refactor ChoiceMenu

Author: BuildTools

Marrow/src/main/java/com/skeletonarmy/marrow/MarrowGamepad.java

@@ -111,7 +111,7 @@ public MarrowGamepad(OpMode opMode, Gamepad gamepad) {
      * Updates the internal gamepad state.
      */
     public void update() {
-        if (opMode.time == lastOpModeTime) return; // Skip update if it was already called this frame
+        if (opMode.time == lastOpModeTime) return; // Skip update if it was already called this frame. This is so it runs only once per loop.
 
         // Save snapshot (last frame) into previous
         previous.copy(snapshot);

Marrow/src/main/java/com/skeletonarmy/marrow/autonomous/AutoOpMode.java

@@ -46,15 +46,15 @@ private static class StateEntry {
 
   private String currentState = null;
 
-  private ChoiceMenu choiceMenu;
-
   private Supplier<Boolean> fallbackCondition = () -> false;
   private Runnable fallbackFunction = () -> {};
   private boolean didFallback = false;
 
   private double autonomousDuration = 30;
 
-  protected ElapsedTime runtime = new ElapsedTime();
+  public ElapsedTime runtime = new ElapsedTime();
+
+  public ChoiceMenu choiceMenu;
 
   public MarrowGamepad gamepad1;
   public MarrowGamepad gamepad2;
@@ -108,7 +108,7 @@ private void internalEarlyInit() {
   }
 
   private void internalLateInit() {
-    new Thread(this::preAutonomousSetup).start();
+    preAutonomousSetup();
   }
 
   private void internalInitLoop(){
@@ -345,16 +345,6 @@ protected void setFallbackState(Supplier<Boolean> condition, Runnable handler) {
     fallbackFunction = handler;
   }
 
-  /**
-   * Prompts the user with a specified {@link Prompt} and waits for a selection.
-   *
-   * @param prompt The {@link Prompt} to present to the user
-   * @return The selected result of type {@code T}
-   */
-  protected <T> T prompt(Prompt<T> prompt) {
-    return choiceMenu.prompt(prompt);
-  }
-
   /**
    * Sets the duration of the autonomous period, typically used for debugging purposes.
    * This value is used in {@link #isEnoughTime()}.

Marrow/src/main/java/com/skeletonarmy/marrow/autonomous/ChoiceMenu.java

@@ -8,23 +8,32 @@
 import com.skeletonarmy.marrow.prompts.Prompt;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
+import java.util.function.Supplier;
 
 public class ChoiceMenu {
+    private final OpMode opMode;
     private final Telemetry telemetry;
     private final MarrowGamepad gamepad1;
     private final MarrowGamepad gamepad2;
 
-    private final List<PromptResult<?>> promptResults = new ArrayList<>();
+    private final List<KeyPromptPair<?>> prompts = new ArrayList<>();
+    private final Map<String, Object> results = new HashMap<>();
+
     private int currentIndex = 0;
+    private double lastOpModeTime = -1;
 
     public ChoiceMenu(OpMode opMode, Gamepad gamepad1, Gamepad gamepad2) {
+        this.opMode = opMode;
         this.telemetry = opMode.telemetry;
         this.gamepad1 = new MarrowGamepad(opMode, gamepad1);
         this.gamepad2 = new MarrowGamepad(opMode, gamepad2);
     }
 
     public ChoiceMenu(OpMode opMode, MarrowGamepad gamepad1, MarrowGamepad gamepad2) {
+        this.opMode = opMode;
         this.telemetry = opMode.telemetry;
         this.gamepad1 = gamepad1;
         this.gamepad2 = gamepad2;
@@ -33,13 +42,44 @@ public ChoiceMenu(OpMode opMode, MarrowGamepad gamepad1, MarrowGamepad gamepad2)
     /**
      * Add a prompt to the queue.
      */
-    private <T> void enqueuePrompt(Prompt<T> prompt) {
-        promptResults.add(new PromptResult<>(prompt));
+    public <T> void enqueuePrompt(String key, Prompt<T> prompt) {
+        prompts.add(new KeyPromptPair<>(key, prompt));
+    }
+
+    /**
+     * Add a prompt to the queue.
+     */
+    public <T> void enqueuePrompt(String key, Supplier<Prompt<T>> promptSupplier) {
+        prompts.add(new KeyPromptPair<>(key, promptSupplier));
+    }
+
+
+    /**
+     * Gets the chosen value of a prompt from its key.
+     *
+     * @param key The prompt's key
+     * @return The value of the prompt result
+     */
+    @SuppressWarnings("unchecked")
+    public <T> T get(String key) {
+        return (T) results.get(key);
+    }
+
+    /**
+     * Gets the chosen value of a prompt from its key.
+     *
+     * @param key The prompt's key
+     * @param defaultValue A default value if the value doesn't exist
+     * @return The value of the prompt result
+     */
+    @SuppressWarnings("unchecked")
+    public <T> T getOrDefault(String key, T defaultValue) {
+        return (T) results.getOrDefault(key, defaultValue);
     }
 
     /**
      * Handles the prompts and inputs. Should be called in a loop.
-     * @return True if there are no more prompts to process
+     * @return True if there are no more prompts to process, false otherwise
      */
     private boolean processPrompts() {
         // Handle back navigation
@@ -48,49 +88,64 @@ private boolean processPrompts() {
         }
 
         // No prompts left
-        if (currentIndex >= promptResults.size()) {
+        if (currentIndex >= prompts.size()) {
             return true;
         }
 
-        PromptResult current = promptResults.get(currentIndex);
-        Object result = current.prompt.process(gamepad1, gamepad2, telemetry);
+        KeyPromptPair<?> current = prompts.get(currentIndex);
+        Prompt<?> prompt = current.getPrompt();
 
+        // Skip if prompt is null
+        if (prompt == null) {
+            currentIndex++;
+            return false;
+        }
+
+        Object result = prompt.process(gamepad1, gamepad2, telemetry);
         if (result != null) {
-            current.result = result;
+            results.put(current.getKey(), result);
             currentIndex++;
         }
 
         return false;
     }
 
-    /**
-     * Prompts the user and waits for a result. This will block until the result is chosen.
-     */
-    @SuppressWarnings("unchecked")
-    public <T> T prompt(Prompt<T> prompt) {
-        enqueuePrompt(prompt);
-
-        // Process the prompts until a result is selected for the current prompt
-        while (!processPrompts()) {
-            gamepad1.update();
-            gamepad2.update();
-            telemetry.update();
-            telemetry.clearAll();
-        }
+    public void run() {
+        boolean finished = false;
 
-        // Return the result of the prompt
-        return (T) promptResults.get(promptResults.size() - 1).result;
+        while (!finished) {
+            if (opMode.time == lastOpModeTime) continue; // Skip if it was already called this frame. This is so it runs only once per loop.
+
+            finished = processPrompts();
+            lastOpModeTime = opMode.time;
+        }
     }
 
-    /**
-     * A helper class to keep prompt and its result together.
-     */
-    private static class PromptResult<T> {
-        public final Prompt<T> prompt;
-        public T result;
+    private static class KeyPromptPair<T> {
+        private final String key;
+        private final Prompt<T> prompt;
+        private final Supplier<Prompt<T>> promptSupplier;
 
-        public PromptResult(Prompt<T> prompt) {
+        public KeyPromptPair(String key, Prompt<T> prompt) {
+            this.key = key;
             this.prompt = prompt;
+            this.promptSupplier = null;
+        }
+
+        public KeyPromptPair(String key, Supplier<Prompt<T>> promptSupplier) {
+            this.key = key;
+            this.prompt = null;
+            this.promptSupplier = promptSupplier;
+        }
+
+        public String getKey() {
+            return key;
+        }
+
+        public Prompt<T> getPrompt() {
+            if (prompt != null) return prompt;
+            if (promptSupplier != null) return promptSupplier.get();
+            return null;
         }
     }
 }