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CoolSpy3CoolSpy3
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Merge 'origin/master' into no-temp-limit
2 parents a3eac27 + 09af73a commit ec19e3b

19 files changed

Lines changed: 176 additions & 88 deletions

‎.github/workflows/gradle.yml‎

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

‎.github/workflows/javadoc.yml‎

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name: Deploy Javadoc
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name: Javadoc
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on: [push]
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jobs:
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build-javadoc:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: actions/checkout@v3
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with:
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submodules: 'recursive'
12-
- name: Set up JDK 11
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uses: actions/setup-java@v1
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- name: Set up JDK 17
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uses: actions/setup-java@v3
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with:
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java-version: 11
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distribution: 'temurin'
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java-version: 17
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- name: Generate Javadoc
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run: ./gradlew javadoc
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- name: Build Artifact
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uses: actions/upload-pages-artifact@v1.0.5
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uses: actions/upload-pages-artifact@v1
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with:
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path: ./build/docs/javadoc
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deploy-javadoc:
@@ -32,4 +33,4 @@ jobs:
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steps:
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- name: Deploy to GitHub Pages
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id: deployment
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uses: actions/deploy-pages@v1.2.3
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uses: actions/deploy-pages@v1

‎.github/workflows/release.yml‎

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

‎build.gradle‎

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@@ -1,6 +1,6 @@
11
plugins {
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id "java"
3-
id "edu.wpi.first.GradleRIO" version "2023.4.2"
3+
id "edu.wpi.first.GradleRIO" version "2023.4.3"
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id "maven-publish"
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}
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‎jitpack.yml‎

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

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

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Original file line numberDiff line numberDiff line change
@@ -4,6 +4,7 @@
44
import com.revrobotics.RelativeEncoder;
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import com.revrobotics.SparkMaxPIDController;
66

7+
@Deprecated
78
public class CachedSparkMax extends CANSparkMax {
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private RelativeEncoder encoder;

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

Lines changed: 44 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,21 +1,39 @@
11
package org.carlmontrobotics.lib199;
22

3-
import java.util.ArrayList;
3+
import java.util.concurrent.CopyOnWriteArrayList;
44
import java.util.function.Consumer;
55

6+
import edu.wpi.first.wpilibj.RobotBase;
67
import edu.wpi.first.wpilibj2.command.Subsystem;
78

89
public class Lib199Subsystem implements Subsystem {
910

1011
private static final Lib199Subsystem INSTANCE = new Lib199Subsystem();
11-
private static final ArrayList<Runnable> periodicMethods = new ArrayList<>();
12-
private static final ArrayList<Runnable> periodicSimulationMethods = new ArrayList<>();
12+
private static final CopyOnWriteArrayList<Runnable> periodicMethods = new CopyOnWriteArrayList<>();
13+
private static final CopyOnWriteArrayList<Runnable> periodicSimulationMethods = new CopyOnWriteArrayList<>();
14+
private static final CopyOnWriteArrayList<Runnable> asyncPeriodicMethods = new CopyOnWriteArrayList<>();
15+
private static final CopyOnWriteArrayList<Runnable> asyncPeriodicSimulationMethods = new CopyOnWriteArrayList<>();
1316
private static final Consumer<Runnable> RUN_RUNNABLE = Runnable::run;
1417

18+
private static final Thread asyncPeriodicThread;
19+
20+
public static final long asyncSleepTime = 20;
21+
1522
static {
1623
ensureRegistered();
24+
25+
asyncPeriodicThread = new Thread(() -> {
26+
while(true) {
27+
INSTANCE.asyncPeriodic();
28+
try {
29+
Thread.sleep(asyncSleepTime);
30+
} catch(InterruptedException e) {}
31+
}
32+
});
33+
asyncPeriodicThread.setDaemon(true);
34+
asyncPeriodicThread.start();
1735
}
18-
36+
1937
private static boolean registered = false;
2038

2139
private static void ensureRegistered() {
@@ -30,10 +48,27 @@ public static void registerPeriodic(Runnable method) {
3048
periodicMethods.add(method);
3149
}
3250

51+
@Deprecated
52+
/**
53+
* @deprecated Use registerSimulationPeriodic
54+
* @param method
55+
*/
3356
public static void simulationPeriodic(Runnable method) {
57+
registerSimulationPeriodic(method);
58+
}
59+
60+
public static void registerSimulationPeriodic(Runnable method) {
3461
periodicSimulationMethods.add(method);
3562
}
3663

64+
public static void registerAsyncPeriodic(Runnable method) {
65+
asyncPeriodicMethods.add(method);
66+
}
67+
68+
public static void registerAsyncSimulationPeriodic(Runnable method) {
69+
if(RobotBase.isSimulation()) asyncPeriodicSimulationMethods.add(method);
70+
}
71+
3772
@Override
3873
public void periodic() {
3974
periodicMethods.forEach(RUN_RUNNABLE);
@@ -44,6 +79,11 @@ public void simulationPeriodic() {
4479
periodicSimulationMethods.forEach(RUN_RUNNABLE);
4580
}
4681

82+
public void asyncPeriodic() {
83+
asyncPeriodicMethods.forEach(RUN_RUNNABLE);
84+
asyncPeriodicSimulationMethods.forEach(RUN_RUNNABLE);
85+
}
86+
4787
private Lib199Subsystem() {}
4888

4989
}

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

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@@ -6,9 +6,8 @@
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import java.lang.reflect.Modifier;
77
import java.util.ArrayList;
88
import java.util.Arrays;
9-
import java.util.Collections;
109
import java.util.HashMap;
11-
import java.util.List;
10+
import java.util.concurrent.CopyOnWriteArrayList;
1211
import java.util.function.Consumer;
1312
import java.util.function.Predicate;
1413
import java.util.stream.Collectors;
@@ -21,7 +20,7 @@
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2221
public final class Mocks {
2322

24-
private static final List<WeakReference<Object>> MOCKS = Collections.synchronizedList(new ArrayList<>());
23+
private static final CopyOnWriteArrayList<WeakReference<Object>> MOCKS = new CopyOnWriteArrayList<>();
2524
private static final Predicate<WeakReference<?>> IS_REFERENCE_CLEARED = reference -> reference.get() == null;
2625
private static final Consumer<WeakReference<Object>> CLEAR_INVOCATIONS_ON_REFERENCED_MOCK = reference -> Mockito.clearInvocations(reference.get());
2726
private static final Predicate<WeakReference<Object>> CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERENCE_NOT_CLEARED = reference -> {
@@ -37,7 +36,7 @@ public final class Mocks {
3736
// 2) Garbage collected references are removed
3837
// 3) Mock is garbage collected
3938
// 4) Mock invocations are cleared -> throws NullPointerException
40-
Lib199Subsystem.registerPeriodic(() -> MOCKS.removeIf(CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERENCE_NOT_CLEARED));
39+
Lib199Subsystem.registerAsyncPeriodic(() -> MOCKS.removeIf(CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERENCE_NOT_CLEARED));
4140
}
4241

4342
/**

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

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Original file line numberDiff line numberDiff line change
@@ -119,14 +119,9 @@ public static CANSparkMax createSparkMax(int id, int temperatureLimit) {
119119
public static CANSparkMax createSparkMax(int id, MotorConfig config) {
120120
CANSparkMax spark;
121121
if (RobotBase.isReal()) {
122-
spark = new CachedSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
123-
if (spark.getFirmwareVersion() == 0) {
124-
spark.close();
125-
System.err.println("SparkMax on port: " + id + " is not connected!");
126-
return MotorErrors.createDummySparkMax();
127-
}
122+
spark = new CANSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
128123
} else {
129-
spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
124+
spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
130125
}
131126

132127
MotorErrors.reportSparkMaxTemp(spark, config.temperatureLimitCelsius);

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

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Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
package org.carlmontrobotics.lib199;
22

33
import java.util.Arrays;
4-
import java.util.HashMap;
4+
import java.util.concurrent.ConcurrentHashMap;
55

66
import com.ctre.phoenix.ErrorCode;
77
import com.revrobotics.CANSparkMax;
@@ -12,17 +12,17 @@
1212

1313
public final class MotorErrors {
1414

15-
private static final HashMap<Integer, CANSparkMax> temperatureSparks = new HashMap<>();
16-
private static final HashMap<Integer, Integer> sparkTemperatureLimits = new HashMap<>();
17-
private static final HashMap<Integer, Integer> overheatedSparks = new HashMap<>();
18-
private static final HashMap<CANSparkMax, Short> flags = new HashMap<>();
19-
private static final HashMap<CANSparkMax, Short> stickyFlags = new HashMap<>();
15+
private static final ConcurrentHashMap<Integer, CANSparkMax> temperatureSparks = new ConcurrentHashMap<>();
16+
private static final ConcurrentHashMap<Integer, Integer> sparkTemperatureLimits = new ConcurrentHashMap<>();
17+
private static final ConcurrentHashMap<Integer, Integer> overheatedSparks = new ConcurrentHashMap<>();
18+
private static final ConcurrentHashMap<CANSparkMax, Short> flags = new ConcurrentHashMap<>();
19+
private static final ConcurrentHashMap<CANSparkMax, Short> stickyFlags = new ConcurrentHashMap<>();
2020

2121
public static final int kOverheatTripCount = 5;
2222

2323
static {
24-
Lib199Subsystem.registerPeriodic(MotorErrors::doReportSparkMaxTemp);
25-
Lib199Subsystem.registerPeriodic(MotorErrors::printSparkMaxErrorMessages);
24+
Lib199Subsystem.registerAsyncPeriodic(MotorErrors::doReportSparkMaxTemp);
25+
Lib199Subsystem.registerAsyncPeriodic(MotorErrors::printSparkMaxErrorMessages);
2626
}
2727

2828
public static void reportError(ErrorCode error) {

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