Merge branch 'master' into safe-mode

Author: CoolSpy3

.github/workflows/gradle.yml

@@ -8,12 +8,13 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
-    - name: Set up JDK 11
-      uses: actions/setup-java@v1
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
       with:
-        java-version: 11
+        distribution: 'temurin'
+        java-version: 17
     - name: Build with Gradle
       run: ./gradlew build

.github/workflows/javadoc.yml

@@ -1,22 +1,23 @@
-name: Deploy Javadoc
+name: Javadoc
 
 on: [push]
 
 jobs:
   build-javadoc:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: 'recursive'
-    - name: Set up JDK 11
-      uses: actions/setup-java@v1
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
       with:
-        java-version: 11
+        distribution: 'temurin'
+        java-version: 17
     - name: Generate Javadoc
       run: ./gradlew javadoc
     - name: Build Artifact
-      uses: actions/upload-pages-artifact@v1.0.5
+      uses: actions/upload-pages-artifact@v1
       with:
         path: ./build/docs/javadoc
   deploy-javadoc:
@@ -32,4 +33,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v1.2.3
+        uses: actions/deploy-pages@v1

.github/workflows/release.yml

@@ -0,0 +1,20 @@
+name: Create Release
+
+on:
+  push:
+    tags:
+      - '[0-9]+.[0-9]+.[0-9]+'
+
+jobs:
+  release:
+    name: Release Tag
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Create Release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          tag: ${{ github.ref_name }}
+        run: |
+          gh release create "$tag" --repo="$GITHUB_REPOSITORY" --title="$tag" --generate-notes

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
     id "maven-publish"
 }
 

jitpack.yml

@@ -1 +1 @@
-jdk: openjdk11
+jdk: openjdk17

src/main/java/org/carlmontrobotics/MotorConfig.java

@@ -4,6 +4,7 @@
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxPIDController;
 
+@Deprecated
 public class CachedSparkMax extends CANSparkMax {
 
     private RelativeEncoder encoder;

src/main/java/org/carlmontrobotics/lib199/CachedSparkMax.java

@@ -1,21 +1,39 @@
 package org.carlmontrobotics.lib199;
 
-import java.util.ArrayList;
+import java.util.concurrent.CopyOnWriteArrayList;
 import java.util.function.Consumer;
 
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 
 public class Lib199Subsystem implements Subsystem {
 
     private static final Lib199Subsystem INSTANCE = new Lib199Subsystem();
-    private static final ArrayList<Runnable> periodicMethods = new ArrayList<>();
-    private static final ArrayList<Runnable> periodicSimulationMethods = new ArrayList<>();
+    private static final CopyOnWriteArrayList<Runnable> periodicMethods = new CopyOnWriteArrayList<>();
+    private static final CopyOnWriteArrayList<Runnable> periodicSimulationMethods = new CopyOnWriteArrayList<>();
+    private static final CopyOnWriteArrayList<Runnable> asyncPeriodicMethods = new CopyOnWriteArrayList<>();
+    private static final CopyOnWriteArrayList<Runnable> asyncPeriodicSimulationMethods = new CopyOnWriteArrayList<>();
     private static final Consumer<Runnable> RUN_RUNNABLE = Runnable::run;
 
+    private static final Thread asyncPeriodicThread;
+
+    public static final long asyncSleepTime = 20;
+
     static {
         ensureRegistered();
+
+        asyncPeriodicThread = new Thread(() -> {
+            while(true) {
+                INSTANCE.asyncPeriodic();
+                try {
+                    Thread.sleep(asyncSleepTime);
+                } catch(InterruptedException e) {}
+            }
+        });
+        asyncPeriodicThread.setDaemon(true);
+        asyncPeriodicThread.start();
     }
-    
+
     private static boolean registered = false;
 
     private static void ensureRegistered() {
@@ -30,10 +48,27 @@ public static void registerPeriodic(Runnable method) {
         periodicMethods.add(method);
     }
 
+    @Deprecated
+    /**
+     * @deprecated Use registerSimulationPeriodic
+     * @param method
+     */
     public static void simulationPeriodic(Runnable method) {
+        registerSimulationPeriodic(method);
+    }
+
+    public static void registerSimulationPeriodic(Runnable method) {
         periodicSimulationMethods.add(method);
     }
 
+    public static void registerAsyncPeriodic(Runnable method) {
+        asyncPeriodicMethods.add(method);
+    }
+
+    public static void registerAsyncSimulationPeriodic(Runnable method) {
+        if(RobotBase.isSimulation()) asyncPeriodicSimulationMethods.add(method);
+    }
+
     @Override
     public void periodic() {
         periodicMethods.forEach(RUN_RUNNABLE);
@@ -44,6 +79,11 @@ public void simulationPeriodic() {
         periodicSimulationMethods.forEach(RUN_RUNNABLE);
     }
 
+    public void asyncPeriodic() {
+        asyncPeriodicMethods.forEach(RUN_RUNNABLE);
+        asyncPeriodicSimulationMethods.forEach(RUN_RUNNABLE);
+    }
+
     private Lib199Subsystem() {}
 
 }

src/main/java/org/carlmontrobotics/lib199/Lib199Subsystem.java

@@ -6,9 +6,8 @@
 import java.lang.reflect.Modifier;
 import java.util.ArrayList;
 import java.util.Arrays;
-import java.util.Collections;
 import java.util.HashMap;
-import java.util.List;
+import java.util.concurrent.CopyOnWriteArrayList;
 import java.util.function.Consumer;
 import java.util.function.Predicate;
 import java.util.stream.Collectors;
@@ -21,10 +20,10 @@
 
 public final class Mocks {
 
-    private static final List<WeakReference<Object>> MOCKS = Collections.synchronizedList(new ArrayList<>());
+    private static final CopyOnWriteArrayList<WeakReference<Object>> MOCKS = new CopyOnWriteArrayList<>();
     private static final Predicate<WeakReference<?>> IS_REFERENCE_CLEARED = reference -> reference.get() == null;
     private static final Consumer<WeakReference<Object>> CLEAR_INVOCATIONS_ON_REFERENCED_MOCK = reference -> Mockito.clearInvocations(reference.get());
-    private static final Predicate<WeakReference<Object>> CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERNCE_NOT_CLEARED = reference -> {
+    private static final Predicate<WeakReference<Object>> CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERENCE_NOT_CLEARED = reference -> {
         if(IS_REFERENCE_CLEARED.test(reference)) return true;
         CLEAR_INVOCATIONS_ON_REFERENCED_MOCK.accept(reference);
         return false;
@@ -37,7 +36,7 @@ public final class Mocks {
         // 2) Garbage collected references are removed
         // 3) Mock is garbage collected
         // 4) Mock invocations are cleared -> throws NullPointerException
-        Lib199Subsystem.registerPeriodic(() -> MOCKS.removeIf(CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERNCE_NOT_CLEARED));
+        Lib199Subsystem.registerAsyncPeriodic(() -> MOCKS.removeIf(CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERENCE_NOT_CLEARED));
     }
 
     /**
@@ -61,7 +60,7 @@ public static <T, U> T createMock(Class<T> classToMock, U implClass, Class<?>...
      * @param <U> the class type which will be used to provide method implementations
      * @param classToMock the class type which will be mocked
      * @param implClass the object to which to try to forward method calls
-     * @param forwardUnknownCalls whether methods which are not overriden will call their real methods
+     * @param forwardUnknownCalls whether methods which are not overridden will call their real methods
      * @param interfaces a list of interfaces which the mocked object should extend
      * @return an instance of <code>T</code> in which some or all of the classes methods are replaced with a mocked implementation from <code>U</code>
      * @see #createMock(Class, Object, Class...)
@@ -77,7 +76,7 @@ public static <T, U> T createMock(Class<T> classToMock, U implClass, boolean for
      * @param <U> the class type which will be used to provide method implementations
      * @param classToMock the class type which will be mocked
      * @param implClass the object to which to try to forward method calls
-     * @param defaultAnswer The answer to use when no overriden implementation is found
+     * @param defaultAnswer The answer to use when no overridden implementation is found
      * @param interfaces a list of interfaces which the mocked object should extend
      * @return an instance of <code>T</code> in which some or all of the classes methods are replaced with a mocked implementation from <code>U</code>
      * @see #createMock(Class, Object, Class...)

src/main/java/org/carlmontrobotics/lib199/Mocks.java

@@ -0,0 +1,15 @@
+package org.carlmontrobotics.lib199;
+
+public class MotorConfig {
+
+    public static final MotorConfig NEO = new MotorConfig(70, 40);
+    public static final MotorConfig NEO_550 = new MotorConfig(40, 20);
+
+    public final int temperatureLimitCelsius, currentLimitAmps;
+
+    public MotorConfig(int temperatureLimitCelsius, int currentLimitAmps) {
+        this.temperatureLimitCelsius = temperatureLimitCelsius;
+        this.currentLimitAmps = currentLimitAmps;
+    }
+
+}