Add solenoids

Author: jhh

build.gradle

@@ -1,10 +1,10 @@
 plugins {
 
-    id "org.jetbrains.kotlin.jvm" version "1.3.20"
+    id "org.jetbrains.kotlin.jvm" version "1.3.40"
     id "idea"
 }
 
-version = "19.2.0"
+version = "19.3.0"
 
 repositories {
     jcenter()

gradle.properties

@@ -1,5 +1,5 @@
 kotlin.code.style=official
-kotlin_version = 1.3.20
+kotlin_version = 1.3.40
 junit_version = 5.2.0
 koin_version = 1.0.2
 thirdcoast_version = 19.1.2

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

@@ -7,16 +7,14 @@ import com.ctre.phoenix.motorcontrol.can.TalonSRX
 import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration
 import edu.wpi.first.wpilibj.DigitalOutput
 import edu.wpi.first.wpilibj.Servo
+import edu.wpi.first.wpilibj.Solenoid
 import org.jline.reader.LineReader
 import org.jline.reader.LineReaderBuilder
 import org.jline.terminal.Terminal
 import org.jline.terminal.TerminalBuilder
 import org.koin.dsl.module.module
 import org.strykeforce.thirdcoast.command.Command
-import org.strykeforce.thirdcoast.device.CanifierService
-import org.strykeforce.thirdcoast.device.DigitalOutputService
-import org.strykeforce.thirdcoast.device.ServoService
-import org.strykeforce.thirdcoast.device.TalonService
+import org.strykeforce.thirdcoast.device.*
 import org.strykeforce.thirdcoast.swerve.SwerveDrive
 import org.strykeforce.thirdcoast.swerve.SwerveDriveConfig
 import org.strykeforce.thirdcoast.swerve.Wheel
@@ -39,6 +37,8 @@ val tctModule = module {
 
     single { ServoService { id -> Servo(id) } }
 
+    single { SolenoidService { id -> Solenoid(id) } }
+
     single { DigitalOutputService { id -> DigitalOutput(id) } }
 
     single { CanifierService(get()) { id -> CANifier(id) } }

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

@@ -12,6 +12,8 @@ import org.strykeforce.thirdcoast.dio.RunDigitalOutputsCommand
 import org.strykeforce.thirdcoast.dio.SelectDigitalOutputsCommand
 import org.strykeforce.thirdcoast.servo.RunServosCommand
 import org.strykeforce.thirdcoast.servo.SelectServosCommand
+import org.strykeforce.thirdcoast.solenoid.RunSolenoidsCommand
+import org.strykeforce.thirdcoast.solenoid.SelectSolenoidsCommand
 import org.strykeforce.thirdcoast.swerve.AdjustAzimuthCommand
 import org.strykeforce.thirdcoast.swerve.SaveZeroCommand
 import org.strykeforce.thirdcoast.swerve.SelectAzimuthCommand
@@ -54,6 +56,8 @@ interface Command {
                 "talon.velocity.period" -> SelectVelocityMeasurmentPeriodCommand(parent, key, toml)
                 "servo.select" -> SelectServosCommand(parent, key, toml)
                 "servo.run" -> RunServosCommand(parent, key, toml)
+                "solenoid.select" -> SelectSolenoidsCommand(parent, key, toml)
+                "solenoid.run" -> RunSolenoidsCommand(parent, key, toml)
                 "digital_output.select" -> SelectDigitalOutputsCommand(parent, key, toml)
                 "digital_output.run" -> RunDigitalOutputsCommand(parent, key, toml)
                 "canifier.select" -> SelectCanifierCommand(parent, key, toml)

src/main/kotlin/org/strykeforce/thirdcoast/device/SolenoidService.kt

@@ -0,0 +1,5 @@
+package org.strykeforce.thirdcoast.device
+
+import edu.wpi.first.wpilibj.Solenoid
+
+class SolenoidService(factory: (id: Int) -> Solenoid) : AbstractDeviceService<Solenoid>(factory)

src/main/kotlin/org/strykeforce/thirdcoast/solenoid/RunSolenoidsCommand.kt

@@ -0,0 +1,57 @@
+package org.strykeforce.thirdcoast.solenoid
+
+import edu.wpi.first.wpilibj.Servo
+import edu.wpi.first.wpilibj.Solenoid
+import mu.KotlinLogging
+import net.consensys.cava.toml.TomlTable
+import org.koin.standalone.inject
+import org.strykeforce.thirdcoast.command.AbstractCommand
+import org.strykeforce.thirdcoast.command.Command
+import org.strykeforce.thirdcoast.command.prompt
+import org.strykeforce.thirdcoast.device.ServoService
+import org.strykeforce.thirdcoast.device.SolenoidService
+import org.strykeforce.thirdcoast.readBoolean
+import org.strykeforce.thirdcoast.readDouble
+import org.strykeforce.thirdcoast.warn
+
+private val logger = KotlinLogging.logger {}
+
+class RunSolenoidsCommand(
+    parent: Command?,
+    key: String,
+    toml: TomlTable
+) : AbstractCommand(parent, key, toml) {
+
+    private val solenoidService: SolenoidService by inject()
+
+    override val menu: String
+        get() = formatMenu(solenoidService.active.map(Solenoid::get).joinToString())
+
+    override fun execute(): Command {
+        if (solenoidService.active.isEmpty()) {
+            terminal.warn("no solenoids selected")
+            return super.execute()
+        }
+        var done = false
+
+        while (!done) {
+            try {
+                val setpoints = mutableListOf<Boolean>()
+                solenoidService.active.forEach {
+                    val setpoint = reader.readBoolean(this.prompt("solenoid ${it.name} (y/n)"), it.get())
+                    setpoints += setpoint
+                }
+                solenoidService.active.forEachIndexed { i, solenoid ->
+                    solenoid.set(setpoints[i])
+                    logger.info { "set solenoid ${solenoid.name} to ${setpoints[i]}" }
+                }
+                done = true
+            } catch (e: Exception) {
+                terminal.warn("please enter a y/n value)")
+            }
+        }
+
+        return super.execute()
+    }
+
+}

src/main/kotlin/org/strykeforce/thirdcoast/solenoid/SelectSolenoidsCommand.kt

@@ -0,0 +1,40 @@
+package org.strykeforce.thirdcoast.solenoid
+
+import edu.wpi.first.wpilibj.Solenoid
+import net.consensys.cava.toml.TomlTable
+import org.koin.standalone.inject
+import org.strykeforce.thirdcoast.command.AbstractCommand
+import org.strykeforce.thirdcoast.command.Command
+import org.strykeforce.thirdcoast.command.prompt
+import org.strykeforce.thirdcoast.device.SolenoidService
+import org.strykeforce.thirdcoast.readIntList
+import org.strykeforce.thirdcoast.warn
+
+class SelectSolenoidsCommand(
+    parent: Command?,
+    key: String,
+    toml: TomlTable
+) : AbstractCommand(parent, key, toml) {
+    private val solenoidService: SolenoidService by inject()
+
+    override val menu: String
+        get() = formatMenu(solenoidService.active.joinToString(transform = Solenoid::port))
+
+    override fun execute(): Command {
+        while (true) {
+            try {
+                val ports = reader.readIntList(this.prompt("ports"))
+                solenoidService.activate(ports)
+                return super.execute()
+            } catch (e: IllegalArgumentException) {
+                terminal.warn("Please enter a list of Solenoid ports separated by ','")
+            }
+        }
+    }
+}
+
+internal fun Solenoid.port(): String {
+    val name = this.name
+    val start = name.indexOf(',') + 1
+    return name.substring(start, start + 1)
+}

src/main/resources/commands.toml

@@ -347,6 +347,19 @@ type = "menu"
     order = 20
     menu = "active servos"
 
+[solenoid]
+  type = "menu"
+  order = 25
+  menu = "work with solenoids"
+  [solenoid.run]
+    type = "solenoid.run"
+    order = 10
+    menu = "set solenoid positions"
+  [solenoid.select]
+    type = "solenoid.select"
+    order = 20
+    menu = "active solenoids"
+
 [digital_output]
   type = "menu"
   order = 30