SCRIPT Move java files

wpiutil/src/main/java/org/wpilib/util/sendable/Sendable.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util.sendable;
+
+/** The base interface for objects that can be sent over the network. */
+@SuppressWarnings("PMD.ImplicitFunctionalInterface")
+public interface Sendable {
+  /**
+   * Initializes this {@link Sendable} object.
+   *
+   * @param builder sendable builder
+   */
+  void initSendable(SendableBuilder builder);
+}

wpiutil/src/main/java/org/wpilib/util/sendable/SendableBuilder.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util.sendable;
+
+import edu.wpi.first.util.function.BooleanConsumer;
+import edu.wpi.first.util.function.FloatConsumer;
+import edu.wpi.first.util.function.FloatSupplier;
+import java.util.function.BooleanSupplier;
+import java.util.function.Consumer;
+import java.util.function.DoubleConsumer;
+import java.util.function.DoubleSupplier;
+import java.util.function.LongConsumer;
+import java.util.function.LongSupplier;
+import java.util.function.Supplier;
+
+/** Helper class for building Sendable dashboard representations. */
+public interface SendableBuilder extends AutoCloseable {
+  /** The backend kinds used for the sendable builder. */
+  enum BackendKind {
+    /** Unknown. */
+    kUnknown,
+
+    /** NetworkTables. */
+    kNetworkTables
+  }
+
+  /**
+   * Set the string representation of the named data type that will be used by the smart dashboard
+   * for this sendable.
+   *
+   * @param type data type
+   */
+  void setSmartDashboardType(String type);
+
+  /**
+   * Set a flag indicating if this Sendable should be treated as an actuator. By default, this flag
+   * is false.
+   *
+   * @param value true if actuator, false if not
+   */
+  void setActuator(boolean value);
+
+  /**
+   * Add a boolean property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter);
+
+  /**
+   * Add a constant boolean property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstBoolean(String key, boolean value);
+
+  /**
+   * Add an integer property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addIntegerProperty(String key, LongSupplier getter, LongConsumer setter);
+
+  /**
+   * Add a constant integer property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstInteger(String key, long value);
+
+  /**
+   * Add a float property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addFloatProperty(String key, FloatSupplier getter, FloatConsumer setter);
+
+  /**
+   * Add a constant float property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstFloat(String key, float value);
+
+  /**
+   * Add a double property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter);
+
+  /**
+   * Add a constant double property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstDouble(String key, double value);
+
+  /**
+   * Add a string property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addStringProperty(String key, Supplier<String> getter, Consumer<String> setter);
+
+  /**
+   * Add a constant string property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstString(String key, String value);
+
+  /**
+   * Add a boolean array property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addBooleanArrayProperty(String key, Supplier<boolean[]> getter, Consumer<boolean[]> setter);
+
+  /**
+   * Add a constant boolean array property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstBooleanArray(String key, boolean[] value);
+
+  /**
+   * Add an integer array property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addIntegerArrayProperty(String key, Supplier<long[]> getter, Consumer<long[]> setter);
+
+  /**
+   * Add a constant integer property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstIntegerArray(String key, long[] value);
+
+  /**
+   * Add a float array property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addFloatArrayProperty(String key, Supplier<float[]> getter, Consumer<float[]> setter);
+
+  /**
+   * Add a constant float array property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstFloatArray(String key, float[] value);
+
+  /**
+   * Add a double array property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addDoubleArrayProperty(String key, Supplier<double[]> getter, Consumer<double[]> setter);
+
+  /**
+   * Add a constant double array property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstDoubleArray(String key, double[] value);
+
+  /**
+   * Add a string array property.
+   *
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addStringArrayProperty(String key, Supplier<String[]> getter, Consumer<String[]> setter);
+
+  /**
+   * Add a constant string array property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstStringArray(String key, String[] value);
+
+  /**
+   * Add a raw property.
+   *
+   * @param key property name
+   * @param typeString type string
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
+   */
+  void addRawProperty(
+      String key, String typeString, Supplier<byte[]> getter, Consumer<byte[]> setter);
+
+  /**
+   * Add a constant raw property.
+   *
+   * @param key property name
+   * @param typeString type string
+   * @param value the value
+   */
+  void publishConstRaw(String key, String typeString, byte[] value);
+
+  /**
+   * Gets the kind of backend being used.
+   *
+   * @return Backend kind
+   */
+  BackendKind getBackendKind();
+
+  /**
+   * Return whether this sendable has been published.
+   *
+   * @return True if it has been published, false if not.
+   */
+  boolean isPublished();
+
+  /** Update the published values by calling the getters for all properties. */
+  void update();
+
+  /** Clear properties. */
+  void clearProperties();
+
+  /**
+   * Adds a closeable. The closeable.close() will be called when close() is called.
+   *
+   * @param closeable closeable object
+   */
+  void addCloseable(AutoCloseable closeable);
+}

wpiutil/src/main/java/org/wpilib/util/sendable/SendableRegistry.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util.sendable;
+
+import java.lang.ref.WeakReference;
+import java.util.Arrays;
+import java.util.Map;
+import java.util.WeakHashMap;
+
+/**
+ * The SendableRegistry class is the public interface for registering sensors and actuators for use
+ * on dashboards.
+ */
+@SuppressWarnings("PMD.AvoidCatchingGenericException")
+public final class SendableRegistry {
+  private static class Component implements AutoCloseable {
+    Component() {}
+
+    Component(Sendable sendable) {
+      m_sendable = new WeakReference<>(sendable);
+    }
+
+    @Override
+    public void close() throws Exception {
+      m_builder.close();
+      for (AutoCloseable data : m_data) {
+        if (data != null) {
+          data.close();
+        }
+      }
+    }
+
+    WeakReference<Sendable> m_sendable;
+    SendableBuilder m_builder;
+    String m_name;
+    String m_subsystem = "Ungrouped";
+    AutoCloseable[] m_data;
+
+    void setName(String moduleType, int channel) {
+      m_name = moduleType + "[" + channel + "]";
+    }
+
+    void setName(String moduleType, int moduleNumber, int channel) {
+      m_name = moduleType + "[" + moduleNumber + "," + channel + "]";
+    }
+  }
+
+  private static final Map<Object, Component> components = new WeakHashMap<>();
+  private static int nextDataHandle;
+
+  private static Component getOrAdd(Sendable sendable) {
+    Component comp = components.get(sendable);
+    if (comp == null) {
+      comp = new Component(sendable);
+      components.put(sendable, comp);
+    } else {
+      if (comp.m_sendable == null) {
+        comp.m_sendable = new WeakReference<>(sendable);
+      }
+    }
+    return comp;
+  }
+
+  private SendableRegistry() {
+    throw new UnsupportedOperationException("This is a utility class!");
+  }
+
+  /**
+   * Adds an object to the registry.
+   *
+   * @param sendable object to add
+   * @param name component name
+   */
+  public static synchronized void add(Sendable sendable, String name) {
+    Component comp = getOrAdd(sendable);
+    comp.m_name = name;
+  }
+
+  /**
+   * Adds an object to the registry.
+   *
+   * @param sendable object to add
+   * @param moduleType A string that defines the module name in the label for the value
+   * @param channel The channel number the device is plugged into
+   */
+  public static synchronized void add(Sendable sendable, String moduleType, int channel) {
+    Component comp = getOrAdd(sendable);
+    comp.setName(moduleType, channel);
+  }
+
+  /**
+   * Adds an object to the registry.
+   *
+   * @param sendable object to add
+   * @param moduleType A string that defines the module name in the label for the value
+   * @param moduleNumber The number of the particular module type
+   * @param channel The channel number the device is plugged into
+   */
+  public static synchronized void add(
+      Sendable sendable, String moduleType, int moduleNumber, int channel) {
+    Component comp = getOrAdd(sendable);
+    comp.setName(moduleType, moduleNumber, channel);
+  }
+
+  /**
+   * Adds an object to the registry.
+   *
+   * @param sendable object to add
+   * @param subsystem subsystem name
+   * @param name component name
+   */
+  public static synchronized void add(Sendable sendable, String subsystem, String name) {
+    Component comp = getOrAdd(sendable);
+    comp.m_name = name;
+    comp.m_subsystem = subsystem;
+  }
+
+  /**
+   * Adds a child object to an object. Adds the child object to the registry if it's not already
+   * present.
+   *
+   * @param parent parent object
+   * @param child child object
+   */
+  public static synchronized void addChild(Sendable parent, Object child) {
+    Component comp = components.get(child);
+    if (comp == null) {
+      comp = new Component();
+      components.put(child, comp);
+    }
+    // comp.m_parent = new WeakReference<>(parent);
+  }
+
+  /**
+   * Removes an object from the registry.
+   *
+   * @param sendable object to remove
+   * @return true if the object was removed; false if it was not present
+   */
+  public static synchronized boolean remove(Sendable sendable) {
+    Component comp = components.remove(sendable);
+    if (comp != null) {
+      try {
+        comp.close();
+      } catch (Exception e) {
+        // ignore
+      }
+    }
+    return comp != null;
+  }
+
+  /**
+   * Determines if an object is in the registry.
+   *
+   * @param sendable object to check
+   * @return True if in registry, false if not.
+   */
+  public static synchronized boolean contains(Sendable sendable) {
+    return components.containsKey(sendable);
+  }
+
+  /**
+   * Gets the name of an object.
+   *
+   * @param sendable object
+   * @return Name (empty if object is not in registry)
+   */
+  public static synchronized String getName(Sendable sendable) {
+    Component comp = components.get(sendable);
+    if (comp == null) {
+      return "";
+    }
+    return comp.m_name;
+  }
+
+  /**
+   * Sets the name of an object.
+   *
+   * @param sendable object
+   * @param name name
+   */
+  public static synchronized void setName(Sendable sendable, String name) {
+    Component comp = components.get(sendable);
+    if (comp != null) {
+      comp.m_name = name;
+    }
+  }
+
+  /**
+   * Sets the name of an object with a channel number.
+   *
+   * @param sendable object
+   * @param moduleType A string that defines the module name in the label for the value
+   * @param channel The channel number the device is plugged into
+   */
+  public static synchronized void setName(Sendable sendable, String moduleType, int channel) {
+    Component comp = components.get(sendable);
+    if (comp != null) {
+      comp.setName(moduleType, channel);
+    }
+  }
+
+  /**
+   * Sets the name of an object with a module and channel number.
+   *
+   * @param sendable object
+   * @param moduleType A string that defines the module name in the label for the value
+   * @param moduleNumber The number of the particular module type
+   * @param channel The channel number the device is plugged into
+   */
+  public static synchronized void setName(
+      Sendable sendable, String moduleType, int moduleNumber, int channel) {
+    Component comp = components.get(sendable);
+    if (comp != null) {
+      comp.setName(moduleType, moduleNumber, channel);
+    }
+  }
+
+  /**
+   * Sets both the subsystem name and device name of an object.
+   *
+   * @param sendable object
+   * @param subsystem subsystem name
+   * @param name device name
+   */
+  public static synchronized void setName(Sendable sendable, String subsystem, String name) {
+    Component comp = components.get(sendable);
+    if (comp != null) {
+      comp.m_name = name;
+      comp.m_subsystem = subsystem;
+    }
+  }
+
+  /**
+   * Gets the subsystem name of an object.
+   *
+   * @param sendable object
+   * @return Subsystem name (empty if object is not in registry)
+   */
+  public static synchronized String getSubsystem(Sendable sendable) {
+    Component comp = components.get(sendable);
+    if (comp == null) {
+      return "";
+    }
+    return comp.m_subsystem;
+  }
+
+  /**
+   * Sets the subsystem name of an object.
+   *
+   * @param sendable object
+   * @param subsystem subsystem name
+   */
+  public static synchronized void setSubsystem(Sendable sendable, String subsystem) {
+    Component comp = components.get(sendable);
+    if (comp != null) {
+      comp.m_subsystem = subsystem;
+    }
+  }
+
+  /**
+   * Gets a unique handle for setting/getting data with setData() and getData().
+   *
+   * @return Handle
+   */
+  public static synchronized int getDataHandle() {
+    return nextDataHandle++;
+  }
+
+  /**
+   * Associates arbitrary data with an object in the registry.
+   *
+   * @param sendable object
+   * @param handle data handle returned by getDataHandle()
+   * @param data data to set
+   * @return Previous data (may be null). If non-null, caller is responsible for calling close().
+   */
+  @SuppressWarnings("PMD.CompareObjectsWithEquals")
+  public static synchronized AutoCloseable setData(
+      Sendable sendable, int handle, AutoCloseable data) {
+    Component comp = components.get(sendable);
+    if (comp == null) {
+      return null;
+    }
+    AutoCloseable rv = null;
+    if (comp.m_data == null) {
+      comp.m_data = new AutoCloseable[handle + 1];
+    } else if (handle < comp.m_data.length) {
+      rv = comp.m_data[handle];
+    } else {
+      comp.m_data = Arrays.copyOf(comp.m_data, handle + 1);
+    }
+    if (comp.m_data[handle] != data) {
+      if (comp.m_data[handle] != null) {
+        try {
+          comp.m_data[handle].close();
+        } catch (Exception e) {
+          // ignore
+        }
+      }
+      comp.m_data[handle] = data;
+    }
+    return rv;
+  }
+
+  /**
+   * Gets arbitrary data associated with an object in the registry.
+   *
+   * @param sendable object
+   * @param handle data handle returned by getDataHandle()
+   * @return data (may be null if none associated)
+   */
+  public static synchronized Object getData(Sendable sendable, int handle) {
+    Component comp = components.get(sendable);
+    if (comp == null || comp.m_data == null || handle >= comp.m_data.length) {
+      return null;
+    }
+    return comp.m_data[handle];
+  }
+
+  /**
+   * Publishes an object in the registry to a builder.
+   *
+   * @param sendable object
+   * @param builder sendable builder
+   */
+  public static synchronized void publish(Sendable sendable, SendableBuilder builder) {
+    Component comp = getOrAdd(sendable);
+    if (comp.m_builder != null) {
+      try {
+        comp.m_builder.close();
+      } catch (Exception e) {
+        // ignore
+      }
+    }
+    comp.m_builder = builder; // clear any current builder
+    sendable.initSendable(comp.m_builder);
+    comp.m_builder.update();
+  }
+
+  /**
+   * Updates network table information from an object.
+   *
+   * @param sendable object
+   */
+  public static synchronized void update(Sendable sendable) {
+    Component comp = components.get(sendable);
+    if (comp != null && comp.m_builder != null) {
+      comp.m_builder.update();
+    }
+  }
+}