Merge pull request #61 from strykeforce/rewrite-measure

Convert Measure enum to data class

Author: jhh

build.gradle

@@ -5,14 +5,14 @@ buildscript {
     }
     dependencies {
         classpath 'com.jfrog.bintray.gradle:gradle-bintray-plugin:1.+'
-        classpath "edu.wpi.first:GradleRIO:2019.1.1"
-        classpath "com.diffplug.spotless:spotless-plugin-gradle:3.15.0"
+        classpath "edu.wpi.first:GradleRIO:2019.4.1"
+        classpath "com.diffplug.spotless:spotless-plugin-gradle:3.24.2"
     }
 }
 
 configure(subprojects) {
     group = 'org.strykeforce.thirdcoast'
-    version = '19.3.0'
+    version = '19.4.0'
 
     apply plugin: 'java-library'
     apply plugin: 'idea'

gradle.properties

@@ -1 +1,2 @@
 githubUrl=https://github.com/strykeforce/thirdcoast
+kotlin.code.style=official

telemetry/build.gradle

@@ -1,6 +1,6 @@
 buildscript {
     ext {
-        kotlin_version = '1.3.20'
+        kotlin_version = '1.3.50'
         junit_version = '5.2.0'
     }
 
@@ -10,7 +10,7 @@ buildscript {
     }
     dependencies {
         classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
-        classpath "org.jetbrains.dokka:dokka-gradle-plugin:0.9.17"
+        classpath "org.jetbrains.dokka:dokka-gradle-plugin:0.9.18"
     }
 }
 
@@ -29,14 +29,14 @@ dependencies {
     compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
 
     // telemetry
-    implementation "org.eclipse.jetty:jetty-server:9.4.12.v20180830"
+    implementation "org.eclipse.jetty:jetty-server:9.4.19.v20190610"
     implementation "com.squareup.moshi:moshi:1.8.0"
     kapt "com.squareup.moshi:moshi-kotlin-codegen:1.8.0"
-    implementation "com.squareup.okhttp3:okhttp:3.12.0"
+    implementation "com.squareup.okhttp3:okhttp:3.12.5"
     implementation project(':swerve')
 
     // Logging
-    compile 'io.github.microutils:kotlin-logging:1.6.10'
+    compile 'io.github.microutils:kotlin-logging:1.7.6'
 
     // unit tests
     testImplementation 'org.skyscreamer:jsonassert:1.+'

telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/AbstractInventory.kt

@@ -43,7 +43,7 @@ private fun JsonWriter.writeItems(items: List<Measurable>): JsonWriter {
 
 private fun JsonWriter.writeMeasures(items: List<Measurable>): JsonWriter {
     beginArray()
-    items.associateBy({ it.type }, { it.measures }).forEach { type, measures ->
+    items.associateBy({ it.type }, { it.measures }).forEach { (type, measures) ->
         beginObject()
         name("deviceType").value(type)
         name("deviceMeasures")

telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/TelemetryService.kt

@@ -11,124 +11,126 @@ import java.util.function.Function
 private val logger = KotlinLogging.logger {}
 
 /**
- * The Telemetry service registers [Measurable] instances for data collection and controls the
- * starting and stopping of the service. When active, the services listens for incoming config
- * messages via a HTTP REST service and sends data over UDP.
+ * The Telemetry service is the main interface for client applications that are telemetry-enabled. It registers
+ * [Measurable] instances for data collection and controls the starting and stopping of the service. When active,
+ * the services listens for incoming control messages via a HTTP REST-like service and sends data over UDP.
+ *
+ * The constructor takes a factory function to create a [TelemetryController] instance with a given [Inventory].
+ * The default [TelemetryController] has a constructor that serves this purpose, for example:
+ * ```
+ * TelemetryService ts = new TelemetryService(TelemetryController::new);
+ * ts.register(talon);
+ * ts.start();
+ * ```
  */
 class TelemetryService(private val telemetryControllerFactory: Function<Inventory, TelemetryController>) {
 
-    // current implementation passes this list to the inventory as a collection via component binding
-    // when start is called. The inventory copies this collection into a List, using its index in
-    // this list as the inventory id.
+  // Current implementation passes the `items` list to the inventory as a collection when start is called. The inventory
+  // sorts and copies this collection into a List, using its index in this list as the inventory id. This should provide
+  // a stable order of measurable items that assists the Grapher client when saving its configuration.
 
-    private val items = LinkedHashSet<Measurable>()
-    private var telemetryController: TelemetryController? = null
+  private val items = LinkedHashSet<Measurable>()
+  private var telemetryController: TelemetryController? = null
 
-    /** Start the Telemetry service and listen for client connections.  */
-    fun start() {
-        if (telemetryController != null) {
-            logger.info("already started")
-            return
-        }
-        telemetryController = telemetryControllerFactory.apply(RobotInventory(items)).also { it.start() }
-        logger.info("started telemetry controller")
+  /**
+   * Start the Telemetry service and listen for client connections.  A new instance of [TelemetryController] is created
+   * that reflects the current list of [Measurable] items.
+   */
+  fun start() {
+    if (telemetryController != null) {
+      logger.info("already started")
+      return
     }
+    telemetryController = telemetryControllerFactory.apply(RobotInventory(items)).also { it.start() }
+    logger.info("started telemetry controller")
+  }
 
-    /** Stop the Telemetry service.  */
-    fun stop() {
-        if (telemetryController == null) {
-            logger.info("already stopped")
-            return
-        }
-        telemetryController?.shutdown()
-        telemetryController = null
-        logger.info("stopped")
+  /** Stop the Telemetry service.  */
+  fun stop() {
+    if (telemetryController == null) {
+      logger.info("already stopped")
+      return
     }
+    telemetryController?.shutdown()
+    telemetryController = null
+    logger.info("stopped")
+  }
 
-    /**
-     * Un-register all Items.
-     *
-     * @throws IllegalStateException if TelemetryService is running.
-     */
-    fun clear() {
-        checkNotStarted()
-        items.clear()
-        logger.info("item set was cleared")
-    }
+  /**
+   * Un-register all [Measurable] items.
+   *
+   * @throws IllegalStateException if TelemetryService is running.
+   */
+  fun clear() {
+    check(telemetryController == null) { "TelemetryService must be stopped to clear registered items." }
+    items.clear()
+    logger.info("item set was cleared")
+  }
 
-    /**
-     * Registers an Item for telemetry sending.
-     *
-     * @param item the Item to register for data collection
-     * @throws IllegalStateException if TelemetryService is running.
-     */
-    fun register(item: Measurable) {
-        checkNotStarted()
-        if (items.add(item)) {
-            logger.info { "registered item ${item.description}" }
-            return
-        }
-        logger.info { "item ${item.description} was already registered" }
+  /**
+   * Registers an Item for telemetry sending.
+   *
+   * @param item the [Measurable] to register for data collection
+   * @throws IllegalStateException if TelemetryService is running.
+   */
+  fun register(item: Measurable) {
+    check(telemetryController == null) { "TelemetryService must be stopped to register an item." }
+    if (items.add(item)) {
+      logger.info { "registered item ${item.description}" }
+      return
     }
+    logger.info { "item ${item.description} was already registered" }
+  }
 
-    /**
-     * Register a collection for telemetry sending.
-     *
-     * @param collection the collection of Items to register for data collection
-     * @throws IllegalStateException if TelemetryService is running.
-     */
-    fun registerAll(collection: Collection<Measurable>) {
-        checkNotStarted()
-        items.addAll(collection)
-        logger.info { "registered all: $collection" }
-    }
+  /**
+   * Register a collection of [Measurable] items for telemetry sending.
+   *
+   * @param collection the collection of Items to register for data collection
+   * @throws IllegalStateException if TelemetryService is running.
+   */
+  fun registerAll(collection: Collection<Measurable>) = collection.forEach(this::register)
 
-    /**
-     * Convenience method to register a `TalonSRX` for telemetry sending.
-     *
-     * @param talon the TalonSRX to register for data collection
-     * @throws IllegalStateException if TelemetryService is running.
-     */
-    fun register(talon: TalonSRX) {
-        register(TalonItem(talon))
-    }
+  /**
+   * Convenience method to register a `TalonSRX` for telemetry sending.
+   *
+   * @param talon the TalonSRX to register for data collection
+   * @throws IllegalStateException if TelemetryService is running.
+   */
+  fun register(talon: TalonSRX) {
+    register(TalonItem(talon))
+  }
 
-    /**
-     * Convenience method to register a [SwerveDrive] for telemetry sending.
-     *
-     * @throws IllegalStateException if TelemetryService is running.
-     */
-    fun register(swerveDrive: SwerveDrive) = swerveDrive.wheels.forEach {
-        register(TalonItem(it.azimuthTalon))
-        register(TalonItem(it.driveTalon))
-    }
+  /**
+   * Convenience method to register a [SwerveDrive] for telemetry sending.
+   *
+   * @throws IllegalStateException if TelemetryService is running.
+   */
+  fun register(swerveDrive: SwerveDrive) = swerveDrive.wheels.forEach {
+    register(TalonItem(it.azimuthTalon))
+    register(TalonItem(it.driveTalon))
+  }
 
-    /**
-     * Get an unmodifiable view of the registered items.
-     *
-     * @return an unmodifiable Set of Items.
-     */
-    fun getItems(): Set<Measurable> {
-        return Collections.unmodifiableSet(items)
-    }
+  /**
+   * Get an unmodifiable view of the registered items.
+   *
+   * @return an unmodifiable Set of Items.
+   */
+  fun getItems(): Set<Measurable> {
+    return Collections.unmodifiableSet(items)
+  }
 
-    /**
-     * Unregister [item] from a stopped `TelemetryService`.
-     *
-     * @throws AssertionError if TelemetryService is running.
-     */
-    fun remove(item: Measurable) {
-        checkNotStarted()
-        if (items.remove(item)) {
-            logger.info { "removed $item" }
-            return
-        }
-        throw AssertionError(item.toString())
+  /**
+   * Unregister a [Measurable] item. This service must be stopped first.
+   *
+   * @throws AssertionError if TelemetryService is running.
+   */
+  fun remove(item: Measurable) {
+    check(telemetryController == null) { "TelemetryService must be stopped to remove an item." }
+    if (items.remove(item)) {
+      logger.info { "removed $item" }
+      return
     }
+    throw AssertionError(item.toString())
+  }
 
-    private fun checkNotStarted() {
-        if (telemetryController != null) {
-            throw IllegalStateException("TelemetryService must be stopped.")
-        }
-    }
 }