Merge branch 'master' of https://github.com/Open-RIO/ToastAPI

Author: JaciBrunning

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

@@ -35,8 +35,8 @@ public class StateTracker {
 
     private static Toast impl;
 
-    private static List<StateListener.Ticker> tickers = new ArrayList<StateListener.Ticker>();
-    private static List<StateListener.Transition> transitioners = new ArrayList<StateListener.Transition>();
+    private static volatile List<StateListener.Ticker> tickers = new ArrayList<StateListener.Ticker>();
+    private static volatile List<StateListener.Transition> transitioners = new ArrayList<StateListener.Transition>();
 
     /**
      * Start the StateTracker loop

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

@@ -5,6 +5,7 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
 import groovy.lang.GroovyObject;
+import jaci.openrio.toast.core.command.CommandBus;
 import jaci.openrio.toast.core.loader.RobotLoader;
 import jaci.openrio.toast.core.loader.groovy.GroovyLoader;
 import jaci.openrio.toast.core.loader.groovy.GroovyPreferences;
@@ -18,8 +19,6 @@
 
 /**
  * The Toast Base Class. This is the base for the Toast API.
- * In order to take advantage of this, change your Robot-Class
- * to this instead of your own in the Manifest.MF file.
  *
  * @author Jaci
  */
@@ -75,6 +74,7 @@ protected void prestart() {
 
             CrashHandler.init();
             RobotLoader.init();
+            CommandBus.init();
             GroovyLoader.init();
             GroovyPreferences.init();
 

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

@@ -5,6 +5,7 @@
 import jaci.openrio.toast.core.loader.RobotLoader;
 import jaci.openrio.toast.core.loader.groovy.GroovyLoader;
 import jaci.openrio.toast.core.loader.simulation.SimulationGUI;
+import jaci.openrio.toast.core.shared.GlobalBlackboard;
 import jaci.openrio.toast.lib.log.Logger;
 import jaci.openrio.toast.lib.log.SysLogProxy;
 
@@ -74,6 +75,7 @@ public static void main(String[] args) {
         toastHome.mkdirs();
 
         toastLogger = new Logger("Toast", Logger.ATTR_DEFAULT);
+        new GlobalBlackboard();
         SysLogProxy.init();
 
         toastLogger.info("Slicing Loaf...");

src/main/java/jaci/openrio/toast/core/command/AbstractCommand.java

@@ -0,0 +1,30 @@
+package jaci.openrio.toast.core.command;
+
+/**
+ * The base, abstract class for Commands to be registered on the {@link jaci.openrio.toast.core.command.CommandBus}
+ *
+ * Commands are processed and invoked if they match. This allows for actions to be triggered on the Robot remotely
+ * or locally
+ *
+ * @author Jaci
+ */
+public abstract class AbstractCommand {
+
+    /**
+     * Get the command name
+     *
+     * e.g. 'cmd' for a command such as 'cmd <your args>
+     */
+    public abstract String getCommandName();
+
+    /**
+     * Invoke the command if the name matches the one to be triggered
+     * @param argLength The amount of arguments in the 'args' param
+     * @param args The arguments the command was invoked with. This can be empty if
+     *             none were provided. Keep in mind this does NOT include the Command Name.
+     *             Args are separated by spaces
+     * @param command The full command message
+     */
+    public abstract void invokeCommand(int argLength, String[] args, String command);
+
+}

src/main/java/jaci/openrio/toast/core/command/CommandBus.java

@@ -0,0 +1,86 @@
+package jaci.openrio.toast.core.command;
+
+import jaci.openrio.toast.core.ToastBootstrap;
+import jaci.openrio.toast.core.command.cmd.CommandGroovyScript;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Scanner;
+
+/**
+ * The main pipeline for commands. This bus handles registering and invocation of commands. This allows for
+ * robot functions to be triggered remotely, or locally, based on a message.
+ *
+ * @see jaci.openrio.toast.core.command.AbstractCommand
+ * @see jaci.openrio.toast.core.command.FuzzyCommand
+ *
+ * @author Jaci
+ */
+public class CommandBus {
+
+    private static List<AbstractCommand> commands;
+    private static List<FuzzyCommand> parsers;
+
+    public static void init() {
+        commands = new ArrayList<>();
+        parsers = new ArrayList<>();
+
+        if (ToastBootstrap.isSimulation)
+            setupSim();
+
+        registerNatives();
+    }
+
+    private static void registerNatives() {
+        registerCommand(new CommandGroovyScript());
+    }
+
+    /**
+     * Parse the given message and invoke any commands matching it
+     */
+    public static void parseMessage(String message) {
+        String[] split = message.split(" ");
+        for (AbstractCommand command : commands) {
+            if (split[0].equals(command.getCommandName())) {
+                String[] newSplit = new String[split.length - 1];
+                System.arraycopy(split, 1, newSplit, 0, split.length-1);
+                command.invokeCommand(split.length, newSplit, message);
+            }
+        }
+
+        for (FuzzyCommand command : parsers) {
+            if (command.shouldInvoke(message))
+                command.invokeCommand(message);
+        }
+    }
+
+    /**
+     * Register a {@link jaci.openrio.toast.core.command.FuzzyCommand} on the bus
+     */
+    public static void registerCommand(FuzzyCommand command) {
+        parsers.add(command);
+    }
+
+    /**
+     * Register a {@link jaci.openrio.toast.core.command.AbstractCommand} on the bus
+     */
+    public static void registerCommand(AbstractCommand command) {
+        commands.add(command);
+    }
+
+    private static void setupSim() {
+        Scanner scanner = new Scanner(System.in);
+        Thread thread = new Thread() {
+            public void run() {
+                Thread.currentThread().setName("Toast|SimulationCommands");
+                try {
+                    while (Thread.currentThread().isAlive()) {
+                        parseMessage(scanner.nextLine());
+                    }
+                } catch (Exception e) {}
+            };
+        };
+        thread.start();
+    }
+
+}

src/main/java/jaci/openrio/toast/core/command/FuzzyCommand.java

@@ -0,0 +1,24 @@
+package jaci.openrio.toast.core.command;
+
+/**
+ * The base, abstract class for commands registered on the {@link jaci.openrio.toast.core.command.CommandBus}, but
+ * do not follow the standard command type. For example, FuzzyCommands may search for a string in a message instead
+ * of checking if it begins with the command name.
+ *
+ * @author Jaci
+ */
+public abstract class FuzzyCommand {
+
+    /**
+     * Should this Command be invoked with the given message?
+     */
+    public abstract boolean shouldInvoke(String message);
+
+    /**
+     * Invokes the command if {@link #shouldInvoke} returns true.
+     * @param message The full command message. This is left un-parsed so you can handle
+     *                it yourself
+     */
+    public abstract void invokeCommand(String message);
+
+}

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

@@ -0,0 +1,23 @@
+package jaci.openrio.toast.core.command.cmd
+
+import jaci.openrio.toast.core.Toast
+import jaci.openrio.toast.core.command.FuzzyCommand
+import jaci.openrio.toast.core.shared.GlobalBlackboard
+
+class CommandGroovyScript extends FuzzyCommand {
+
+    @Override
+    boolean shouldInvoke(String message) {
+        return message.startsWith("script")
+    }
+
+    @Override
+    void invokeCommand(String message) {
+        String 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)
+    }
+}

src/main/java/jaci/openrio/toast/core/loader/groovy/GroovyLoader.java

@@ -52,6 +52,10 @@ public static void init() {
         loadScripts();
     }
 
+    public static GroovyClassLoader getGLoader() {
+        return gLoader;
+    }
+
     static void loadScripts() {
         try {
             gLoader = new GroovyClassLoader(loader);

src/main/java/jaci/openrio/toast/core/shared/GlobalBlackboard.java

@@ -0,0 +1,23 @@
+package jaci.openrio.toast.core.shared;
+
+import java.util.HashMap;
+
+/**
+ * The GlobalBlackboard is a {@link java.util.HashMap} with a single instance that allows
+ * for data to be shared more generally than the {@link jaci.openrio.toast.core.loader.module.ModuleStorage} object.
+ *
+ * This class is intended to be used by the {@link jaci.openrio.toast.core.command.cmd.CommandGroovyScript} class to
+ * allow variables to be altered simply, and can be accessed from the Script command using '_global'
+ *
+ * @author Jaci
+ */
+public class GlobalBlackboard extends HashMap<String, Object> {
+
+    public static GlobalBlackboard INSTANCE;
+
+    public GlobalBlackboard() {
+        super();
+        INSTANCE = this;
+    }
+
+}