Hardware features

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java

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+package org.firstinspires.ftc.teamcode;
+
+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
+    // right = right motor = ctr 0 frontRight
+    // center = ctr 3 intake
+
+    @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;
+
+    public Hardware(HardwareMap hwMap) {
+        super(hwMap);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AutoClearEncoder.java

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+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 { }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareMapper.java

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+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.annotation.Annotation;
+import java.lang.reflect.Field;
+
+/**
+ * Annotation processor for hardware map things.
+ */
+public abstract class HardwareMapper {
+    /**
+     * Represents an annotation processor for hardware devices.
+     * Internals are a bit of a mess right now.
+     * <p> </p>
+     * HardwareName is hardcoded because it provides the value of the field.
+     */
+    static final class DeviceAnnotation<AnnotationT extends Annotation, TargetT> {
+        private final Class<AnnotationT> annotationClass;
+        private final Class<TargetT> targetClass;
+        private final Action<AnnotationT, TargetT> action;
+
+        @FunctionalInterface
+        interface Action<AnnotationT extends Annotation, TargetType> {
+            void use(AnnotationT annotation, TargetType target);
+        }
+
+        DeviceAnnotation(Class<AnnotationT> annotationClass, Class<TargetT> targetClass, Action<AnnotationT, TargetT> action) {
+            this.annotationClass = annotationClass;
+            this.targetClass = targetClass;
+            this.action = action;
+        }
+
+        private boolean check(Field t, Object value) {
+            if (!t.isAnnotationPresent(annotationClass)) return false;
+            AnnotationT annotation = t.getAnnotation(annotationClass);
+            if (annotation == null)
+                throw new NullPointerException("Annotation is null! (isAnnotationPresent is true but getAnnotation returned null)");
+            if (!targetClass.isAssignableFrom(value.getClass()))
+                throw new ClassCastException("Annotation " + annotationClass.getName() + " can only be used on " + targetClass.getName() + " (or subclasses)");
+            return true;
+        }
+
+        void use(Field t, Object value) {
+            if (!check(t, value)) return;
+            AnnotationT annotation = t.getAnnotation(annotationClass);
+            if (annotation == null)
+                throw new NullPointerException("Annotation disappeared between check and use");
+            action.use(annotation, targetClass.cast(value));
+        }
+    }
+
+    static final DeviceAnnotation<Reversed, DcMotorSimple> reversed =
+            new DeviceAnnotation<>(
+                    Reversed.class,
+                    DcMotorSimple.class,
+                    (annotation, target) -> target.setDirection(DcMotorSimple.Direction.REVERSE)
+            );
+
+    static final DeviceAnnotation<ZeroPower, DcMotor> zeroPower =
+            new DeviceAnnotation<>(
+                    ZeroPower.class,
+                    DcMotor.class,
+                    (annotation, target) -> target.setZeroPowerBehavior(annotation.value())
+            );
+
+    static final DeviceAnnotation<AutoClearEncoder, DcMotor> autoClearEncoder =
+            new DeviceAnnotation<>(
+                    AutoClearEncoder.class,
+                    DcMotor.class,
+                    (annotation, target) -> {
+                        DcMotor.RunMode current = target.getMode();
+                        target.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+                        target.setMode(current);
+                    }
+            );
+
+    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, annotation.value());
+
+                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());
+                }
+
+                reversed.use(field, result);
+                zeroPower.use(field, result);
+                autoClearEncoder.use(field, result);
+            } catch (IllegalArgumentException e) {
+                throw new RuntimeException("Field " + field.getName() + " typecast failed");
+            } finally {
+                // lock the field back if it was locked
+                field.setAccessible(accessible);
+            }
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/HardwareName.java

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+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();
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Reversed.java

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+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 {}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/ZeroPower.java

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+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();
+}