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34 changes: 11 additions & 23 deletions
34
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/linear/LinearAPI.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,33 +1,21 @@ | ||
| package org.firstinspires.ftc.teamcode.api.linear | ||
|
|
||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode | ||
| import org.firstinspires.ftc.teamcode.api.API | ||
| import org.firstinspires.ftc.teamcode.utils.Resettable | ||
|
|
||
| /** | ||
| * A linear API is shared code used by linear components. | ||
| * | ||
| * It is specifically designed to only work in autonomous scenarios. It allows linear components to | ||
| * call specific methods unique to [LinearOpMode]. | ||
| * | ||
| * If a linear API depends on another API, it should say so in the documentation. | ||
| * | ||
| * @see API | ||
| */ | ||
| @Deprecated( | ||
| message = "LinearAPI is deprecated. Please use the API class and override isLinear to true.", | ||
| replaceWith = | ||
| ReplaceWith( | ||
| expression = "API", | ||
| imports = arrayOf("org.firstinspires.ftc.teamcode.api.API"), | ||
| ), | ||
| level = DeprecationLevel.ERROR, | ||
| ) | ||
| abstract class LinearAPI { | ||
| private var uninitializedOpMode: LinearOpMode? by Resettable { null } | ||
|
|
||
| protected val linearOpMode: LinearOpMode | ||
| get() = | ||
| uninitializedOpMode | ||
| ?: throw NullPointerException("<LinearAPI> has not been initialized with the OpMode before being used.") | ||
| get() = throw NotImplementedError() | ||
|
|
||
| open fun init(linearOpMode: LinearOpMode) { | ||
| // You can only initialize an API once. If it is initialized more than once, throw an error. | ||
| if (uninitializedOpMode != null) { | ||
| throw IllegalStateException("Tried to initialize a <LinearAPI> more than once.") | ||
| } | ||
|
|
||
| this.uninitializedOpMode = linearOpMode | ||
| throw NotImplementedError("LinearAPI is deprecated.") | ||
| } | ||
| } |
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77 changes: 77 additions & 0 deletions
77
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/APIDependencies.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,77 @@ | ||
| package org.firstinspires.ftc.teamcode.utils | ||
|
|
||
| import android.content.Context | ||
| import com.qualcomm.ftccommon.FtcEventLoop | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpMode | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerNotifier | ||
| import org.firstinspires.ftc.ftccommon.external.OnCreateEventLoop | ||
| import org.firstinspires.ftc.teamcode.api.API | ||
|
|
||
| /** | ||
| * An object that orchestrates API dependency checking. | ||
| */ | ||
| object APIDependencies : OpModeManagerNotifier.Notifications { | ||
| /** A list of all APIs initialized for the current opmode, populated when "Init" is pressed. */ | ||
| private val initializedAPIs = mutableSetOf<API>() | ||
|
|
||
| @OnCreateEventLoop | ||
| @JvmStatic | ||
| fun register( | ||
| @Suppress("UNUSED_PARAMETER") context: Context, | ||
| ftcEventLoop: FtcEventLoop, | ||
| ) { | ||
| ftcEventLoop.opModeManager.registerListener(this) | ||
| } | ||
|
|
||
| override fun onOpModePreInit(opMode: OpMode) { | ||
| // Clear initialized API list when a new opmode is selected. | ||
| this.initializedAPIs.clear() | ||
| } | ||
|
|
||
| // Checks dependencies when the start button is pressed. | ||
| // It will only do this if debug mode is active, so as not to waste time during competitions. | ||
| override fun onOpModePreStart(opMode: OpMode) { | ||
| if (RobotConfig.debug) { | ||
| this.checkDependencies() | ||
| } | ||
| } | ||
|
|
||
| override fun onOpModePostStop(opMode: OpMode) { | ||
| } | ||
|
|
||
| /** | ||
| * Registers that an API has been initialized. | ||
| * | ||
| * You should never call this method manually. It is automatically done when `API.init` is | ||
| * called. (Which could also look like `super.init(opMode)`.) | ||
| */ | ||
| internal fun registerAPI(api: API) { | ||
| this.initializedAPIs.add(api) | ||
| } | ||
|
|
||
| /** | ||
| * Checks that the dependencies of initialized APIs are also initialized. | ||
| * | ||
| * @throws RuntimeException If a dependency is not initialized. | ||
| */ | ||
| private fun checkDependencies() { | ||
| // Go through every single API dependency and check if it is in the list. | ||
| for (api in this.initializedAPIs) { | ||
| for (dep in api.dependencies()) { | ||
| if (!this.initializedAPIs.contains(dep)) { | ||
| // Report the error with as much information as possible to debug the issue. | ||
| val apiName = api::class.simpleName | ||
| val depName = dep::class.simpleName | ||
|
|
||
| throw RuntimeException( | ||
| """ | ||
| API $apiName requires dependency $depName, but it was not initialized. | ||
| Please call $depName.init(this) in the initialization phase of the opmode. | ||
| Initialized APIs: ${this.initializedAPIs}. | ||
| """.trimIndent(), | ||
| ) | ||
| } | ||
| } | ||
| } | ||
| } | ||
| } |