Merge pull request #4 from yuliu2016/coroutine-actions

Refactor to prepare for merging with 2019 Robot Code

README.md

@@ -3,4 +3,31 @@
 A Kotlin library for common FRC math and control flow
 
 [![Build](https://travis-ci.org/Team865/FRC-Commons-Kotlin.svg?branch=master)](https://travis-ci.org/Team865/FRC-Commons-Kotlin)
-[![Release](https://jitpack.io/v/Team865/FRC-Commons-Kotlin.svg)](https://jitpack.io/#Team865/FRC-Commons-Kotlin)
+[![Release](https://jitpack.io/v/Team865/FRC-Commons-Kotlin.svg)](https://jitpack.io/#Team865/FRC-Commons-Kotlin)
+
+
+### Vendor File
+
+Copy this code into `Commons.json` in the `vendordeps` folder of a robot project:
+
+```json
+{
+    "fileName": "Commons.json",
+    "name": "FRC-Commons-Kotlin",
+    "version": "v2019.2.0",
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6538",
+    "mavenUrls": [
+        "https://jitpack.io"
+    ],
+    "jsonUrl": "",
+    "javaDependencies": [
+        {
+            "groupId": "com.github.Team865",
+            "artifactId": "FRC-Commons-Kotlin",
+            "version": "v2019.2"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": []
+}
+```

build.gradle.kts

@@ -17,7 +17,7 @@ repositories {
 }
 
 group = "ca.warp7.frc"
-version = "2019.2.0"
+version = "2019.3.0"
 
 tasks.withType<KotlinCompile> {
     kotlinOptions {
@@ -26,7 +26,8 @@ tasks.withType<KotlinCompile> {
                 "-Xuse-experimental=kotlin.Experimental",
                 "-Xallow-kotlin-package",
                 "-Xno-call-assertions",
-                "-Xno-param-assertions"
+                "-Xno-param-assertions",
+                "-Xinline-classes"
         )
         kotlinOptions.jvmTarget = "11"
     }

path-planner/src/main/kotlin/ca/warp7/pathplanner/Constants.kt

@@ -2,20 +2,20 @@ package ca.warp7.pathplanner
 
 // Unit conversion constants
 
-const val kFeetToMeters: Double = 0.3048
-const val kInchesToMeters: Double = 0.0254
+const val kFeetToMetres: Double = 0.3048
+const val kInchesToMetres: Double = 0.0254
 const val kFeetToInches: Double = 12.0
 
 // Dimension Constants
 
-const val kWheelRadius = 2.95 * kInchesToMeters // m
-const val kTurningDiameter = 24.75 * kInchesToMeters // m
+const val kWheelRadius = 2.95 * kInchesToMetres // m
+const val kTurningDiameter = 24.75 * kInchesToMetres // m
 
 // Kinematic constants
 
-const val kMaxVelocity = 12.0 * kFeetToMeters // m/s
-const val kMaxAcceleration = 9.0 * kFeetToMeters //  m/s^2
-const val kMaxFreeSpeed = 16.5 * kFeetToMeters// m/s
+const val kMaxVelocity = 12.0 * kFeetToMetres // m/s
+const val kMaxAcceleration = 9.0 * kFeetToMetres //  m/s^2
+const val kMaxFreeSpeed = 16.5 * kFeetToMetres// m/s
 
 const val kScrubFactor = 1.45
 const val kEffectiveWheelBaseRadius = kTurningDiameter / 2 * kScrubFactor // m

path-planner/src/main/kotlin/ca/warp7/pathplanner/PathPlanner.kt

@@ -1,3 +1,5 @@
+@file:Suppress("DEPRECATION")
+
 package ca.warp7.pathplanner
 
 import ca.warp7.frc.*
@@ -9,8 +11,8 @@ import ca.warp7.frc.path.QuinticSegment2D
 import ca.warp7.frc.path.parameterized
 import ca.warp7.frc.path.quinticSplinesOf
 import ca.warp7.frc.path.sumDCurvature2
-import ca.warp7.frc.drive.trajectory.TrajectoryState
-import ca.warp7.frc.drive.trajectory.generateTrajectory
+import ca.warp7.frc.trajectory.TrajectoryState
+import ca.warp7.frc.trajectory.generateTrajectory
 import processing.core.PApplet
 import processing.core.PConstants
 import processing.core.PImage
@@ -40,7 +42,7 @@ class PathPlanner : PApplet() {
     val nAng = Rotation2D.fromDegrees(-1.0)
     val reversedRotation = Rotation2D(-1.0, 0.0)
 
-    val wheelBaseRadius = kInchesToMeters * 12.4
+    val wheelBaseRadius = kInchesToMetres * 12.4
     val robotLength = wheelBaseRadius * 1.3
     val robotDrawCenter = Translation2D(768.0, 100.0)
 
@@ -328,7 +330,7 @@ class PathPlanner : PApplet() {
         lineTo(left, af)
         lineTo(right, bf)
         val msg = "ΣΔk²=${curvatureSum.f1}  " +
-                "ΣΔd=${(kMetersToFeet * arcLength).f1}ft  " +
+                "ΣΔd=${(kMetresToFeet * arcLength).f1}ft  " +
                 "ΣΔt=${trajectory.last().t.f1}s  " +
                 "O=$optimizing  " +
                 "V=${maxVRatio.f1}  " +
@@ -371,7 +373,7 @@ class PathPlanner : PApplet() {
             }
             'r' -> {
                 val newWaypoints = waypoints.reversedArray()
-                for (i in 0 until newWaypoints.size) {
+                for (i in newWaypoints.indices) {
                     newWaypoints[i] = newWaypoints[i].run {
                         Pose2D(translation, rotation.rotate(reversedRotation))
                     }
@@ -383,7 +385,7 @@ class PathPlanner : PApplet() {
                 regenerate()
             }
             'f' -> {
-                for (i in 0 until waypoints.size) {
+                for (i in waypoints.indices) {
                     waypoints[i] = waypoints[i].run {
                         Pose2D(Translation2D(translation.x, -translation.y), Rotation2D(rotation.cos, -rotation.sin))
                     }
@@ -479,7 +481,7 @@ class PathPlanner : PApplet() {
     }
 
     fun translateAll(by: Translation2D) {
-        for (i in 0 until waypoints.size) waypoints[i] = waypoints[i]
+        for (i in waypoints.indices) waypoints[i] = waypoints[i]
                 .run { Pose2D(translation + by, rotation) }
         regenerate()
     }
@@ -564,8 +566,8 @@ class PathPlanner : PApplet() {
                 redrawScreen()
             }
             's' -> showForCopy(waypoints.joinToString(",\n") {
-                "Pose2D(${(kMetersToFeet * it.translation.x).f}.feet, " +
-                        "${(kMetersToFeet * it.translation.y).f}.feet, " +
+                "Pose2D(${(kMetresToFeet * it.translation.x).f}.feet, " +
+                        "${(kMetresToFeet * it.translation.y).f}.feet, " +
                         "${it.rotation.degrees.f}.degrees)"
             })
             '0' -> {

src/main/kotlin/ca/warp7/frc/Commons.kt

@@ -1,39 +1,129 @@
+/**
+ * Commons.kt --- common constants and functions
+ */
+
+@file:JvmName("Commons")
+
 package ca.warp7.frc
 
 import kotlin.math.abs
 import kotlin.math.sign
 
-fun Double.epsilonEquals(other: Double, epsilon: Double) = this - epsilon <= other && this + epsilon >= other
+const val kFeetToMetres: Double = 0.3048
+
+const val kInchesToMetres: Double = 0.0254
+
+const val kMetresToFeet: Double = 1 / kFeetToMetres
+
+const val kMetresToInches: Double = 1 / kInchesToMetres
 
+/**
+ * Check if a number is close enough to another by [epsilon]
+ */
+fun Double.epsilonEquals(other: Double, epsilon: Double) =
+        (this - epsilon <= other) && (this + epsilon >= other)
+
+/**
+ * Check if a number is close enough to another by 1E-12
+ */
 fun Double.epsilonEquals(other: Double) = epsilonEquals(other, 1E-12)
 
-fun linearInterpolate(a: Double, b: Double, x: Double) = a + (b - a) * x.coerceIn(0.0, 1.0)
+/**
+ * Interpolate between two numbers
+ *
+ * This function is undefined if any of its parameters are
+ * Infinity or NaN
+ */
+fun linearInterpolate(a: Double, b: Double, x: Double): Double {
+    if (x < 0.0) {
+        return a
+    }
+    if (x > 1.0) {
+        return b
+    }
+    return a + (b - a) * x
+}
 
-val Double.f get() = "%.3f".format(this)
-val Double.f1 get() = "%.1f".format(this)
 
+/**
+ * Limit a value within a magnitude range
+ *
+ * @param max the maximum magnitude of the value. Must be positive
+ */
+fun Double.limit(max: Double): Double {
+    if (this > max) {
+        return max
+    }
+    if (this < -max) {
+        return -max
+    }
+    return this
+}
+
+
+/**
+ * Apply a deadband to a value
+ */
 fun applyDeadband(value: Double, max: Double, deadband: Double): Double {
-    val v = value.coerceIn(-max, max)
+    val v = value.limit(max)
     return if (abs(v) > deadband) {
-        if (v > 0.0) (v - deadband) / (max - deadband)
-        else (v + deadband) / (max - deadband)
-    } else 0.0
+        if (v > 0.0) {
+            (v - deadband) / (max - deadband)
+        } else {
+            (v + deadband) / (max - deadband)
+        }
+    } else {
+        0.0
+    }
 }
 
-const val kFeetToMeters: Double = 0.3048
 
-const val kInchesToMeters: Double = 0.0254
-
-const val kMetersToFeet: Double = 1 / kFeetToMeters
+/**
+ * Format a number to 3 decimal places
+ */
+val Double.f get() = "%.3f".format(this)
 
-const val kMetersToInches: Double = 1 / kInchesToMeters
+/**
+ * Format a number to 1 decimal places
+ */
+val Double.f1 get() = "%.1f".format(this)
 
-val Number.feet: Double get() = this.toDouble() * kFeetToMeters
+/**
+ * Convert a number in feet into metres
+ */
+val Number.feet: Double get() = this.toDouble() * kFeetToMetres
 
-val Number.inches: Double get() = this.toDouble() * kInchesToMeters
+/**
+ * Convert a number in inches into metres
+ */
+val Number.inches: Double get() = this.toDouble() * kInchesToMetres
 
+/**
+ * Square a number
+ */
 val Double.squared: Double get() = this * this
 
+/**
+ * Cube a number
+ */
+val Double.cubed: Double get() = this * this * this
+
+/**
+ * Square a number and keep the sign
+ */
 val Double.squaredWithSign: Double get() = this * this * sign
 
-fun Boolean.toInt() = if (this) 1 else -1
+/**
+ * Create an integer sign representation of a boolean
+ */
+fun Boolean.toSign() = if (this) 1 else -1
+
+/**
+ * Create a double representation of a boolean
+ */
+fun Boolean.toDouble() = if (this) 1.0 else 0.0
+
+/**
+ * Create an integer representation of a boolean
+ */
+fun Boolean.toInt() = if (this) 1 else 0

src/main/kotlin/ca/warp7/frc/Deprecations.kt

@@ -0,0 +1,16 @@
+package ca.warp7.frc
+
+@Deprecated("", ReplaceWith("ca.warp7.frc.control.CycleCounter"))
+typealias CycleCounter = ca.warp7.frc.control.CycleCounter
+
+@Deprecated("", ReplaceWith("ca.warp7.frc.control.Delta"))
+typealias Delta = ca.warp7.frc.control.Delta
+
+@Deprecated("", ReplaceWith("ca.warp7.frc.control.LatchedBoolean"))
+typealias LatchedBoolean = ca.warp7.frc.control.LatchedBoolean
+
+@Deprecated("", ReplaceWith("ca.warp7.frc.control.MinCycleBoolean"))
+typealias MinCycleBoolean = ca.warp7.frc.control.MinCycleBoolean
+
+@Deprecated("", ReplaceWith(" ca.warp7.frc.control.PID"))
+typealias PID = ca.warp7.frc.control.PID

src/main/kotlin/ca/warp7/frc/action/ActionControl.kt

@@ -3,6 +3,7 @@ package ca.warp7.frc.action
 /**
  * An executor wrapper that can swap out actions
  */
+@Deprecated("")
 class ActionControl : Action {
     private var currentAction: Action? = null
     private var stopping = false
@@ -33,8 +34,4 @@ class ActionControl : Action {
     override fun shouldFinish(): Boolean {
         return stopping || currentAction?.shouldFinish() ?: true
     }
-
-    fun flagAsDone() {
-        stopping = true
-    }
 }

src/main/kotlin/ca/warp7/frc/action/Scheduler.kt → src/main/kotlin/ca/warp7/frc/action/Looper.kt

@@ -5,7 +5,7 @@ import java.util.concurrent.ConcurrentHashMap
 /**
  * Single-Instance scheduler for actions
  */
-object Scheduler {
+object Looper {
 
     private val actionLoops: MutableSet<Action> = ConcurrentHashMap.newKeySet()
     private val toRemove = mutableListOf<Action>()

src/main/kotlin/ca/warp7/frc/CycleCounter.kt → src/main/kotlin/ca/warp7/frc/control/CycleCounter.kt

@@ -1,4 +1,4 @@
-package ca.warp7.frc
+package ca.warp7.frc.control
 
 class CycleCounter(private val cycles: Int = 1) {
     private var count: Int = cycles

src/main/kotlin/ca/warp7/frc/Delta.kt → src/main/kotlin/ca/warp7/frc/control/Delta.kt

@@ -1,4 +1,4 @@
-package ca.warp7.frc
+package ca.warp7.frc.control
 
 class Delta {
     var value = 0.0

src/main/kotlin/ca/warp7/frc/control/Deprecations.kt

@@ -0,0 +1,7 @@
+package ca.warp7.frc.control
+
+@Deprecated("", ReplaceWith("ca.warp7.frc.inputs.ButtonState"))
+typealias ControllerState = ca.warp7.frc.inputs.ButtonState
+
+@Deprecated("", ReplaceWith("ca.warp7.frc.inputs.RobotController"))
+typealias RobotController = ca.warp7.frc.inputs.RobotController

src/main/kotlin/ca/warp7/frc/LatchedBoolean.kt → src/main/kotlin/ca/warp7/frc/control/LatchedBoolean.kt

@@ -1,4 +1,4 @@
-package ca.warp7.frc
+package ca.warp7.frc.control
 
 class LatchedBoolean {
 

src/main/kotlin/ca/warp7/frc/MinCycleBoolean.kt → src/main/kotlin/ca/warp7/frc/control/MinCycleBoolean.kt

@@ -1,6 +1,6 @@
-package ca.warp7.frc
+package ca.warp7.frc.control
 
-class MinCycleBoolean(val minCycles: Int = 1) {
+class MinCycleBoolean(private val minCycles: Int = 1) {
     private var lastValue = false
     private var cycleCount = 0