Merge branch 'development'

flashlib.core.io/src/main/java/com/flash3388/flashlib/io/devices/AbstractDeviceProvider.java

@@ -39,4 +39,8 @@ protected void registerDevice(int id, Class<?> type) {
             LOGGER.warn("Device of id {} override", id);
         }
     }
+
+    protected <T, T2 extends T> void registerDevice(DeviceId<T> id, Class<T2> type) {
+        registerDevice(id.id(), type);
+    }
 }

flashlib.core.io/src/main/java/com/flash3388/flashlib/io/devices/DeviceId.java

@@ -0,0 +1,32 @@
+package com.flash3388.flashlib.io.devices;
+
+public interface DeviceId<T> {
+
+    int id();
+    Class<T> baseType();
+
+    static <T> DeviceId<T> of(int id, Class<T> baseType) {
+        return new Impl<>(id, baseType);
+    }
+
+    class Impl<T> implements DeviceId<T> {
+
+        private final int mId;
+        private final Class<T> mBaseType;
+
+        public Impl(int id, Class<T> baseType) {
+            mId = id;
+            mBaseType = baseType;
+        }
+
+        @Override
+        public int id() {
+            return mId;
+        }
+
+        @Override
+        public Class<T> baseType() {
+            return mBaseType;
+        }
+    }
+}

flashlib.core.io/src/main/java/com/flash3388/flashlib/io/devices/DeviceInterface.java

@@ -26,6 +26,33 @@ public interface DeviceInterface {
     @MainThreadOnly
     <T> T newDevice(int id, Class<T> type, Map<String, Object> namedArgs);
 
+    /**
+     * Finds a registered implementation for the given ID which matches the wanted type.
+     * Once the implementation is found, a constructor is matched to the given arguments
+     * count and an instance is created.
+     *
+     * @param id implementation identifier
+     * @param namedArgs arguments to the constructor
+     * @return created instance
+     * @param <T> type which the implementation must support, defined by the ID
+     */
+    @MainThreadOnly
+    <T> T newDevice(DeviceId<T> id, Map<String, Object> namedArgs);
+
+    /**
+     * Finds a registered implementation for the given ID which matches the wanted type.
+     * Once the implementation is found, a constructor is matched to the given arguments
+     * count and an instance is created.
+     *
+     * @param id implementation identifier
+     * @param type type which the implementation must support (usually interface)
+     * @param namedArgs arguments to the constructor
+     * @return created instance
+     * @param <T> type which the implementation must support, defined by the ID
+     */
+    @MainThreadOnly
+    <T, T2 extends T> T2 newDevice(DeviceId<T> id, Class<T2> type, Map<String, Object> namedArgs);
+
     /**
      * Creates a new group of {@link SpeedController} devices, which is encapsulated under a single interface.
      *

flashlib.core.io/src/main/java/com/flash3388/flashlib/io/devices/DeviceInterfaceImpl.java

@@ -33,6 +33,16 @@ public <T> T newDevice(int id, Class<T> type, Map<String, Object> namedArgs) {
         return newInstance(foundType, namedArgs);
     }
 
+    @Override
+    public <T> T newDevice(DeviceId<T> id, Map<String, Object> namedArgs) {
+        return newDevice(id.id(), id.baseType(), namedArgs);
+    }
+
+    @Override
+    public <T, T2 extends T> T2 newDevice(DeviceId<T> id, Class<T2> type, Map<String, Object> namedArgs) {
+        return newDevice(id.id(), type, namedArgs);
+    }
+
     @Override
     public GroupBuilder<SpeedController, SpeedControllerGroup> newSpeedControllerGroup() {
         mMainThread.verifyCurrentThread();

flashlib.core.io/src/main/java/com/flash3388/flashlib/io/devices/FlashLibDevicesIds.java

@@ -4,13 +4,104 @@ public class FlashLibDevicesIds {
 
     private FlashLibDevicesIds() {}
 
-    public static final int PwmSpeedController = 21;
-    public static final int PwmPositionController = 22;
-    public static final int TalonSrx = 23;
-    public static final int Talon = 24;
-
-    public static final int AnalogAccelerometer = 51;
-    public static final int AnalogRangeFinder = 52;
-    public static final int PulseWidthRangeFinder = 53;
-    public static final int Ultrasonic = 54;
+    /**
+     * Defines a basic PWM speed (motor) controller.
+     *
+     * <p>
+     * Params:
+     * <ul>
+     *     <li><em>port</em> ({@link com.flash3388.flashlib.io.Pwm}): port the device is connected to.</li>
+     *     <li><em>pulseBounds</em> ({@link com.flash3388.flashlib.io.devices.actuators.PwmBounds}): defines pwm bounds for controlling the device.</li>
+     *     <li><em>pwmFrequency</em> (<em>double</em>): frequency to use for communicating with the device (in HZ).</li>
+     * </ul>
+     */
+    public static final DeviceId<SpeedController> PwmSpeedController = DeviceId.of(21, SpeedController.class);
+
+    /**
+     * Defines a basic PWM position controller.
+     *
+     * <p>
+     * Params:
+     * <ul>
+     *     <li><em>port</em> ({@link com.flash3388.flashlib.io.Pwm}): port the device is connected to.</li>
+     *     <li><em>pulseBounds</em> ({@link com.flash3388.flashlib.io.devices.actuators.PwmBounds}): defines pwm bounds for controlling the device.</li>
+     *     <li><em>pwmFrequency</em> (<em>double</em>): frequency to use for communicating with the device (in HZ).</li>
+     * </ul>
+     */
+    public static final DeviceId<PositionController> PwmPositionController = DeviceId.of(22, PositionController.class);
+
+    /**
+     * Defines a TalonSRX speed (motor) controller connected via a PWM port.
+     *
+     * <p>
+     * Params:
+     * <ul>
+     *     <li><em>port</em> ({@link com.flash3388.flashlib.io.Pwm}): port the device is connected to.</li>
+     * </ul>
+     */
+    public static final DeviceId<SpeedController> TalonSrx = DeviceId.of(23, SpeedController.class);
+
+    /**
+     * Defines a Talon speed (motor) controller connected via a PWM port.
+     *
+     * <p>
+     * Params:
+     * <ul>
+     *     <li><em>port</em> ({@link com.flash3388.flashlib.io.Pwm}): port the device is connected to.</li>
+     * </ul>
+     */
+    public static final DeviceId<SpeedController> Talon = DeviceId.of(24, SpeedController.class);
+
+    /**
+     * Defines a basic accelerometer which is connected via an analog port.
+     *
+     * <p>
+     * Params:
+     * <ul>
+     *     <li><em>input</em> ({@link com.flash3388.flashlib.io.AnalogInput}): port the device is connected to.</li>
+     *     <li><em>zeroGVoltage</em> (<em>double</em>): voltage when acceleration is 0, as defined by the device.</li>
+     *     <li><em>voltsPerG</em> (<em>double</em>): conversion factor from volts to G acceleration.</li>
+     * </ul>
+     */
+    public static final DeviceId<Accelerometer> AnalogAccelerometer = DeviceId.of(51, Accelerometer.class);
+
+    /**
+     * Defines a basic range finder which is connected via an analog port.
+     *
+     * <p>
+     * Params:
+     * <ul>
+     *     <li><em>input</em> ({@link com.flash3388.flashlib.io.AnalogInput}): port the device is connected to.</li>
+     *     <li><em>sensitivity</em> (<em>double</em>): sensitivity of the device in volts/centimeter</li>
+     * </ul>
+     */
+    public static final DeviceId<RangeFinder> AnalogRangeFinder = DeviceId.of(52, RangeFinder.class);
+
+    /**
+     * Defines a basic range finder which is connected via a digital port and uses pulses to report the range.
+     *
+     * <p>
+     * Params:
+     * <ul>
+     *     <li><em>counter</em> ({@link com.flash3388.flashlib.io.PulseLengthCounter}): counter on the port the device is connected to.</li>
+     *     <li><em>sensitivity</em> (<em>double</em>): sensitivity of the device in microseconds/centimeter</li>
+     * </ul>
+     */
+    public static final DeviceId<RangeFinder> PulseWidthRangeFinder = DeviceId.of(53, RangeFinder.class);
+
+    /**
+     * Defines a basic ultrasonic range finder which is connected to a digital port. Works for devices
+     * which use two channels: trigger which forces the device to send a pulse, and echo which the device uses
+     * to reply with the distance.
+     *
+     * Based on <em>HC-SR04</em>.
+     *
+     * <p>
+     * Params:
+     * <ul>
+     *     <li><em>pingChannel</em> ({@link com.flash3388.flashlib.io.DigitalOutput}): channel used to trigger pings (trigger).</li>
+     *     <li><em>counter</em> ({@link com.flash3388.flashlib.io.PulseLengthCounter}): counter on the pulse used to report the range (echo).</li>
+     * </ul>
+     */
+    public static final DeviceId<RangeFinder> Ultrasonic = DeviceId.of(54, RangeFinder.class);
 }

flashlib.core.io/src/main/java/com/flash3388/flashlib/io/devices/GroupBuilder.java

@@ -57,6 +57,21 @@ public GroupBuilder<E, T> addNewDevice(int id, Map<String, Object> namedArgs) {
         return addNewDevice(id, mElementType, namedArgs);
     }
 
+    /**
+     * Finds a registered implementation for the given ID which matches the wanted type.
+     * Once the implementation is found, a constructor is matched to the given arguments
+     * count and an instance is created.
+     *
+     * @param id implementation identifier
+     * @param namedArgs arguments to the constructor
+     * @return this
+     *
+     * @see DeviceInterface#newDevice(int, Class, Map)
+     */
+    public <T2 extends T> GroupBuilder<E, T> addNewDevice(DeviceId<T2> id, Map<String, Object> namedArgs) {
+        return addNewDevice(id.id(), mElementType, namedArgs);
+    }
+
     public T build() {
         return mCreator.apply(mParts);
     }

flashlib.core.scheduling/src/main/java/com/flash3388/flashlib/scheduling/impl/SingleThreadedScheduler.java

@@ -142,15 +142,24 @@ public boolean isRunning(Action action) {
     public void cancelActionsIf(Predicate<? super Action> predicate) {
         mMainThread.verifyCurrentThread();
 
+        if (!mCanModifyRunningActions) {
+            throw new IllegalStateException("cannot cancel actions in bulk while action modification is disabled");
+        }
+
         mPendingActions.values().removeIf(context -> predicate.test(context.getAction()));
 
-        for (Iterator<RunningActionContext> iterator = mRunningActions.values().iterator(); iterator.hasNext();) {
-            RunningActionContext context = iterator.next();
+        mCanModifyRunningActions = false;
+        try {
+            for (Iterator<RunningActionContext> iterator = mRunningActions.values().iterator(); iterator.hasNext();) {
+                RunningActionContext context = iterator.next();
 
-            if (predicate.test(context.getAction())) {
-                cancelAndEnd(context);
-                iterator.remove();
+                if (predicate.test(context.getAction())) {
+                    cancelAndEnd(context);
+                    iterator.remove();
+                }
             }
+        } finally {
+            mCanModifyRunningActions = true;
         }
     }
 
@@ -163,12 +172,21 @@ public void cancelActionsIfWithoutFlag(ActionFlag flag) {
     public void cancelAllActions() {
         mMainThread.verifyCurrentThread();
 
+        if (!mCanModifyRunningActions) {
+            throw new IllegalStateException("cannot cancel actions in bulk while action modification is disabled");
+        }
+
         mPendingActions.clear();
 
-        for (Iterator<RunningActionContext> iterator = mRunningActions.values().iterator(); iterator.hasNext();) {
-            RunningActionContext context = iterator.next();
-            cancelAndEnd(context);
-            iterator.remove();
+        mCanModifyRunningActions = false;
+        try {
+            for (Iterator<RunningActionContext> iterator = mRunningActions.values().iterator(); iterator.hasNext();) {
+                RunningActionContext context = iterator.next();
+                cancelAndEnd(context);
+                iterator.remove();
+            }
+        } finally {
+            mCanModifyRunningActions = true;
         }
     }
 
@@ -264,29 +282,38 @@ public ActionGroup newActionGroup(ActionGroupType type) {
     }
 
     private void executeTriggers() {
-        TriggerActionControllerImpl controller = new TriggerActionControllerImpl();
-        for (GenericTrigger trigger : mTriggers) {
-            trigger.update(controller);
-        }
+        // while in this method, calls to start and cancel methods cannot occur due
+        // to modifications of the collections.
+        // since this implementation is meant for single-thread, then such calls
+        // can only occur from within other actions.
+        mCanModifyRunningActions = false;
+        try {
+            TriggerActionControllerImpl controller = new TriggerActionControllerImpl();
+            for (GenericTrigger trigger : mTriggers) {
+                trigger.update(controller);
+            }
 
-        for (Action action : controller.getActionsToStopIfRunning()) {
-            if (isRunning(action)) {
-                cancel(action);
+            for (Action action : controller.getActionsToStopIfRunning()) {
+                if (isRunning(action)) {
+                    cancel(action);
+                }
             }
-        }
 
-        for (Action action : controller.getActionsToToggle()) {
-            if (!isRunning(action)) {
-                start(action);
-            } else {
-                cancel(action);
+            for (Action action : controller.getActionsToToggle()) {
+                if (!isRunning(action)) {
+                    start(action);
+                } else {
+                    cancel(action);
+                }
             }
-        }
 
-        for (Action action : controller.getActionsToStartIfRunning()) {
-            if (!isRunning(action)) {
-                start(action);
+            for (Action action : controller.getActionsToStartIfRunning()) {
+                if (!isRunning(action)) {
+                    start(action);
+                }
             }
+        } finally {
+            mCanModifyRunningActions = true;
         }
     }
 

gradle.properties

@@ -1,5 +1,5 @@
 GROUP = com.flash3388.flashlib
-VERSION = 3.2.3
+VERSION = 3.2.4
 
 NEXUS_SNAPSHOT_REPOSITORY_URL = https\://oss.sonatype.org/content/repositories/snapshots
 NEXUS_RELEASE_REPOSITORY_URL = https\://oss.sonatype.org/service/local/staging/deploy/maven2