Convert Measure enum to data class

Author: jhh

gradle.properties

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

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.")
-        }
-    }
 }

telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/Measure.kt

@@ -5,6 +5,7 @@ import com.squareup.moshi.Moshi
 import mu.KotlinLogging
 import okio.BufferedSink
 import org.strykeforce.thirdcoast.telemetry.Inventory
+import org.strykeforce.thirdcoast.telemetry.item.Measure
 import java.io.IOException
 import java.util.*
 import java.util.function.DoubleSupplier
@@ -20,12 +21,7 @@ class Subscription(inventory: Inventory, val client: String, requestJson: String
         val request: RequestJson = RequestJson.fromJson(requestJson) ?: RequestJson.EMPTY
         request.subscription.forEach {
             val item = inventory.itemForId(it.itemId)
-            val measure = try {
-                Measure.valueOf(it.measurementId)
-            } catch (e: IllegalArgumentException) {
-                logger.error { "no such measure \"${it.measurementId}\", request JSON = \n$requestJson" }
-                Measure.UNKNOWN
-            }
+            val measure = Measure(it.measurementId, it.measurementId)
             measurements += item.measurementFor(measure)
             descriptions += "${item.description}: ${measure.description}"
         }