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Add impl version, fix warning
1 parent 9ea7936 commit bb4e898

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3 files changed

+42
-43
lines changed

3 files changed

+42
-43
lines changed

‎build.gradle‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,6 +4,8 @@ plugins {
44
id "edu.wpi.first.GradleRIO" version "2020.1.2"
55
}
66

7+
version = "20.0.0"
8+
79
sourceCompatibility = JavaVersion.VERSION_11
810
targetCompatibility = JavaVersion.VERSION_11
911

@@ -94,7 +96,7 @@ jar {
9496
manifest {
9597
attributes(
9698
'Implementation-Title': 'Third Coast Telemetry Utility (tct)',
97-
'Implementation-Version': '20.0.0'
99+
'Implementation-Version': version
98100
)
99101
}
100102
}

‎gradle/wrapper/gradle-wrapper.properties‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
1+
#Sat Jan 18 13:27:09 EST 2020
2+
distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-all.zip
13
distributionBase=GRADLE_USER_HOME
24
distributionPath=permwrapper/dists
3-
distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
4-
zipStoreBase=GRADLE_USER_HOME
55
zipStorePath=permwrapper/dists
6+
zipStoreBase=GRADLE_USER_HOME

‎src/main/kotlin/org/strykeforce/thirdcoast/gyro/PigeonParameterCommand.kt‎

Lines changed: 36 additions & 40 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,5 @@
11
package org.strykeforce.thirdcoast.gyro
22

3-
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced
4-
import com.ctre.phoenix.motorcontrol.can.TalonFX
5-
import com.ctre.phoenix.motorcontrol.can.TalonSRX
63
import com.ctre.phoenix.sensors.PigeonIMU
74
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame
85
import mu.KotlinLogging
@@ -11,6 +8,7 @@ import org.koin.standalone.inject
118
import org.strykeforce.thirdcoast.command.AbstractCommand
129
import org.strykeforce.thirdcoast.command.Command
1310
import org.strykeforce.thirdcoast.device.PigeonService
11+
import org.strykeforce.thirdcoast.gyro.PigeonParameter.Enum.*
1412

1513
private val logger = KotlinLogging.logger {}
1614

@@ -21,101 +19,99 @@ class PigeonParameterCommand(
2119
) : AbstractCommand(parent, key, toml) {
2220

2321
private val pigeonService: PigeonService by inject()
24-
private val param = PigeonParameter.create(this, toml.getString("param")?: "UNKNOWN")
22+
private val param = PigeonParameter.create(this, toml.getString("param") ?: "UNKNOWN")
2523

2624
override val menu: String
2725
get() {
2826
var xyzArray = DoubleArray(3)
29-
return when(param.enum){
27+
return when (param.enum) {
3028
PigeonParameter.Enum.ACCUM_Z_ANGLE -> {
3129
pigeonService.active.map { it.getAccumGyro(xyzArray) }
3230
formatMenu(xyzArray[2])
3331
}
34-
PigeonParameter.Enum.FUSED_HEADING -> formatMenu(pigeonService.active.map { it.fusedHeading }.joinToString())
35-
PigeonParameter.Enum.TEMP_COMP_DISABLE -> formatMenu(pigeonService.tempCompensation)
36-
PigeonParameter.Enum.YAW -> {
32+
FUSED_HEADING -> formatMenu(pigeonService.active.map { it.fusedHeading }.joinToString())
33+
TEMP_COMP_DISABLE -> formatMenu(pigeonService.tempCompensation)
34+
YAW -> {
3735
pigeonService.active.map { it.getYawPitchRoll(xyzArray) }
3836
formatMenu(xyzArray[0])
3937
}
40-
PigeonParameter.Enum.GENERAL_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_1_General))
41-
PigeonParameter.Enum.SIX_DEG_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR))
42-
PigeonParameter.Enum.FUSED_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion))
43-
PigeonParameter.Enum.GYRO_ACCUM_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_3_GeneralAccel))
44-
PigeonParameter.Enum.GEN_COMPASS_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_2_GeneralCompass))
45-
PigeonParameter.Enum.GEN_ACCEL_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_3_GeneralAccel))
46-
PigeonParameter.Enum.SIX_QUAT_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_10_SixDeg_Quat))
47-
PigeonParameter.Enum.MAG_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.RawStatus_4_Mag))
48-
PigeonParameter.Enum.BIAS_GYRO_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_2_Gyro))
49-
PigeonParameter.Enum.BIAS_MAG_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_4_Mag))
50-
PigeonParameter.Enum.BIAS_ACCEL_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_6_Accel))
51-
PigeonParameter.Enum.FACTORY_DEFAULT -> tomlMenu
52-
else -> TODO("${param.enum} not implemented")
38+
GENERAL_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_1_General))
39+
SIX_DEG_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR))
40+
FUSED_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion))
41+
GYRO_ACCUM_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_3_GeneralAccel))
42+
GEN_COMPASS_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_2_GeneralCompass))
43+
GEN_ACCEL_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_3_GeneralAccel))
44+
SIX_QUAT_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.CondStatus_10_SixDeg_Quat))
45+
MAG_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.RawStatus_4_Mag))
46+
BIAS_GYRO_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_2_Gyro))
47+
BIAS_MAG_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_4_Mag))
48+
BIAS_ACCEL_STATUS -> formatMenu(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_6_Accel))
49+
FACTORY_DEFAULT -> tomlMenu
5350
}
5451
}
5552

5653
override fun execute(): Command {
5754
val timeout = pigeonService.timeout
58-
when(param.enum){
55+
when (param.enum) {
5956
PigeonParameter.Enum.ACCUM_Z_ANGLE -> {
6057
val xyzArray = DoubleArray(3)
6158
pigeonService.active.firstOrNull()?.getAccumGyro(xyzArray)
6259
val default = xyzArray[2]
6360
val paramValue = param.readDouble(reader, default)
6461
pigeonService.active.forEach { it.setAccumZAngle(paramValue, timeout) }
6562
}
66-
PigeonParameter.Enum.FUSED_HEADING -> {
67-
val default = pigeonService.active.firstOrNull()?.fusedHeading?: 0.0
63+
FUSED_HEADING -> {
64+
val default = pigeonService.active.firstOrNull()?.fusedHeading ?: 0.0
6865
val paramValue = param.readDouble(reader, default)
6966
pigeonService.active.forEach { it.setFusedHeading(paramValue, timeout) }
7067
}
71-
PigeonParameter.Enum.TEMP_COMP_DISABLE -> configBooleanParam(pigeonService.tempCompensation){ pigeon, value ->
68+
TEMP_COMP_DISABLE -> configBooleanParam(pigeonService.tempCompensation) { pigeon, value ->
7269
pigeon.setTemperatureCompensationDisable(value, timeout)
7370
pigeonService.tempCompensation = value
7471
}
75-
PigeonParameter.Enum.YAW -> {
72+
YAW -> {
7673
val rpyArray = DoubleArray(3)
7774
pigeonService.active.firstOrNull()?.getYawPitchRoll(rpyArray)
7875
val default = rpyArray[0]
7976
val paramValue = param.readDouble(reader, default)
8077
pigeonService.active.forEach { it.setYaw(paramValue, timeout) }
8178
}
82-
PigeonParameter.Enum.GENERAL_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_1_General)){ pigeon, value ->
79+
GENERAL_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_1_General)) { pigeon, value ->
8380
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_1_General, value, timeout)
8481
}
85-
PigeonParameter.Enum.SIX_DEG_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR)){ pigeon, value ->
82+
SIX_DEG_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR)) { pigeon, value ->
8683
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, value, timeout)
8784
}
88-
PigeonParameter.Enum.FUSED_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion)){ pigeon, value ->
85+
FUSED_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion)) { pigeon, value ->
8986
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion, value, timeout)
9087
}
91-
PigeonParameter.Enum.GYRO_ACCUM_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_11_GyroAccum)){ pigeon, value ->
88+
GYRO_ACCUM_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_11_GyroAccum)) { pigeon, value ->
9289
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_11_GyroAccum, value, timeout)
9390
}
94-
PigeonParameter.Enum.GEN_COMPASS_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_2_GeneralCompass)){ pigeon, value ->
91+
GEN_COMPASS_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_2_GeneralCompass)) { pigeon, value ->
9592
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_2_GeneralCompass, value, timeout)
9693
}
97-
PigeonParameter.Enum.GEN_ACCEL_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_3_GeneralAccel)){ pigeon, value ->
94+
GEN_ACCEL_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_3_GeneralAccel)) { pigeon, value ->
9895
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_3_GeneralAccel, value, timeout)
9996
}
100-
PigeonParameter.Enum.SIX_QUAT_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_10_SixDeg_Quat)){ pigeon, value ->
97+
SIX_QUAT_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.CondStatus_10_SixDeg_Quat)) { pigeon, value ->
10198
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_10_SixDeg_Quat, value, timeout)
10299
}
103-
PigeonParameter.Enum.MAG_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.RawStatus_4_Mag)){ pigeon, value ->
100+
MAG_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.RawStatus_4_Mag)) { pigeon, value ->
104101
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.RawStatus_4_Mag, value, timeout)
105102
}
106-
PigeonParameter.Enum.BIAS_GYRO_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_2_Gyro)){ pigeon, value ->
103+
BIAS_GYRO_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_2_Gyro)) { pigeon, value ->
107104
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.BiasedStatus_2_Gyro, value, timeout)
108105
}
109-
PigeonParameter.Enum.BIAS_MAG_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_4_Mag)){ pigeon, value ->
106+
BIAS_MAG_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_4_Mag)) { pigeon, value ->
110107
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.BiasedStatus_4_Mag, value, timeout)
111108
}
112-
PigeonParameter.Enum.BIAS_ACCEL_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_6_Accel)){ pigeon, value ->
109+
BIAS_ACCEL_STATUS -> configIntParam(defaultFor(PigeonIMU_StatusFrame.BiasedStatus_6_Accel)) { pigeon, value ->
113110
pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.BiasedStatus_6_Accel, value, timeout)
114111
}
115-
PigeonParameter.Enum.FACTORY_DEFAULT -> configBooleanParam(false){ pigeon, value ->
116-
if(value) pigeon.configFactoryDefault(timeout)
112+
FACTORY_DEFAULT -> configBooleanParam(false) { pigeon, value ->
113+
if (value) pigeon.configFactoryDefault(timeout)
117114
}
118-
else -> TODO("${param.enum} not implemented")
119115
}
120116
return super.execute()
121117
}

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