Revert "Status handles"

src/main/java/com/team766/framework3/Mechanism.java

@@ -13,7 +13,7 @@
 import java.util.Set;
 
 public abstract class Mechanism<S extends Record & Status>
-        implements Reservable, StatusSource<S>, LoggingBase {
+        implements Reservable, LoggingBase {
     @FunctionalInterface
     public interface Directive {
         /**
@@ -205,7 +205,6 @@ public final Set<Subsystem> getReservableSubsystems() {
         return Set.of(subsystem);
     }
 
-    @Override
     public final S getStatus() {
         if (status == null) {
             throw new NoSuchElementException(getName() + " has not published a status yet");
@@ -216,7 +215,7 @@ public final S getStatus() {
     /* package */ void periodicInternal() {
         try {
             status = reportStatus();
-            publishStatus(status);
+            StatusBus.getInstance().publishStatus(status);
 
             isRunningPeriodic = true;
             request.runDirective();

src/main/java/com/team766/framework3/MultiFacetedMechanism.java

@@ -1,6 +1,7 @@
 package com.team766.framework3;
 
 import java.util.HashSet;
+import java.util.NoSuchElementException;
 import java.util.Objects;
 import java.util.Set;
 import com.team766.framework.StackTraceUtils;
@@ -12,7 +13,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public abstract class MultiFacetedMechanism<S extends Record & Status>
-        implements StatusSource<S>, Reservable, LoggingBase {
+        implements Reservable, LoggingBase {
     @SuppressWarnings("unused")
     private SubsystemBase outerSubsystem =
             new SubsystemBase() {
@@ -61,6 +62,13 @@ public void checkContextReservation() {
         }
     }
 
+    public final S getStatus() {
+        if (status == null) {
+            throw new NoSuchElementException(getName() + " has not published a status yet");
+        }
+        return status;
+    }
+
     @Override
     public Set<Subsystem> getReservableSubsystems() {
         return facetSubsystems;
@@ -74,7 +82,7 @@ public Category getLoggerCategory() {
     /* package */ void periodicInternal() {
         try {
             status = reportStatus();
-            publishStatus(status);
+            StatusBus.getInstance().publishStatus(status);
 
             run();
         } catch (Exception ex) {

src/main/java/com/team766/framework3/StatusBus.java

@@ -19,7 +19,7 @@
 public class StatusBus {
 
     private static StatusBus s_instance = new StatusBus();
-    private final Map<Class<? extends StatusHandle<?>>, Entry<?>> statuses = new LinkedHashMap<>();
+    private final Map<Class<?>, Entry<?>> statuses = new LinkedHashMap<>();
 
     /**
      * Get the Singleton instance of the {@link StatusBus}.
@@ -51,10 +51,9 @@ public void clear() {
      *
      * This method also logs the Status to diagnostic logs.
      */
-    public <H extends StatusHandle<S>, S extends Record & Status> Entry<S> publishStatus(
-            Class<H> handle, S status) {
+    public <S extends Record & Status> Entry<S> publishStatus(S status) {
         var entry = new Entry<>(status, RobotProvider.instance.getClock().getTime());
-        statuses.put(handle, entry);
+        statuses.put(status.getClass(), entry);
         // TODO(MF3): also publish to data logs
         Logger.get(Category.FRAMEWORK)
                 .logRaw(
@@ -79,9 +78,8 @@ public <H extends StatusHandle<S>, S extends Record & Status> Entry<S> publishSt
      *     Optional if the {@link Status} hasn't been published.
      */
     @SuppressWarnings("unchecked")
-    public <H extends StatusHandle<S>, S extends Status> Optional<Entry<S>> getStatusEntry(
-            Class<H> handle) {
-        return Optional.ofNullable((Entry<S>) statuses.get(handle));
+    public <S extends Status> Optional<Entry<S>> getStatusEntry(Class<S> statusClass) {
+        return Optional.ofNullable((Entry<S>) statuses.get(statusClass));
     }
 
     /**
@@ -96,8 +94,8 @@ public <H extends StatusHandle<S>, S extends Status> Optional<Entry<S>> getStatu
      *     The latest published {@link Status} or an empty Optional if the {@link Status} hasn't
      *     been published.
      */
-    public <H extends StatusHandle<S>, S extends Status> Optional<S> getStatus(Class<H> handle) {
-        return getStatusEntry(handle).map(Entry<S>::status);
+    public <S extends Status> Optional<S> getStatus(Class<S> statusClass) {
+        return getStatusEntry(statusClass).map(Entry<S>::status);
     }
 
     /**
@@ -111,8 +109,8 @@ public <H extends StatusHandle<S>, S extends Status> Optional<S> getStatus(Class
      * @return The latest published {@link Status}
      * @throws NoSuchElementException if the {@link Status} hasn't been published
      */
-    public <H extends StatusHandle<S>, S extends Status> S getStatusOrThrow(Class<H> handle) {
-        return getStatus(handle).orElseThrow();
+    public <S extends Status> S getStatusOrThrow(Class<S> statusClass) {
+        return getStatus(statusClass).orElseThrow();
     }
 
     /**
@@ -128,8 +126,8 @@ public <H extends StatusHandle<S>, S extends Status> S getStatusOrThrow(Class<H>
      *     The result of the Function applied to the latest published {@link Status} or an empty
      *     Optional if the {@link Status} hasn't been published.
      */
-    public <H extends StatusHandle<S>, S extends Status, V> Optional<V> getStatusValue(
-            Class<H> handle, Function<S, V> getter) {
-        return getStatusEntry(handle).map(s -> getter.apply(s.status()));
+    public <S extends Status, V> Optional<V> getStatusValue(
+            Class<S> statusClass, Function<S, V> getter) {
+        return getStatusEntry(statusClass).map(s -> getter.apply(s.status()));
     }
 }

src/main/java/com/team766/framework3/StatusesMixin.java

@@ -6,96 +6,96 @@
 import java.util.Optional;
 import java.util.function.Function;
 import java.util.function.Predicate;
-import com.team766.library.ReflectionUtils;
 
 public interface StatusesMixin {
-    default <SH extends Record & Status & StatusHandle<SH>>
-            StatusBus.Entry<SH> publishStatus(SH status) {
-        return StatusBus.getInstance().publishStatus(ReflectionUtils.getClass(status), status);
+    /**
+     * @see StatusBus#publishStatus(Record)
+     */
+    default <S extends Record & Status> StatusBus.Entry<S> publishStatus(S status) {
+        return StatusBus.getInstance().publishStatus(status);
     }
 
     /**
      * @see StatusBus#getStatusEntry(Class)
      */
-    default <H extends StatusHandle<S>, S extends Status>
-            Optional<StatusBus.Entry<S>> getStatusEntry(Class<H> handle) {
-        return StatusBus.getInstance().getStatusEntry(handle);
+    default <S extends Status> Optional<StatusBus.Entry<S>> getStatusEntry(Class<S> statusClass) {
+        return StatusBus.getInstance().getStatusEntry(statusClass);
     }
 
     /**
      * @see StatusBus#getStatus(Class)
      */
-    default <H extends StatusHandle<S>, S extends Status> Optional<S> getStatus(Class<H> handle) {
-        return StatusBus.getInstance().getStatus(handle);
+    default <S extends Status> Optional<S> getStatus(Class<S> statusClass) {
+        return StatusBus.getInstance().getStatus(statusClass);
     }
 
     /**
      * @see StatusBus#getStatusOrThrow(Class)
      */
-    default <H extends StatusHandle<S>, S extends Status> S getStatusOrThrow(Class<H> handle) {
-        return StatusBus.getInstance().getStatusOrThrow(handle);
+    default <S extends Status> S getStatusOrThrow(Class<S> statusClass) {
+        return StatusBus.getInstance().getStatusOrThrow(statusClass);
     }
 
     /**
      * @see StatusBus#getStatusValue(Class, Function)
      */
-    default <H extends StatusHandle<S>, S extends Status, V> Optional<V> getStatusValue(
-            Class<H> handle, Function<S, V> getter) {
-        return StatusBus.getInstance().getStatusValue(handle, getter);
+    default <S extends Status, V> Optional<V> getStatusValue(
+            Class<S> statusClass, Function<S, V> getter) {
+        return StatusBus.getInstance().getStatusValue(statusClass, getter);
     }
 
     /**
      * Predicate that checks whether or not a {@link Status} with the given class has been published
      */
-    default <H extends StatusHandle<S>, S extends Status> boolean checkForStatus(Class<H> handle) {
-        return getStatusEntry(handle).isPresent();
+    default <S extends Status> boolean checkForStatus(Class<S> statusClass) {
+        return getStatusEntry(statusClass).isPresent();
     }
 
     /**
      * Predicate that checks whether or not the latest {@link Status} with the given class passes
      * the check provided by {@code predicate}.
      */
-    default <H extends StatusHandle<S>, S extends Status> boolean checkForStatusWith(
-            Class<H> handle, Predicate<S> predicate) {
-        return getStatusValue(handle, predicate::test).orElse(false);
+    default <S extends Status> boolean checkForStatusWith(
+            Class<S> statusClass, Predicate<S> predicate) {
+        return getStatusValue(statusClass, predicate::test).orElse(false);
     }
 
     /**
      * Predicate that checks whether or not the latest {@link Status} with the given class passes
      * the check provided by {@code predicate}, including additional metadata about how the Status
      * was published.
      */
-    default <H extends StatusHandle<S>, S extends Status> boolean checkForStatusEntryWith(
-            Class<H> handle, Predicate<StatusBus.Entry<S>> predicate) {
-        return getStatusEntry(handle).map(predicate::test).orElse(false);
+    default <S extends Status> boolean checkForStatusEntryWith(
+            Class<S> statusClass, Predicate<StatusBus.Entry<S>> predicate) {
+        return getStatusEntry(statusClass).map(predicate::test).orElse(false);
     }
 
     /**
      * Suspend the Procedure until a {@link Status} with the given class has been published, then
      * return that Status.
      */
-    default <H extends StatusHandle<S>, S extends Status> S waitForStatus(
-            Context context, Class<H> handle) {
-        return waitForValue(context, () -> getStatus(handle));
+    default <S extends Status> S waitForStatus(
+            Context context, Class<S> statusClass) {
+        return waitForValue(context, () -> getStatus(statusClass));
     }
 
     /**
      * Suspend the Procedure until a {@link Status} with the given class has been published, or
      * we've waited for at least {@code timeoutSeconds}. Returns an Optional containing the Status
      * if one was published, or return an empty Optional if the timeout was reached.
      */
-    default <H extends StatusHandle<S>, S extends Status> Optional<S> waitForStatusOrTimeout(
-            Context context, Class<H> handle, double timeoutSeconds) {
-        return waitForValueOrTimeout(context, () -> getStatus(handle), timeoutSeconds);
+    default <S extends Status> Optional<S> waitForStatusOrTimeout(
+            Context context, Class<S> statusClass, double timeoutSeconds) {
+        return waitForValueOrTimeout(context, () -> getStatus(statusClass), timeoutSeconds);
     }
 
     /**
      * Suspend the Procedure until a {@link Status} with the given class has been published that
      * passes the check provided by {@code predicate}, then return that Status.
      */
-    default <H extends StatusHandle<S>, S extends Status> S waitForStatusWith(
-            Context context, Class<H> handle, Predicate<S> predicate) {
-        return waitForValue(context, () -> getStatus(handle).filter(predicate));
+    default <S extends Status> S waitForStatusWith(
+            Context context, Class<S> statusClass, Predicate<S> predicate) {
+        return waitForValue(context, () -> getStatus(statusClass).filter(predicate));
     }
 
     /**
@@ -104,9 +104,9 @@ default <H extends StatusHandle<S>, S extends Status> S waitForStatusWith(
      * {@code timeoutSeconds}. Returns an Optional containing the Status if one was published, or
      * return an empty Optional if the timeout was reached.
      */
-    default <H extends StatusHandle<S>, S extends Status> Optional<S> waitForStatusWithOrTimeout(
-            Context context, Class<H> handle, Predicate<S> predicate, double timeoutSeconds) {
+    default <S extends Status> Optional<S> waitForStatusWithOrTimeout(
+            Context context, Class<S> statusClass, Predicate<S> predicate, double timeoutSeconds) {
         return waitForValueOrTimeout(
-                context, () -> getStatus(handle).filter(predicate), timeoutSeconds);
+                context, () -> getStatus(statusClass).filter(predicate), timeoutSeconds);
     }
 }

src/main/java/com/team766/robot/burro_elevator/Lights.java

@@ -31,7 +31,7 @@ public Lights() {
                                 "Elevator top",
                                 () ->
                                         checkForStatusWith(
-                                                Elevator.class,
+                                                Elevator.ElevatorStatus.class,
                                                 s -> s.position() >= Elevator.TOP_POSITION))
                         .withOnTriggeringProcedure(ONCE_AND_HOLD, Set.of(), () -> elevatorAtTop()));
 
@@ -40,7 +40,7 @@ public Lights() {
                                 "Elevator bottom",
                                 () ->
                                         checkForStatusWith(
-                                                Elevator.class,
+                                                Elevator.ElevatorStatus.class,
                                                 s -> s.position() <= Elevator.BOTTOM_POSITION))
                         .withOnTriggeringProcedure(
                                 ONCE_AND_HOLD, Set.of(), () -> elevatorAtBottom()));

src/main/java/com/team766/robot/common/procedures/FollowPath.java

@@ -46,7 +46,7 @@ public void run(Context context) {
 
         // intitialization
 
-        var driveStatus = waitForStatus(context, SwerveDrive.class);
+        var driveStatus = waitForStatus(context, SwerveDrive.DriveStatus.class);
         Pose2d curPose = driveStatus.currentPosition();
         ChassisSpeeds currentSpeeds = driveStatus.chassisSpeeds();
 
@@ -67,7 +67,7 @@ public void run(Context context) {
         while (!timer.hasElapsed(generatedTrajectory.getTotalTimeSeconds())) {
             double currentTime = timer.get();
             PathPlannerTrajectory.State targetState = generatedTrajectory.sample(currentTime);
-            driveStatus = waitForStatus(context, SwerveDrive.class);
+            driveStatus = waitForStatus(context, SwerveDrive.DriveStatus.class);
             curPose = driveStatus.currentPosition();
             currentSpeeds = driveStatus.chassisSpeeds();
 

src/main/java/com/team766/robot/gatorade/Lights.java

@@ -23,12 +23,12 @@ public Lights() {
         addRule(
                 Rule.create(
                                 "OI State Updated",
-                                () -> checkForStatusEntryWith(OI.class, s -> s.age() < 1.3))
+                                () -> checkForStatusEntryWith(OI.OIStatus.class, s -> s.age() < 1.3))
                         .withOnTriggeringProcedure(
                                 REPEATEDLY,
                                 Set.of(),
                                 () -> {
-                                    final OI.OIStatus status = getStatusOrThrow(OI.class);
+                                    final OI.OIStatus status = getStatusOrThrow(OI.OIStatus.class);
                                     setLightsForGamePiece(status.gamePieceType());
                                     setLightsForPlacement(
                                             status.placementPosition(), status.gamePieceType());
@@ -43,12 +43,12 @@ public Lights() {
                         .withOnTriggeringProcedure(ONCE_AND_HOLD, Set.of(), () -> rainbow()));
 
         addRule(
-                Rule.create("Default display", () -> checkForStatus(OI.class))
+                Rule.create("Default display", () -> checkForStatus(OI.OIStatus.class))
                         .withOnTriggeringProcedure(
                                 REPEATEDLY,
                                 Set.of(),
                                 () -> {
-                                    final OI.OIStatus status = getStatusOrThrow(OI.class);
+                                    final OI.OIStatus status = getStatusOrThrow(OI.OIStatus.class);
                                     setLightsForGamePiece(status.gamePieceType());
                                     setLightsForPlacement(
                                             status.placementPosition(), status.gamePieceType());

src/main/java/com/team766/robot/gatorade/OI.java

@@ -5,7 +5,6 @@
 import com.team766.framework3.Rule;
 import com.team766.framework3.RuleEngine;
 import com.team766.framework3.Status;
-import com.team766.framework3.StatusSource;
 import com.team766.hal.JoystickReader;
 import com.team766.hal.RobotProvider;
 import com.team766.robot.common.DriverOI;
@@ -20,7 +19,7 @@
  * This class is the glue that binds the controls on the physical operator interface to the code
  * that allow control of the robot.
  */
-public class OI extends RuleEngine implements StatusSource<OI.OIStatus> {
+public class OI extends RuleEngine {
 
     public record OIStatus(GamePieceType gamePieceType, PlacementPosition placementPosition)
             implements Status {}