Move new

src/main/java/com/team766/framework3/AdvancedUtils.java → src/main/java/com/team766/framework/AdvancedUtils.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 public class AdvancedUtils {
     /**

src/main/java/com/team766/framework3/AutonomousMode.java → src/main/java/com/team766/framework/AutonomousMode.java

@@ -1,10 +1,9 @@
-package com.team766.framework3;
+package com.team766.framework;
 
-import com.team766.web.AutonomousSelector;
 import edu.wpi.first.wpilibj2.command.Command;
 import java.util.function.Supplier;
 
-public class AutonomousMode implements AutonomousSelector.Selectable<AutonomousMode> {
+public class AutonomousMode {
     private final Supplier<Command> m_constructor;
     private final String m_name;
 

src/main/java/com/team766/framework3/Conditions.java → src/main/java/com/team766/framework/Conditions.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import com.team766.library.Holder;
 import java.util.Optional;

src/main/java/com/team766/framework3/Context.java → src/main/java/com/team766/framework/Context.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import java.util.function.BooleanSupplier;
 

src/main/java/com/team766/framework3/ContextImpl.java → src/main/java/com/team766/framework/ContextImpl.java

@@ -1,7 +1,5 @@
-package com.team766.framework3;
+package com.team766.framework;
 
-import com.team766.framework.ContextStoppedException;
-import com.team766.framework.StackTraceUtils;
 import com.team766.hal.Clock;
 import com.team766.hal.RobotProvider;
 import com.team766.logging.Category;

src/main/java/com/team766/framework3/FunctionalInstantProcedure.java → src/main/java/com/team766/framework/FunctionalInstantProcedure.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import java.util.Set;
 

src/main/java/com/team766/framework3/FunctionalProcedure.java → src/main/java/com/team766/framework/FunctionalProcedure.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import java.util.Set;
 import java.util.function.Consumer;

src/main/java/com/team766/framework3/InstantCommand.java → src/main/java/com/team766/framework/InstantCommand.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import edu.wpi.first.wpilibj2.command.Command;
 

src/main/java/com/team766/framework3/InstantProcedure.java → src/main/java/com/team766/framework/InstantProcedure.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import java.util.Set;

src/main/java/com/team766/framework3/LaunchedContext.java → src/main/java/com/team766/framework/LaunchedContext.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 /**
  * This interface can be used by the caller to manage Contexts created by startAsync.

src/main/java/com/team766/framework3/LoggingBase.java → src/main/java/com/team766/framework/LoggingBase.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import com.team766.logging.Category;
 import com.team766.logging.Logger;

src/main/java/com/team766/framework3/Mechanism.java → src/main/java/com/team766/framework/Mechanism.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import com.team766.logging.Category;
 import com.team766.logging.LoggerExceptionUtils;

src/main/java/com/team766/framework3/Procedure.java → src/main/java/com/team766/framework/Procedure.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import com.google.common.collect.Sets;
 import com.team766.logging.Category;

src/main/java/com/team766/framework3/Request.java → src/main/java/com/team766/framework/Request.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 /**
  * Code (typically in a Procedure) that manipulates Mechanisms can simply make {@link Request}s of the

src/main/java/com/team766/framework3/ReservingCommand.java → src/main/java/com/team766/framework/ReservingCommand.java

@@ -1,6 +1,5 @@
-package com.team766.framework3;
+package com.team766.framework;
 
-import com.team766.framework.StackTraceUtils;
 import com.team766.logging.Category;
 import com.team766.logging.Logger;
 import com.team766.logging.Severity;

src/main/java/com/team766/framework3/Rule.java → src/main/java/com/team766/framework/Rule.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import com.google.common.collect.Maps;
 import java.util.ArrayList;

src/main/java/com/team766/framework3/RuleEngine.java → src/main/java/com/team766/framework/RuleEngine.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import com.google.common.annotations.VisibleForTesting;
 import com.google.common.collect.BiMap;

src/main/java/com/team766/framework3/RulePersistence.java → src/main/java/com/team766/framework/RulePersistence.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 public enum RulePersistence {
     ONCE,

src/main/java/com/team766/framework3/SchedulerMonitor.java → src/main/java/com/team766/framework/SchedulerMonitor.java

@@ -1,6 +1,5 @@
-package com.team766.framework3;
+package com.team766.framework;
 
-import com.team766.framework.StackTraceUtils;
 import com.team766.logging.Category;
 import com.team766.logging.Logger;
 import com.team766.logging.Severity;

src/main/java/com/team766/framework3/SchedulerUtils.java → src/main/java/com/team766/framework/SchedulerUtils.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 

src/main/java/com/team766/framework3/SensorMechanism.java → src/main/java/com/team766/framework/SensorMechanism.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import com.team766.logging.Category;
 import com.team766.logging.LoggerExceptionUtils;

src/main/java/com/team766/framework/SerializableLambda.java

@@ -0,0 +1,45 @@
+package com.team766.framework;
+
+import java.io.Serializable;
+import java.lang.invoke.SerializedLambda;
+import java.lang.reflect.Method;
+
+public interface SerializableLambda extends Serializable {
+    public interface Runnable extends java.lang.Runnable, SerializableLambda {}
+
+    public interface Supplier<T> extends java.util.function.Supplier<T>, SerializableLambda {}
+
+    private static SerializedLambda getSerializedLambda(SerializableLambda lambda) {
+        SerializedLambda serializedLambda = null;
+        for (Class<?> cl = lambda.getClass(); cl != null; cl = cl.getSuperclass()) {
+            try {
+                Method method = cl.getDeclaredMethod("writeReplace");
+                method.setAccessible(true);
+                Object replacement = method.invoke(lambda);
+                if (!(replacement instanceof SerializedLambda)) {
+                    break; // custom interface implementation
+                }
+                serializedLambda = (SerializedLambda) replacement;
+                break;
+            } catch (NoSuchMethodException e) {
+                // ignore
+            } catch (ReflectiveOperationException e) {
+                throw new RuntimeException(e);
+            }
+        }
+        if (serializedLambda == null) {
+            throw new IllegalArgumentException("Cannot find SerializedLambda for " + lambda);
+        }
+        return serializedLambda;
+    }
+
+    /* package */ static Object[] getLambdaCaptures(SerializableLambda lambda) {
+        final SerializedLambda serializedLambda = getSerializedLambda(lambda);
+        final int count = serializedLambda.getCapturedArgCount();
+        final Object[] result = new Object[count];
+        for (int i = 0; i < count; ++i) {
+            result[i] = serializedLambda.getCapturedArg(i);
+        }
+        return result;
+    }
+}

src/main/java/com/team766/framework3/Status.java → src/main/java/com/team766/framework/Status.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 /**
  * Marker interface for Statuses.  Mechanisms and complex Procedures can publish Statuses to let

src/main/java/com/team766/framework3/StatusBus.java → src/main/java/com/team766/framework/StatusBus.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import com.team766.hal.RobotProvider;
 import com.team766.logging.Category;

src/main/java/com/team766/framework3/WPILibCommandProcedure.java → src/main/java/com/team766/framework/WPILibCommandProcedure.java

@@ -1,4 +1,4 @@
-package com.team766.framework3;
+package com.team766.framework;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;

src/main/java/com/team766/hal/GenericRobotMain3.java → src/main/java/com/team766/hal/GenericRobotMain.java

@@ -1,9 +1,9 @@
 package com.team766.hal;
 
-import com.team766.framework3.AutonomousMode;
-import com.team766.framework3.RuleEngine;
-import com.team766.framework3.SchedulerMonitor;
-import com.team766.framework3.SchedulerUtils;
+import com.team766.framework.AutonomousMode;
+import com.team766.framework.RuleEngine;
+import com.team766.framework.SchedulerMonitor;
+import com.team766.framework.SchedulerUtils;
 import com.team766.library.RateLimiter;
 import com.team766.logging.Category;
 import com.team766.logging.Logger;
@@ -20,13 +20,13 @@
 
 // Team 766 - Robot Interface Base class
 
-public final class GenericRobotMain3 implements GenericRobotMainBase {
-    private RobotConfigurator3 configurator;
+public final class GenericRobotMain {
+    private RobotConfigurator configurator;
     private RuleEngine m_oi;
     private RuleEngine m_lights;
 
     private WebServer m_webServer;
-    private AutonomousSelector<AutonomousMode> m_autonSelector;
+    private AutonomousSelector m_autonSelector;
     private AutonomousMode m_autonMode = null;
     private Command m_autonomous = null;
 
@@ -41,12 +41,12 @@ public final class GenericRobotMain3 implements GenericRobotMainBase {
     private boolean faultInAutoInit = false;
     private boolean faultInTeleopInit = false;
 
-    public GenericRobotMain3(RobotConfigurator3 configurator) {
+    public GenericRobotMain() {
         SchedulerUtils.reset();
         SchedulerMonitor.start();
 
-        this.configurator = configurator;
-        m_autonSelector = new AutonomousSelector<>(configurator.getAutonomousModes());
+        configurator = RobotSelector.createConfigurator();
+        m_autonSelector = new AutonomousSelector(configurator.getAutonomousModes());
         m_webServer = new WebServer();
         m_webServer.addHandler(new Dashboard());
         m_webServer.addHandler(new DriverInterface(m_autonSelector));

src/main/java/com/team766/hal/LocalMotorController.java

@@ -3,11 +3,12 @@
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.team766.controllers.PIDController;
-import com.team766.framework.Scheduler;
 import com.team766.logging.Category;
 import com.team766.logging.Logger;
 import com.team766.logging.LoggerExceptionUtils;
 import com.team766.logging.Severity;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 
 public class LocalMotorController implements MotorController {
     private BasicMotorController motor;
@@ -34,13 +35,18 @@ public LocalMotorController(
         }
         this.pidController = PIDController.loadFromConfig(configPrefix + "pid.");
 
-        // TODO(MF3): Use CommandScheduler.getInstance().registerSubsystem() when converted to MF3
-        Scheduler.getInstance()
-                .add(
-                        new Runnable() {
+        // Register for a periodic callback from the scheduler.
+        // Register as a Subsystem (rather than a Command) so that we are called in the same phase
+        // as the real Subsystems. Because this LocalMotorController is almost certainly created
+        // inside of a Subsystem and the scheduler keeps the Subsystems in insertion order, this has
+        // the effect that this callback will be called immediately after the periodic function of
+        // the Subsystem which owns this LocalMotorController. This has the desirable effect that
+        // any setpoints,etc which are set by the Subsystem immediately take effect.
+        CommandScheduler.getInstance()
+                .registerSubsystem(
+                        new Subsystem() {
                             @Override
-                            public void run() {
-
+                            public void periodic() {
                                 if (leader != null) {
                                     setPower(leader.get());
                                     return;
@@ -87,7 +93,7 @@ public void run() {
                             }
 
                             @Override
-                            public String toString() {
+                            public String getName() {
                                 return LocalMotorController.this.toString();
                             }
                         });

src/main/java/com/team766/hal/RobotConfigurator3.java → src/main/java/com/team766/hal/RobotConfigurator.java

@@ -1,18 +1,15 @@
 package com.team766.hal;
 
-import com.team766.framework3.AutonomousMode;
-import com.team766.framework3.RuleEngine;
-import com.team766.logging.Category;
-import com.team766.logging.Logger;
-import com.team766.logging.Severity;
+import com.team766.framework.AutonomousMode;
+import com.team766.framework.RuleEngine;
 
 /**
  * Provides Robot-specific components: initializes {@link Mechanism}s, creates the Operator Interface (OI),
  * and returns the {@link AutonomousMode}s.
  *
  * @see RobotSelector
  */
-public interface RobotConfigurator3 extends RobotConfiguratorBase {
+public interface RobotConfigurator {
 
     /**
      * Initializes the {@link Mechanism}s for this robot.
@@ -35,10 +32,4 @@ public interface RobotConfigurator3 extends RobotConfiguratorBase {
      * Returns an array of {@link AutonomousMode}s available for this robot.
      */
     AutonomousMode[] getAutonomousModes();
-
-    @Override
-    default GenericRobotMainBase createRobotMain() {
-        Logger.get(Category.FRAMEWORK).logRaw(Severity.INFO, "Instantiating GenericRobotMain3");
-        return new GenericRobotMain3(this);
-    }
 }

src/main/java/com/team766/hal/RobotSelector.java

@@ -23,7 +23,7 @@ private RobotSelector() {} // utility class
      * Creates a configurator specified by the 'robotConfigurator' key in the config file.
      * If unable to create this configurator, backs off to the example one.
      */
-    public static RobotConfiguratorBase createConfigurator() {
+    public static RobotConfigurator createConfigurator() {
         ValueProvider<String> configuratorProvider =
                 ConfigFileReader.instance.getString(ROBOT_CONFIGURATOR_KEY);
         String robotConfigurator =
@@ -37,8 +37,8 @@ public static RobotConfiguratorBase createConfigurator() {
 
         try {
             @SuppressWarnings("unchecked")
-            Class<RobotConfiguratorBase> clazz =
-                    (Class<RobotConfiguratorBase>) Class.forName(robotConfigurator);
+            Class<RobotConfigurator> clazz =
+                    (Class<RobotConfigurator>) Class.forName(robotConfigurator);
             return clazz.getDeclaredConstructor().newInstance();
         } catch (Exception e) {
             Logger.get(Category.CONFIGURATION)

src/main/java/com/team766/hal/simulator/RobotMain.java

@@ -1,9 +1,8 @@
 package com.team766.hal.simulator;
 
 import com.team766.config.ConfigFileReader;
-import com.team766.hal.GenericRobotMainBase;
+import com.team766.hal.GenericRobotMain;
 import com.team766.hal.RobotProvider;
-import com.team766.hal.RobotSelector;
 import com.team766.logging.LoggerExceptionUtils;
 import com.team766.simulator.Program;
 import com.team766.simulator.ProgramInterface;
@@ -16,7 +15,7 @@ enum Mode {
         VrConnector,
     }
 
-    private GenericRobotMainBase robot;
+    private GenericRobotMain robot;
     private Runnable simulator;
 
     public RobotMain(final Mode mode) {
@@ -25,7 +24,7 @@ public RobotMain(final Mode mode) {
             ConfigFileReader.instance = new ConfigFileReader("simConfig.txt");
             RobotProvider.instance = new SimulationRobotProvider();
 
-            robot = RobotSelector.createConfigurator().createRobotMain();
+            robot = new GenericRobotMain();
 
             robot.robotInit();