Merge remote-tracking branch 'origin/master'

.github/workflows/releases.yml

@@ -42,5 +42,5 @@ jobs:
     - name: Publish to Dairy Snapshots
       run: ./gradlew publishAllPublicationsToDairyReleasesRepository
       env:
-        ORG_GRADLE_PROJECT_dairyReleasesUsername: ${{ secrets.RELEASES_USERNAME  }}
-        ORG_GRADLE_PROJECT_dairyReleasesPassword: ${{ secrets.RELEASES_PASSWORD }}
+        ORG_GRADLE_PROJECT_dairyReleasesUsername: ${{ secrets.SNAPSHOTS_USERNAME  }}
+        ORG_GRADLE_PROJECT_dairyReleasesPassword: ${{ secrets.SNAPSHOTS_PASSWORD }}

ftc/src/main/kotlin/page/j5155/expressway/ftc/actions/ActionBuilder.kt

@@ -0,0 +1,58 @@
+package page.j5155.expressway.ftc.actions
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket
+import page.j5155.expressway.core.actions.Condition
+import page.j5155.expressway.core.actions.InitLoopCondAction
+import java.util.function.Consumer
+import java.util.function.Supplier
+
+/**
+ * This class builds an InitLoopCondAction
+ * @param condition the condition for the action to complete
+ */
+class ActionBuilder(val condition: Condition) {
+
+    private var initInternal: Supplier<Unit> = Supplier { }
+    private var loopInternal: Consumer<TelemetryPacket> = Consumer { }
+    private var cleanupInternal: Supplier<Unit> = Supplier { }
+
+    /**
+     * Set the initialization function
+     * @param init the initialization function
+     */
+    fun setInit(init: Supplier<Unit>): ActionBuilder {
+        initInternal = init
+        return this
+    }
+
+    /**
+     * Set the loop function
+     * @param loop the loop function
+     */
+    fun setLoop(loop: Consumer<TelemetryPacket>): ActionBuilder {
+        loopInternal = loop
+        return this
+    }
+
+    /**
+     * Set the cleanup function
+     * @param cleanup the cleanup function
+     */
+    fun setCleanup(cleanup: Supplier<Unit>): ActionBuilder {
+        cleanupInternal = cleanup
+        return this
+    }
+
+    /**
+     * Builds the InitLoopCondAction
+     */
+    fun build(): InitLoopCondAction {
+        return object: InitLoopCondAction(condition) {
+            override fun init() = initInternal.get()
+
+            override fun loop(p: TelemetryPacket) = loopInternal.accept(p)
+
+            override fun cleanup() = cleanupInternal.get()
+        }
+    }
+}