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https://github.com/wpilibsuite/allwpilib
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[wpilibj] Allow passing DS Instance to Robot and OpModes (#8626)
Some discussion with the tech team showed that there were some real advantages to being able to pass a 2nd type. It allows separating the DS and Robot. Additionally, we can make the DriverStationBase class actually usable instead of the existing DriverStation class which is impossible to handle in intellisense because it has too much. This won't fully be doable in C++, but we will need to implement something similar in python.
This commit is contained in:
Thad House
176
wpiutil/src/main/java/org/wpilib/util/ConstructorMatch.java
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176
wpiutil/src/main/java/org/wpilib/util/ConstructorMatch.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.util;
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import java.lang.reflect.Constructor;
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import java.util.List;
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import java.util.Optional;
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/**
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* Utility class to find the best matching constructor for a given set of parameter types. The
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* constructor must have parameter types that are assignable from the given parameter types, and the
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* parameter types must not be assignable to each other. If multiple constructors match, the one
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* with the most specific parameter types is chosen. If there is still a tie, the one with the most
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* specific first parameter type is chosen, then the second parameter type, and so on.
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*
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* @param <T> the type of the class to find the constructor for
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*/
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public class ConstructorMatch<T> {
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private final Constructor<T> m_constructor;
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private final List<Class<?>> m_parameterTypes;
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/**
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* Constructs a ConstructorMatch with the given constructor and parameter types. The parameter
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* types must not be assignable to each other.
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*
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* @param constructor the constructor to match
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* @param parameterTypes the parameter types for the constructor
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*/
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public ConstructorMatch(Constructor<T> constructor, Class<?>... parameterTypes) {
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m_constructor = constructor;
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m_parameterTypes = List.of(parameterTypes);
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if (!isValidParameterPack(parameterTypes)) {
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throw new IllegalArgumentException("Parameter types must not be assignable to each other");
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}
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}
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private static boolean isValidParameterPack(Class<?>... types) {
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// Verify that all of the parameter types are not assignable to each other
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for (int i = 0; i < types.length; i++) {
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// Don't allow object parameters, as they would match any parameter type
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// and prevent more specific matches from being found
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if (types[i].equals(Object.class)) {
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return false;
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}
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for (int j = i + 1; j < types.length; j++) {
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if (types[i].isAssignableFrom(types[j]) || types[j].isAssignableFrom(types[i])) {
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return false;
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}
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}
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}
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return true;
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}
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/**
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* Creates a new instance of the constructor's class using the given arguments. The arguments must
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* match the parameter types of the constructor, and must not be assignable to each other. The
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* order of the arguments does not matter, as they will be matched to the parameter types.
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* Duplicate arguments are ignored, as the first match will match.
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*
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* @param args the arguments to pass to the constructor
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* @return a new instance of the constructor's class
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* @throws ReflectiveOperationException if the constructor cannot be invoked
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*/
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public T newInstance(Object... args) throws ReflectiveOperationException {
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Object[] parameterArgs = new Object[m_parameterTypes.size()];
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// Find the incoming argument that matches each parameter type
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for (int i = 0; i < m_parameterTypes.size(); i++) {
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boolean found = false;
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for (Object arg : args) {
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if (m_parameterTypes.get(i).isAssignableFrom(arg.getClass())) {
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parameterArgs[i] = arg;
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found = true;
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break;
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}
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}
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if (!found) {
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throw new IllegalArgumentException(
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"No argument found for parameter type " + m_parameterTypes.get(i));
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}
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}
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return m_constructor.newInstance(parameterArgs);
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}
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/**
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* Finds the best matching constructor for the given class and parameter types. The constructor
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* must have parameter types that are assignable from the given parameter types, and the parameter
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* types must not be assignable to each other. If multiple constructors match, the one with the
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* most specific parameter types is chosen. If there is still a tie, the one with the most
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* specific first parameter type is chosen, then the second parameter type, and so on. The order
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* of the parameter types does not matter, as they will be matched to the constructor's parameter
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* types. Duplicate parameter types are ignored, as the first match will match.
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*
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* @param <T> the type of the class to find the constructor for
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* @param clazz the class to find the constructor for
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* @param parameterTypes the parameter types to match
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* @return an Optional containing the best matching ConstructorMatch, or empty if no match is
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* found
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*/
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public static <T> Optional<ConstructorMatch<T>> findBestConstructor(
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Class<T> clazz, Class<?>... parameterTypes) {
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if (!isValidParameterPack(parameterTypes)) {
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return Optional.empty();
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}
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Constructor<T> bestCtor = null;
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Class<?>[] bestParameterTypes = new Class<?>[parameterTypes.length];
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@SuppressWarnings("unchecked")
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Constructor<T>[] constructors = (Constructor<T>[]) clazz.getConstructors();
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for (Constructor<T> constructor : constructors) {
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Class<?>[] ctorParameterTypes = constructor.getParameterTypes();
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if (ctorParameterTypes.length != parameterTypes.length) {
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continue;
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}
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boolean matches = true;
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for (int i = 0; i < parameterTypes.length; i++) {
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// Don't allow object parameters, as they would match any parameter type and
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// prevent more specific matches from being found
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if (ctorParameterTypes[i].equals(Object.class)) {
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matches = false;
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break;
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}
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if (!ctorParameterTypes[i].isAssignableFrom(parameterTypes[i])) {
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matches = false;
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break;
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}
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}
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if (!matches) {
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continue;
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}
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boolean better = false;
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if (bestCtor == null) {
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better = true;
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} else {
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// Check if this constructor is more specific than the best one found so far
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// Order by parameter order so that if one constructor has a more specific
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// parameter type for the first parameter, it is preferred over a constructor
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// that has a more specific parameter type for the second parameter
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for (int i = 0; i < parameterTypes.length; i++) {
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if (ctorParameterTypes[i] != bestParameterTypes[i]) {
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if (bestParameterTypes[i].isAssignableFrom(ctorParameterTypes[i])) {
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better = true;
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}
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break;
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}
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}
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}
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if (better) {
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bestCtor = constructor;
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System.arraycopy(ctorParameterTypes, 0, bestParameterTypes, 0, parameterTypes.length);
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}
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}
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return bestCtor == null
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? Optional.empty()
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: Optional.of(new ConstructorMatch<>(bestCtor, bestParameterTypes));
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}
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/**
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* Returns the constructor that was matched.
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*
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* @return the constructor that was matched
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*/
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public Constructor<T> getConstructor() {
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return m_constructor;
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}
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/**
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* Returns the parameter types for the constructor.
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*
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* @return the parameter types for the constructor
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*/
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public List<Class<?>> getParameterTypes() {
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return m_parameterTypes;
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}
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}
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278
wpiutil/src/test/java/org/wpilib/util/ConstructorMatchTest.java
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278
wpiutil/src/test/java/org/wpilib/util/ConstructorMatchTest.java
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@@ -0,0 +1,278 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.util;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertThrows;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import java.util.Optional;
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import org.junit.jupiter.api.Test;
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@SuppressWarnings({
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"PMD.TestClassWithoutTestCases",
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"PMD.UnusedFormalParameter",
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"RedundantModifier"
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})
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class ConstructorMatchTest {
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public static class TestClass {
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public TestClass() {}
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public TestClass(String s) {}
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public TestClass(Optional<?> o) {}
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public TestClass(String s, Optional<?> o) {}
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}
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public static class TestInvalidParameterClass {
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public TestInvalidParameterClass(String s, Object o) {}
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}
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@Test
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void testTooManyParameters() {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class, Object.class);
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assertTrue(ctor.isEmpty());
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}
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@Test
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void testUnassignableParameters() {
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var ctor =
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ConstructorMatch.findBestConstructor(
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TestInvalidParameterClass.class, String.class, Object.class);
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assertTrue(ctor.isEmpty());
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}
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@Test
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void testValidConstructorNoArgs() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance();
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ctor.get().newInstance("test", Optional.empty());
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ctor.get().newInstance(Optional.empty(), "test");
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ctor.get().newInstance("test");
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ctor.get().newInstance(Optional.empty());
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}
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@Test
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void testValidConstructorString() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance("test", Optional.empty());
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ctor.get().newInstance(Optional.empty(), "test");
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ctor.get().newInstance("test");
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}
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@Test
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void testInvalidConstructorString() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class);
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assertTrue(ctor.isPresent());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance(Optional.empty()));
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}
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@Test
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void testValidConstructorOptional() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, Optional.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance("test", Optional.empty());
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ctor.get().newInstance(Optional.empty(), "test");
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ctor.get().newInstance(Optional.empty());
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}
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@Test
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void testInvalidConstructorOptional() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, Optional.class);
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assertTrue(ctor.isPresent());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance("test"));
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}
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@Test
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void testValidConstructorStringOptional() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class, Optional.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance("test", Optional.empty());
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ctor.get().newInstance(Optional.empty(), "test");
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}
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@Test
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void testInvalidConstructorStringOptional() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class, Optional.class);
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assertTrue(ctor.isPresent());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance("test"));
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance(Optional.empty()));
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}
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// Since this is built for opmodes, we're going to write tests that assume that
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// scenario.
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public interface UserControls {}
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public static class DefaultUserControls implements UserControls {}
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public static class CustomUserControls implements UserControls {}
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public static class RobotBase {}
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public static class RobotWithNoUserControls extends RobotBase {}
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public static class RobotWithDefaultUserControls extends RobotBase {
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public RobotWithDefaultUserControls(DefaultUserControls controls) {}
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}
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@Test
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void testRobotWithDefaultUserControls() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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RobotWithDefaultUserControls.class, DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance(new DefaultUserControls());
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assertThrows(
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IllegalArgumentException.class, () -> ctor.get().newInstance(new CustomUserControls()));
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}
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public static class RobotWithCustomUserControls extends RobotBase {
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public RobotWithCustomUserControls(CustomUserControls controls) {}
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}
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@Test
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void testRobotWithCustomUserControls() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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RobotWithCustomUserControls.class, CustomUserControls.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance(new CustomUserControls());
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assertThrows(
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IllegalArgumentException.class, () -> ctor.get().newInstance(new DefaultUserControls()));
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}
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public static class RobotWithUserControls extends RobotBase {
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public RobotWithUserControls(UserControls controls) {}
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}
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@Test
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void testRobotWithUserControls() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(RobotWithUserControls.class, UserControls.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance(new DefaultUserControls());
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ctor.get().newInstance(new CustomUserControls());
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}
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public static class OpModeWithRobotBase {
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public OpModeWithRobotBase(RobotBase robot) {}
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}
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@Test
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void testOpModeWithRobotBase() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(OpModeWithRobotBase.class, RobotBase.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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var customUserControls = new CustomUserControls();
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ctor.get().newInstance(new RobotWithNoUserControls(), defaultUserControls);
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ctor.get()
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.newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
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ctor.get().newInstance(new RobotWithCustomUserControls(customUserControls), customUserControls);
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ctor.get().newInstance(new RobotWithUserControls(defaultUserControls), defaultUserControls);
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}
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public static class OpModeWithRobotWithNoUserControls {
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public OpModeWithRobotWithNoUserControls(RobotWithNoUserControls robot) {}
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}
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@Test
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void testOpModeWithRobotWithNoUserControls() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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OpModeWithRobotWithNoUserControls.class, RobotWithNoUserControls.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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ctor.get().newInstance(new RobotWithNoUserControls(), defaultUserControls);
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}
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public static class OpModeWithRobotWithDefaultUserControls {
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public OpModeWithRobotWithDefaultUserControls(RobotWithDefaultUserControls robot) {}
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public OpModeWithRobotWithDefaultUserControls(
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RobotWithDefaultUserControls robot, DefaultUserControls controls) {}
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public OpModeWithRobotWithDefaultUserControls(DefaultUserControls controls) {}
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}
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@Test
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void testOpModeWithRobotWithDefaultUserControlsRobotArg() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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OpModeWithRobotWithDefaultUserControls.class, RobotWithDefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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ctor.get()
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.newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
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}
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@Test
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void testOpModeWithRobotWithDefaultUserControlsControlsArg() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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OpModeWithRobotWithDefaultUserControls.class, DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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ctor.get()
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.newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
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}
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@Test
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void testOpModeWithRobotWithDefaultUserControlsNoArgs() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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OpModeWithRobotWithDefaultUserControls.class,
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RobotWithDefaultUserControls.class,
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DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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ctor.get()
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.newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
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}
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public static class MostSpecificFirstArg {
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public MostSpecificFirstArg(RobotBase robot, DefaultUserControls controls) {}
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public MostSpecificFirstArg(RobotWithDefaultUserControls robot, UserControls controls) {}
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}
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@Test
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void testMostSpecificFirstArg() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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MostSpecificFirstArg.class,
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RobotWithDefaultUserControls.class,
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DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var parameterTypes = ctor.get().getParameterTypes();
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assertEquals(RobotWithDefaultUserControls.class, parameterTypes.get(0));
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assertEquals(UserControls.class, parameterTypes.get(1));
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}
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public static class MostSpecificSecondArg {
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public MostSpecificSecondArg(RobotBase robot, DefaultUserControls controls) {}
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public MostSpecificSecondArg(RobotBase robot, UserControls controls) {}
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}
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@Test
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void testMostSpecificSecondArg() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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MostSpecificSecondArg.class,
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RobotWithDefaultUserControls.class,
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DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var parameterTypes = ctor.get().getParameterTypes();
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assertEquals(RobotBase.class, parameterTypes.get(0));
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assertEquals(DefaultUserControls.class, parameterTypes.get(1));
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}
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}
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