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[wpilib, commands] Cache controller BooleanEvents/Triggers and directly construct Triggers (#6738)

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This has been a common footgun for teams, due to calling the factory functions in periodic loops.
This commit is contained in:
Gold856
2024-07-29 10:58:23 -04:00
committed by GitHub
parent 073192d513
commit 3c2bdafd57
21 changed files with 235 additions and 187 deletions
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27
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
View File

@@ -4,9 +4,12 @@
package edu.wpi.first.wpilibj2.command.button;
import edu.wpi.first.math.Pair;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.event.EventLoop;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import java.util.HashMap;
import java.util.Map;
/**
* A version of {@link GenericHID} with {@link Trigger} factories for command-based.
@@ -15,6 +18,12 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
*/
public class CommandGenericHID {
private final GenericHID m_hid;
private final Map<EventLoop, Map<Integer, Trigger>> m_buttonCache = new HashMap<>();
private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>> m_axisLessThanCache =
new HashMap<>();
private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>> m_axisGreaterThanCache =
new HashMap<>();
private final Map<EventLoop, Map<Integer, Trigger>> m_povCache = new HashMap<>();
/**
* Construct an instance of a device.
@@ -43,7 +52,7 @@ public class CommandGenericHID {
* @see #button(int, EventLoop)
*/
public Trigger button(int button) {
return this.button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
@@ -54,7 +63,8 @@ public class CommandGenericHID {
* @return an event instance representing the button's digital signal attached to the given loop.
*/
public Trigger button(int button, EventLoop loop) {
return new Trigger(loop, () -> m_hid.getRawButton(button));
var cache = m_buttonCache.computeIfAbsent(loop, k -> new HashMap<>());
return cache.computeIfAbsent(button, k -> new Trigger(loop, () -> m_hid.getRawButton(k)));
}
/**
@@ -85,7 +95,10 @@ public class CommandGenericHID {
* @return a Trigger instance based around this angle of a POV on the HID.
*/
public Trigger pov(int pov, int angle, EventLoop loop) {
return new Trigger(loop, () -> m_hid.getPOV(pov) == angle);
var cache = m_povCache.computeIfAbsent(loop, k -> new HashMap<>());
// angle can be -1, so use 3600 instead of 360
return cache.computeIfAbsent(
pov * 3600 + angle, k -> new Trigger(loop, () -> m_hid.getPOV(pov) == angle));
}
/**
@@ -212,7 +225,9 @@ public class CommandGenericHID {
* threshold.
*/
public Trigger axisLessThan(int axis, double threshold, EventLoop loop) {
return m_hid.axisLessThan(axis, threshold, loop).castTo(Trigger::new);
var cache = m_axisLessThanCache.computeIfAbsent(loop, k -> new HashMap<>());
return cache.computeIfAbsent(
Pair.of(axis, threshold), k -> new Trigger(loop, () -> getRawAxis(axis) < threshold));
}
/**
@@ -240,7 +255,9 @@ public class CommandGenericHID {
* threshold.
*/
public Trigger axisGreaterThan(int axis, double threshold, EventLoop loop) {
return m_hid.axisGreaterThan(axis, threshold, loop).castTo(Trigger::new);
var cache = m_axisGreaterThanCache.computeIfAbsent(loop, k -> new HashMap<>());
return cache.computeIfAbsent(
Pair.of(axis, threshold), k -> new Trigger(loop, () -> getRawAxis(axis) > threshold));
}
/**

4
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java
View File

@@ -55,7 +55,7 @@ public class CommandJoystick extends CommandGenericHID {
* given loop.
*/
public Trigger trigger(EventLoop loop) {
return m_hid.trigger(loop).castTo(Trigger::new);
return button(Joystick.ButtonType.kTrigger.value, loop);
}
/**
@@ -77,7 +77,7 @@ public class CommandJoystick extends CommandGenericHID {
* loop.
*/
public Trigger top(EventLoop loop) {
return m_hid.top(loop).castTo(Trigger::new);
return button(Joystick.ButtonType.kTop.value, loop);
}
/**