Concurrency Improvements, new Delegates and general cleanup

Author: JaciBrunning

build.settings

@@ -1 +1 @@
-toast.version=1.1.0
+toast.version=1.2.0

src/main/java/jaci/openrio/toast/core/StateTracker.java

@@ -5,18 +5,16 @@
 import jaci.openrio.toast.core.loader.groovy.GroovyLoader;
 import jaci.openrio.toast.core.loader.verification.VerificationWorker;
 import jaci.openrio.toast.lib.FRCHooks;
+import jaci.openrio.toast.lib.state.ConcurrentVector;
 import jaci.openrio.toast.lib.state.RobotState;
 import jaci.openrio.toast.lib.state.StateListener;
 
-import java.util.List;
-import java.util.Vector;
-
 import static jaci.openrio.toast.lib.state.RobotState.*;
 
 /**
  * Keeps track of the {@link jaci.openrio.toast.lib.state.RobotState} the robot is in, as well as the one
  * it just switched from. This allows for context-aware state management.
- *
+ * <p>
  * This class also allows classes to implement sub-interfaces of {@link jaci.openrio.toast.lib.state.StateListener},
  * which will trigger the interfaces when the robot 'ticks' or transitions between states. This allows for multiple
  * handlers to work with states
@@ -35,8 +33,8 @@ public class StateTracker {
 
     private static Toast impl;
 
-    private static volatile List<StateListener.Ticker> tickers = new Vector<StateListener.Ticker>();
-    private static volatile List<StateListener.Transition> transitioners = new Vector<StateListener.Transition>();
+    private static volatile ConcurrentVector<StateListener.Ticker> tickers = new ConcurrentVector<StateListener.Ticker>();
+    private static volatile ConcurrentVector<StateListener.Transition> transitioners = new ConcurrentVector<StateListener.Transition>();
 
     /**
      * Start the StateTracker loop
@@ -117,6 +115,8 @@ static void transition(RobotState state) {
         lastState = currentState;
         currentState = state;
 
+        transitioners.tick();
+
         for (StateListener.Transition tra : transitioners)
             tra.transitionState(currentState, lastState);
 
@@ -127,6 +127,8 @@ static void transition(RobotState state) {
      * Tick all interfaces with the given state
      */
     public static void tick(RobotState state) {
+        tickers.tick();
+
         for (StateListener.Ticker ticker : tickers)
             ticker.tickState(state);
 
@@ -139,15 +141,31 @@ public static void tick(RobotState state) {
      * implementation
      */
     public static void addTicker(StateListener.Ticker ticker) {
-        tickers.add(ticker);
+        tickers.addConcurrent(ticker);
     }
 
     /**
      * Register a new 'Transition' {@link jaci.openrio.toast.lib.state.StateListener}. This will
      * trigger whenever the robot switches between states.
      */
     public static void addTransition(StateListener.Transition transition) {
-        transitioners.add(transition);
+        transitioners.addConcurrent(transition);
+    }
+
+    /**
+     * Remove a {@link jaci.openrio.toast.lib.state.StateListener.Ticker} from the
+     * StateTracker
+     */
+    public static void removeTicker(StateListener.Ticker ticker) {
+        tickers.removeConcurrent(ticker);
+    }
+
+    /**
+     * Remove a {@link jaci.openrio.toast.lib.state.StateListener.Transition} from the
+     * StateTracker
+     */
+    public static void removeTransition(StateListener.Transition transition) {
+        transitioners.removeConcurrent(transition);
     }
 
     private static boolean nextPeriodReady() {

src/main/java/jaci/openrio/toast/core/command/cmd/CommandGroovyScript.java

@@ -5,21 +5,35 @@
 import jaci.openrio.toast.core.Toast;
 import jaci.openrio.toast.core.command.FuzzyCommand;
 import jaci.openrio.toast.core.shared.GlobalBlackboard;
+import jaci.openrio.toast.core.thread.ToastThreadPool;
 
 public class CommandGroovyScript extends FuzzyCommand {
     @Override
     public boolean shouldInvoke(String message) {
-        return message.startsWith("script");
+        return message.startsWith("script ") || message.startsWith("script -c");
     }
 
     @Override
     public void invokeCommand(String message) {
-        String groovy = message.replaceFirst("script", "");
+        String groovy;
+        boolean concurrent = false;
+        if (message.startsWith("script -c")) {
+            groovy = message.replaceFirst("script -c", "");
+            concurrent = true;
+        } else groovy = message.replaceFirst("script", "");
+
         Binding binding = new Binding();
         binding.setVariable("_global", GlobalBlackboard.INSTANCE);
         binding.setVariable("_toast", Toast.getToast());
         GroovyShell shell = new GroovyShell(binding);
-        shell.evaluate(groovy);
+        if (concurrent)
+            ToastThreadPool.INSTANCE.addWorker(new Runnable() {
+                @Override
+                public void run() {
+                    shell.evaluate(groovy);
+                }
+            });
+        else shell.evaluate(groovy);
     }
 
 }

src/main/java/jaci/openrio/toast/core/command/cmd/CommandUSB.java

@@ -10,9 +10,7 @@
 import java.io.FileInputStream;
 import java.io.FileOutputStream;
 import java.io.IOException;
-import java.nio.file.CopyOption;
 import java.nio.file.Files;
-import java.nio.file.Path;
 import java.nio.file.StandardCopyOption;
 
 public class CommandUSB extends AbstractCommand {

src/main/java/jaci/openrio/toast/core/network/CommandDelegate.java

@@ -0,0 +1,47 @@
+package jaci.openrio.toast.core.network;
+
+import jaci.openrio.delegate.BoundDelegate;
+import jaci.openrio.toast.core.Toast;
+import jaci.openrio.toast.core.command.CommandBus;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.net.Socket;
+
+/**
+ * A one-way delegate for the Command Line. This Delegate will only receive messages and will interpret them as commands.
+ * No data will be sent to the client from this delegate. To read the output log, it's recommended to use the {@link jaci.openrio.toast.core.network.LoggerDelegate}
+ *
+ * DelegateID: "TOAST_command"
+ *
+ * @author Jaci
+ */
+public class CommandDelegate implements BoundDelegate.ConnectionCallback {
+
+    static BoundDelegate server;
+
+    public static void init() {
+        server = SocketManager.register("TOAST_command");
+        CommandDelegate instance = new CommandDelegate();
+        server.callback(instance);
+    }
+
+    @Override
+    public void onClientConnect(Socket clientSocket, BoundDelegate delegate) {
+        new Thread() {
+            public void run() {
+                this.setName("CommandDelegate");
+                try {
+                    BufferedReader reader = new BufferedReader(new InputStreamReader(clientSocket.getInputStream()));
+                    while (true)
+                        CommandBus.parseMessage(reader.readLine());
+                } catch (IOException e) {
+                    Toast.log().error("Could not read Command Client: ");
+                    Toast.log().exception(e);
+                }
+            }
+        }.start();
+    }
+
+}

src/main/java/jaci/openrio/toast/core/network/LoggerDelegate.java

@@ -0,0 +1,92 @@
+package jaci.openrio.toast.core.network;
+
+import jaci.openrio.delegate.BoundDelegate;
+import jaci.openrio.toast.core.Toast;
+import jaci.openrio.toast.lib.log.LogHandler;
+import jaci.openrio.toast.lib.log.Logger;
+import jaci.openrio.toast.lib.log.SysLogProxy;
+
+import java.io.BufferedReader;
+import java.io.DataOutputStream;
+import java.io.FileReader;
+import java.net.Socket;
+import java.util.Iterator;
+import java.util.Vector;
+
+/**
+ * A one-way delegate for the Command Line. This Delegate will only send messages that are a direct output from the Logger
+ * No data will be received from the client. Commands should be interpreted through the {@link jaci.openrio.toast.core.network.CommandDelegate}
+ *
+ * DelegateID: "TOAST_logger"
+ *
+ * @author Jaci
+ */
+public class LoggerDelegate implements BoundDelegate.ConnectionCallback, LogHandler {
+
+    static BoundDelegate server;
+    static Vector<Client> clients;
+
+    public static void init() {
+        server = SocketManager.register("TOAST_logger");
+        clients = new Vector<>();
+        LoggerDelegate instance = new LoggerDelegate();
+        server.callback(instance);
+        Logger.addHandler(instance);
+    }
+
+    /**
+     * Broadcast a message to all clients
+     */
+    public static void broadcast(String message) {
+        Iterator<Client> it = clients.iterator();
+        while (it.hasNext()) {
+            Client client = it.next();
+            try {
+                if (!client.client.isClosed()) {
+                    client.output.writeBytes(message + "\n");
+                    continue;
+                }
+            } catch (Exception e) {}
+            it.remove();
+        }
+    }
+
+    @Override
+    public void onClientConnect(Socket clientSocket, BoundDelegate delegate) {
+        new Thread() {
+            public void run() {
+                this.setName("LoggerBacklog");
+                try {
+                    BufferedReader file_reader = new BufferedReader(new FileReader(SysLogProxy.recentOut));
+                    DataOutputStream socket_out = new DataOutputStream(clientSocket.getOutputStream());
+                    String ln;
+                    socket_out.writeBytes("***** BEGIN BACKLOG *****\n");
+                    while ((ln = file_reader.readLine()) != null)
+                        socket_out.writeBytes(ln + "\n");
+                    socket_out.writeBytes("***** END BACKLOG *****\n");
+                    file_reader.close();
+
+                    Client client = new Client();
+                    client.client = clientSocket;
+                    client.output = socket_out;
+                    clients.add(client);
+                } catch (java.io.IOException e) {
+                    Toast.log().error("Could not connect Logger Client: ");
+                    Toast.log().exception(e);
+                }
+            }
+        }.start();
+    }
+
+    @Override
+    public void onLog(String level, String message, String formatted, Logger logger) {
+        broadcast(formatted);
+    }
+
+    public static class Client {
+
+        public DataOutputStream output;
+        public Socket client;
+
+    }
+}

src/main/java/jaci/openrio/toast/core/network/SocketManager.java

@@ -21,6 +21,14 @@ public class SocketManager {
 
     static boolean launch = false;
 
+    /**
+     * Register the default BoundDelegates used by Toast
+     */
+    public static void registerNatives() {
+        LoggerDelegate.init();
+        CommandDelegate.init();
+    }
+
     /**
      * Register your own Delegate. The String 'id' parameter should be your module name, prepended
      * by your package name. This is to make sure there are no conflicts. e.g. 'com.yourname.YourModule'
@@ -34,6 +42,7 @@ public static BoundDelegate register(String id) {
      * Launch the DelegateServer. This should be left to Toast to handle.
      */
     public static void launch() {
+        SocketManager.registerNatives();
         if (launch) {
             new Thread() {
                 public void run() {

src/main/java/jaci/openrio/toast/lib/log/LogHandler.java

@@ -12,6 +12,6 @@ public interface LogHandler {
     /**
      * Called after a message is logged. Use this to send data to your driver-station or whatever else
      */
-    public void onLog(String level, String message);
+    public void onLog(String level, String message, String formatted, Logger logger);
 
 }

src/main/java/jaci/openrio/toast/lib/log/Logger.java

@@ -30,7 +30,6 @@ public class Logger {
 
     public DateFormat dateFormat = new SimpleDateFormat("dd/MM/yy-hh:mm:ss");
 
-    public static Vector<String> backlog = new Vector<String>();
     public static Vector<LogHandler> handlers = new Vector<LogHandler>();
 
     int attr;
@@ -71,10 +70,8 @@ private void log(String message, String level, PrintStream ps) {
 
         ps.println(ts);
 
-        backlog.add(ts);
-
         for (LogHandler hand : handlers)
-            hand.onLog(level, message);
+            hand.onLog(level, message, ts, this);
     }
 
     public String getPrefix(String level) {

src/main/java/jaci/openrio/toast/lib/state/ConcurrentVector.java

@@ -0,0 +1,42 @@
+package jaci.openrio.toast.lib.state;
+
+import java.util.Iterator;
+import java.util.Vector;
+
+/**
+ * Why the extra Join and Remove Queues you ask? Well, if a module that is currently in a ticking or transition state wants
+ * to add or remove a listener from the list, we run into some errors. Without 'synchronized', we run into a Concurrent
+ * Modification, which causes big issues. With 'synchronized', the Thread will be forever blocked because it's trying to access
+ * a synchronized lock from INSIDE the synchronized method. I hate iteration iteration iteration iteration iteration iteration
+ * iteration iteration iteration iteration iteration iteration iteration....
+ *
+ * @author Jaci
+ */
+public class ConcurrentVector<E> extends Vector<E> {
+
+    Vector<E> joinQueue = new Vector<E>();
+    Vector<E> removeQueue = new Vector<E>();
+
+    public void addConcurrent(E element) {
+        joinQueue.add(element);
+    }
+
+    public void removeConcurrent(E element) {
+        removeQueue.add(element);
+    }
+
+    public synchronized void tick() {
+        Iterator<E> joinIt = joinQueue.iterator();
+        while (joinIt.hasNext()) {
+            this.add(joinIt.next());
+            joinIt.remove();
+        }
+
+        Iterator<E> removeIt = removeQueue.iterator();
+        while (removeIt.hasNext()) {
+            this.remove(removeIt.next());
+            removeIt.remove();
+        }
+    }
+
+}