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jhhjhh
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Merge branch 'feature/dio'
2 parents 5c0b901 + 58142ab commit 4300d7d

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6 files changed

+130
-14
lines changed

6 files changed

+130
-14
lines changed

‎src/main/kotlin/org/strykeforce/thirdcoast/Koin.kt‎

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Original file line numberDiff line numberDiff line change
@@ -4,13 +4,15 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice
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import com.ctre.phoenix.motorcontrol.NeutralMode
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import com.ctre.phoenix.motorcontrol.can.TalonSRX
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import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration
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import edu.wpi.first.wpilibj.DigitalOutput
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import edu.wpi.first.wpilibj.Servo
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import org.jline.reader.LineReader
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import org.jline.reader.LineReaderBuilder
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import org.jline.terminal.Terminal
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import org.jline.terminal.TerminalBuilder
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import org.koin.dsl.module.module
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import org.strykeforce.thirdcoast.command.Command
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import org.strykeforce.thirdcoast.device.DigitalOutputService
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import org.strykeforce.thirdcoast.device.ServoService
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import org.strykeforce.thirdcoast.device.TalonService
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import org.strykeforce.thirdcoast.swerve.SwerveDrive
@@ -35,6 +37,8 @@ val tctModule = module {
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single { ServoService { id -> Servo(id) } }
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40+
single { DigitalOutputService { id -> DigitalOutput(id) } }
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single { (command: Command) -> Shell(command, get()) }
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single<Terminal> { TerminalBuilder.terminal() }

‎src/main/kotlin/org/strykeforce/thirdcoast/command/Command.kt‎

Lines changed: 15 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -7,6 +7,8 @@ import org.jline.utils.AttributedString
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import org.jline.utils.AttributedStyle
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import org.koin.standalone.KoinComponent
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import org.koin.standalone.inject
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import org.strykeforce.thirdcoast.dio.RunDigitalOutputsCommand
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import org.strykeforce.thirdcoast.dio.SelectDigitalOutputsCommand
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import org.strykeforce.thirdcoast.servo.RunServosCommand
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import org.strykeforce.thirdcoast.servo.SelectServosCommand
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import org.strykeforce.thirdcoast.swerve.AdjustAzimuthCommand
@@ -35,20 +37,7 @@ interface Command {
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val type = toml.getString(TYPE_KEY) ?: throw Exception("$key: $TYPE_KEY missing")
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return when (type) {
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"menu" -> {
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val command = MenuCommand(parent, key, toml)
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toml.keySet().filter(toml::isTable)
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.forEach { k ->
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val child =
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createFromToml(
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toml.getTable(k)!!,
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command,
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k
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)
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command.children.add(child)
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}
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command
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}
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"menu" -> createMenuCommand(parent, key, toml)
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"talon.select" -> SelectTalonsCommand(parent, key, toml)
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"talon.mode" -> SelectControlModeCommand(parent, key, toml)
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"talon.brake" -> SelectBrakeModeCommand(parent, key, toml)
@@ -63,13 +52,25 @@ interface Command {
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"talon.hard.normal" -> SelectHardLimitNormalCommand(parent, key, toml)
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"servo.select" -> SelectServosCommand(parent, key, toml)
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"servo.run" -> RunServosCommand(parent, key, toml)
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"digital_output.select" -> SelectDigitalOutputsCommand(parent, key, toml)
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"digital_output.run" -> RunDigitalOutputsCommand(parent, key, toml)
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"swerve.azimuth" -> SetAzimuthCommand(parent, key, toml)
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"swerve.azimuth.save" -> SaveZeroCommand(parent, key, toml)
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"swerve.azimuth.select" -> SelectAzimuthCommand(parent, key, toml)
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"swerve.azimuth.adjust" -> AdjustAzimuthCommand(parent, key, toml)
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else -> DefaultCommand(parent, key, toml)
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}
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}
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private fun createMenuCommand(parent: MenuCommand?, key: String, toml: TomlTable): MenuCommand {
66+
val command = MenuCommand(parent, key, toml)
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toml.keySet().filter(toml::isTable)
68+
.forEach { k ->
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val child = createFromToml(toml.getTable(k)!!, command, k)
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command.children.add(child)
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}
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return command
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}
7374
}
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}
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‎src/main/kotlin/org/strykeforce/thirdcoast/device/DigitalOutputService.kt‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,5 @@
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package org.strykeforce.thirdcoast.device
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3+
import edu.wpi.first.wpilibj.DigitalOutput
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class DigitalOutputService(factory: (id: Int) -> DigitalOutput) : AbstractDeviceService<DigitalOutput>(factory)

‎src/main/kotlin/org/strykeforce/thirdcoast/dio/RunDigitalOutputsCommand.kt‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,57 @@
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package org.strykeforce.thirdcoast.dio
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import edu.wpi.first.wpilibj.DigitalOutput
4+
import mu.KotlinLogging
5+
import net.consensys.cava.toml.TomlTable
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import org.koin.standalone.inject
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import org.strykeforce.thirdcoast.command.AbstractCommand
8+
import org.strykeforce.thirdcoast.command.Command
9+
import org.strykeforce.thirdcoast.command.prompt
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import org.strykeforce.thirdcoast.device.DigitalOutputService
11+
import org.strykeforce.thirdcoast.readInt
12+
import org.strykeforce.thirdcoast.warn
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private val logger = KotlinLogging.logger {}
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class RunDigitalOutputsCommand(
17+
parent: Command?,
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key: String,
19+
toml: TomlTable
20+
) : AbstractCommand(parent, key, toml) {
21+
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private val digitalOutputService: DigitalOutputService by inject()
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24+
override val menu: String
25+
get() = formatMenu(digitalOutputService.active.map(DigitalOutput::getInt).joinToString())
26+
27+
override fun execute(): Command {
28+
if (digitalOutputService.active.isEmpty()) {
29+
terminal.warn("no digital outputs selected")
30+
return super.execute()
31+
}
32+
var done = false
33+
34+
while (!done) {
35+
try {
36+
val setpoints = mutableListOf<Int>()
37+
digitalOutputService.active.forEach {
38+
val setpoint = reader.readInt(this.prompt("digital output ${it.channel}"), it.getInt())
39+
if (!(0..1).contains(setpoint)) throw IllegalArgumentException()
40+
setpoints += setpoint
41+
}
42+
digitalOutputService.active.forEachIndexed { i, digitalOutput ->
43+
digitalOutput.set(setpoints[i] == 1)
44+
logger.info { "set digital output ${digitalOutput.channel} to ${setpoints[i]}" }
45+
}
46+
done = true
47+
} catch (e: Exception) {
48+
terminal.warn("please enter a 0 or 1")
49+
}
50+
}
51+
52+
return super.execute()
53+
}
54+
55+
}
56+
57+
private fun DigitalOutput.getInt() = if (this.get()) 1 else 0

‎src/main/kotlin/org/strykeforce/thirdcoast/dio/SelectDigitalOutputsCommand.kt‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,34 @@
1+
package org.strykeforce.thirdcoast.dio
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3+
import edu.wpi.first.wpilibj.DigitalOutput
4+
import net.consensys.cava.toml.TomlTable
5+
import org.koin.standalone.inject
6+
import org.strykeforce.thirdcoast.command.AbstractCommand
7+
import org.strykeforce.thirdcoast.command.Command
8+
import org.strykeforce.thirdcoast.command.prompt
9+
import org.strykeforce.thirdcoast.device.DigitalOutputService
10+
import org.strykeforce.thirdcoast.readIntList
11+
import org.strykeforce.thirdcoast.warn
12+
13+
class SelectDigitalOutputsCommand(
14+
parent: Command?,
15+
key: String,
16+
toml: TomlTable
17+
) : AbstractCommand(parent, key, toml) {
18+
private val digitalOutputService: DigitalOutputService by inject()
19+
20+
override val menu: String
21+
get() = formatMenu(digitalOutputService.active.map(DigitalOutput::getChannel).joinToString())
22+
23+
override fun execute(): Command {
24+
while (true) {
25+
try {
26+
val channels = reader.readIntList(this.prompt("channels"))
27+
digitalOutputService.activate(channels)
28+
return super.execute()
29+
} catch (e: IllegalArgumentException) {
30+
terminal.warn("Please enter a list of Digital Output channels separated by ','")
31+
}
32+
}
33+
}
34+
}

‎src/main/resources/commands.toml‎

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Original file line numberDiff line numberDiff line change
@@ -335,6 +335,21 @@ type = "menu"
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order = 20
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menu = "active servos"
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338+
[digital_output]
339+
type = "menu"
340+
order = 25
341+
menu = "work with digital outputs"
342+
[digital_output.set]
343+
type = "digital_output.run"
344+
order = 10
345+
menu = "set digital output"
346+
[digital_output.select]
347+
type = "digital_output.select"
348+
order = 20
349+
menu = "active digital outputs"
350+
351+
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338353
[swerve]
339354
type = "menu"
340355
order = 30

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