use annotations for hardware! great idea

GearUp12499-org · Jul 3, 2024 · a9b08ac · a9b08ac
1 parent 20478ae
commit a9b08ac
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Showing 8 changed files with 136 additions and 51 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
@@ -3,8 +3,11 @@
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import org.firstinspires.ftc.teamcode.hardware.AutoClearEncoder;
+import org.firstinspires.ftc.teamcode.hardware.HardwareMapper;
 import org.firstinspires.ftc.teamcode.hardware.HardwareName;
 import org.firstinspires.ftc.teamcode.hardware.Reversed;
+import org.firstinspires.ftc.teamcode.hardware.ZeroPower;
 
 public class Hardware extends HardwareMapper {
     // left = left motor = exp 0 frontLeft
@@ -13,43 +16,35 @@ public class Hardware extends HardwareMapper {
 
     @HardwareName("frontLeft")
     @Reversed
+    @ZeroPower(DcMotor.ZeroPowerBehavior.BRAKE)
     public DcMotor frontLeft;
+
     @HardwareName("frontRight")
+    @ZeroPower(DcMotor.ZeroPowerBehavior.BRAKE)
     public DcMotor frontRight;
+
     @HardwareName("backLeft")
+    @ZeroPower(DcMotor.ZeroPowerBehavior.BRAKE)
     @Reversed
     public DcMotor backLeft;
+
     @HardwareName("backRight")
+    @ZeroPower(DcMotor.ZeroPowerBehavior.BRAKE)
     public DcMotor backRight;
 
     @HardwareName("frontLeft")
+    @AutoClearEncoder
     public DcMotor encoderLeft;
+
     @HardwareName("intake")
+    @AutoClearEncoder
     public DcMotor encoderCenter;
+
     @HardwareName("frontRight")
+    @AutoClearEncoder
     public DcMotor encoderRight;
 
-    private void resetEncoder(DcMotor target) {
-        DcMotor.RunMode mode = target.getMode();
-        target.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        target.setMode(mode);
-    }
-
     public Hardware(HardwareMap hwMap) {
         super(hwMap);
-        frontLeft = hwMap.dcMotor.get("frontLeft");
-        frontRight = hwMap.dcMotor.get("frontRight");
-        backLeft = hwMap.dcMotor.get("backLeft");
-        backRight = hwMap.dcMotor.get("backRight");
-
-        encoderLeft = hwMap.dcMotor.get("frontLeft");
-        encoderCenter = hwMap.dcMotor.get("intake");
-        encoderRight = hwMap.dcMotor.get("frontRight");
-
-        frontLeft.setDirection(DcMotor.Direction.REVERSE);
-        backLeft.setDirection(DcMotor.Direction.REVERSE);
-        resetEncoder(encoderLeft);
-        resetEncoder(encoderCenter);
-        resetEncoder(encoderRight);
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareMapper.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareMapper.java
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AutoClearEncoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AutoClearEncoder.java
@@ -0,0 +1,15 @@
+package org.firstinspires.ftc.teamcode.hardware;
+
+import java.lang.annotation.Documented;
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+/**
+ * Specifies that an encoder should be cleared when the robot is initialized.
+ */
+@Documented
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface AutoClearEncoder { }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareMapper.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareMapper.java
@@ -0,0 +1,74 @@
+package org.firstinspires.ftc.teamcode.hardware;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import java.lang.reflect.Field;
+
+/**
+ * Annotation processor for hardware map things.
+ */
+public abstract class HardwareMapper {
+    public HardwareMapper(HardwareMap map) {
+        Field[] fields = this.getClass().getDeclaredFields();
+        for (Field field : fields) {
+            boolean accessible = field.isAccessible();
+            if (!accessible) field.setAccessible(true);
+            try {
+                Class<?> targetType = field.getType();
+                HardwareName annotation = field.getAnnotation(HardwareName.class);
+                if (annotation == null) continue;
+                Object result = map.tryGet(targetType, field.getName());
+
+                if (result == null) {
+                    throw new RuntimeException(
+                            "Hardware: '" +
+                                    field.getName() + "' not found, expected type " +
+                                    targetType.getName() + " for field " +
+                                    field.getName() + " in " + this.getClass().getName()
+                    );
+                }
+                try {
+                    field.set(this, result);
+                } catch (IllegalAccessException e) {
+                    throw new RuntimeException("Field " + field.getName() + " assign failed: " + result.getClass().getName() + " to " + field.getType().getName());
+                }
+
+                if (field.isAnnotationPresent(Reversed.class)) {
+                    if (targetType.isAssignableFrom(DcMotorSimple.class)) {
+                        DcMotorSimple motor = (DcMotorSimple) result;
+                        motor.setDirection(DcMotorSimple.Direction.REVERSE);
+                    } else {
+                        throw new RuntimeException("@Reversed annotation can only be used on DcMotorSimple (or subclasses)");
+                    }
+                }
+                if (field.isAnnotationPresent(ZeroPower.class)) {
+                    if (targetType.isAssignableFrom(DcMotor.class)) {
+                        DcMotor motor = (DcMotor) result;
+                        ZeroPower zeroPower = field.getAnnotation(ZeroPower.class);
+                        if (zeroPower == null) throw new RuntimeException("ZeroPower annotation is null?!");
+                        motor.setZeroPowerBehavior(zeroPower.value());
+                    } else {
+                        throw new RuntimeException("@ZeroPower annotation can only be used on DcMotor (or subclasses)");
+                    }
+                }
+                if (field.isAnnotationPresent(AutoClearEncoder.class)) {
+                    if (targetType.isAssignableFrom(DcMotor.class)) {
+                        DcMotor motor = (DcMotor) result;
+                        DcMotor.RunMode current = motor.getMode();
+                        motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+                        motor.setMode(current);
+                    } else {
+                        throw new RuntimeException("@AutoClearEncoder annotation can only be used on DcMotor (or subclasses)");
+                    }
+                }
+            } catch (IllegalArgumentException e) {
+                throw new RuntimeException("Field " + field.getName() + " typecast failed");
+            } finally {
+                // lock the field back if it was locked
+                field.setAccessible(accessible);
+            }
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareName.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareName.java
@@ -1,12 +1,14 @@
 package org.firstinspires.ftc.teamcode.hardware;
 
+import java.lang.annotation.Documented;
 import java.lang.annotation.ElementType;
 import java.lang.annotation.Retention;
 import java.lang.annotation.RetentionPolicy;
 import java.lang.annotation.Target;
 
 @Retention(RetentionPolicy.RUNTIME)
 @Target(ElementType.FIELD)
+@Documented
 public @interface HardwareName {
     String value();
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Reversed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Reversed.java
@@ -1,10 +1,16 @@
 package org.firstinspires.ftc.teamcode.hardware;
 
+import java.lang.annotation.Documented;
 import java.lang.annotation.ElementType;
 import java.lang.annotation.Retention;
 import java.lang.annotation.RetentionPolicy;
 import java.lang.annotation.Target;
 
+/**
+ * Specifies that a motor should start with its direction reversed.
+ * The annotated field must be a DcMotorSimple or subclass.
+ */
 @Retention(RetentionPolicy.RUNTIME)
 @Target(ElementType.FIELD)
+@Documented
 public @interface Reversed {}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/ZeroPower.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/ZeroPower.java
@@ -0,0 +1,19 @@
+package org.firstinspires.ftc.teamcode.hardware;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import java.lang.annotation.Documented;
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+/**
+ * Defiles the zero power behavior of a motor.
+ */
+@Documented
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface ZeroPower {
+    DcMotor.ZeroPowerBehavior value();
+}
diff --git a/build.dependencies.gradle b/build.dependencies.gradle
@@ -1,7 +1,9 @@
 repositories {
     mavenCentral()
     google() // Needed for androidx
-
+    maven {
+        url = 'https://maven.brott.dev/'
+    }
 }
 
 dependencies {
@@ -21,5 +23,7 @@ dependencies {
     implementation 'androidx.appcompat:appcompat:1.2.0'
     testImplementation 'org.junit.jupiter:junit-jupiter:5.9.2'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    implementation 'com.acmerobotics.dashboard:dashboard:0.4.15'
 }