseNetworkLock() throws InterruptedException {
if(PhotonCore.photon == null){
if(!PhotonCore.attached()){
super.releaseNetworkLock();
}else {
PhotonCore.release(module);
Expand Down
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