rename OICondition inner class to Condition. update example OI to use OIFragment and Conditions.

src/main/java/com/team766/framework/OIFragment.java

@@ -1,28 +1,29 @@
 package com.team766.framework;
 
+import com.team766.logging.Category;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.function.BooleanSupplier;
 
 /**
- * Fragment of an OI, with facilities to make it easy to set up {@link OICondition}s for usage in the fragment's
+ * Fragment of an OI, with facilities to make it easy to set up {@link Condition}s for usage in the fragment's
  * {@link #handleOI} method.
  *
  * The overall OI for a robot will contain a set of fragments, typically one per set of controls (eg, driver, boxop, debug),
  * and it will call {@link #runOI(Context)} once per its own loop.  During each call to {@link #runOI}, the fragment
- * will evaluate any {@link OICondition}s that were created for this fragment.  This simplifies OI logic that checks if a
+ * will evaluate any {@link Condition}s that were created for this fragment.  This simplifies OI logic that checks if a
  * specific condition is currently triggering (eg pressing or holding down a joystick button) or if a condition that had been triggering
  * in a previous iteration of the OI loop is no longer triggering in this iteration.
  */
 public abstract class OIFragment extends LoggingBase {
 
-    protected class OICondition {
+    protected class Condition {
         private final BooleanSupplier condition;
         private boolean triggering = false;
         private boolean newlyTriggering = false;
         private boolean finishedTriggering = false;
 
-        public OICondition(BooleanSupplier condition) {
+        public Condition(BooleanSupplier condition) {
             this.condition = condition;
             register(this);
         }
@@ -53,21 +54,22 @@ public boolean isFinishedTriggering() {
     }
 
     private final String name;
-    private final List<OICondition> conditions = new LinkedList<OICondition>();
+    private final List<Condition> conditions = new LinkedList<Condition>();
 
     /**
      * Creates a new OIFragment.
      * @param name The name of this part of the OI (eg, "BoxOpOI").  Used for logging.
      */
     public OIFragment(String name) {
+        loggerCategory = Category.OPERATOR_INTERFACE;
         this.name = name;
     }
 
     public final String getName() {
         return name;
     }
 
-    private void register(OICondition condition) {
+    private void register(Condition condition) {
         conditions.add(condition);
     }
 
@@ -79,10 +81,10 @@ protected void handlePre() {}
 
     /**
      * OIFragments must override this method to implement their OI logic.  Typically called via the overall
-     * OI's loop, once per iteration through the loop.  Can use any {@link OICondition}s
-     * they have set up to simplify checking if the {@link OICondition} is {@link OICondition#isTriggering()},
+     * OI's loop, once per iteration through the loop.  Can use any {@link Condition}s
+     * they have set up to simplify checking if the {@link Condition} is {@link Condition#isTriggering()},
      * or, if it had been triggering in a previous iteration of the loop, if it is now
-     * {@link OICondition#isFinishedTriggering()}.
+     * {@link Condition#isFinishedTriggering()}.
      *
      * @param context The {@link Context} running the OI.
      */
@@ -100,7 +102,7 @@ protected void handlePost() {}
      */
     public final void runOI(Context context) {
         handlePre();
-        for (OICondition condition : conditions) {
+        for (Condition condition : conditions) {
             condition.evaluate();
         }
         handleOI(context);

src/main/java/com/team766/robot/common/DriverOI.java

@@ -19,7 +19,7 @@ public class DriverOI extends OIFragment {
     protected double leftJoystickY = 0;
     protected boolean isCross = false;
 
-    private final OICondition movingJoysticks;
+    private final Condition movingJoysticks;
 
     public DriverOI(Drive drive, JoystickReader leftJoystick, JoystickReader rightJoystick) {
         super("DriverOI");
@@ -28,7 +28,7 @@ public DriverOI(Drive drive, JoystickReader leftJoystick, JoystickReader rightJo
         this.rightJoystick = rightJoystick;
 
         movingJoysticks =
-                new OICondition(
+                new Condition(
                         () ->
                                 !isCross
                                         && Math.abs(leftJoystickX)

src/main/java/com/team766/robot/example/DriverOI.java

@@ -0,0 +1,45 @@
+package com.team766.robot.example;
+
+import com.team766.framework.Context;
+import com.team766.framework.OIFragment;
+import com.team766.hal.JoystickReader;
+import com.team766.robot.example.constants.InputConstants;
+import com.team766.robot.example.procedures.*;
+
+public class DriverOI extends OIFragment {
+    private final JoystickReader joystick;
+    private double joystickX;
+    private double joystickY;
+
+    // add any conditions (joystick inputs, etc)
+    private Condition button1;
+    private Condition moveJoystick;
+
+    // add any mechanisms to the constructor arguments as well
+    public DriverOI(JoystickReader joystick) {
+        super("DriverOI");
+        this.joystick = joystick;
+
+        button1 = new Condition(() -> joystick.getButton(InputConstants.BUTTON_TRIGGER));
+        moveJoystick = new Condition(() -> Math.abs(joystickX) > 0 || Math.abs(joystickY) > 0);
+    }
+
+    @Override
+    protected void handlePre() {
+        joystickX = joystick.getAxis(InputConstants.AXIS_X);
+        joystickY = joystick.getAxis(InputConstants.AXIS_Y);
+    }
+
+    @Override
+    protected void handleOI(Context context) {
+        if (button1.isNewlyTriggering()) {
+            // handle button press
+        } else if (button1.isFinishedTriggering()) {
+            // handle button release
+        }
+
+        if (moveJoystick.isTriggering()) {
+            // handle joystick movement
+        }
+    }
+}

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

@@ -5,23 +5,25 @@
 import com.team766.hal.JoystickReader;
 import com.team766.hal.RobotProvider;
 import com.team766.logging.Category;
-import com.team766.robot.example.procedures.*;
 
 /**
  * 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 Procedure {
-    private JoystickReader joystick0;
-    private JoystickReader joystick1;
-    private JoystickReader joystick2;
+    // input devices
+    private final JoystickReader leftJoystick;
+    private final JoystickReader gamepad;
+
+    // OIFragments (driver, boxop, etc)
+    private final DriverOI driverOI;
 
     public OI() {
         loggerCategory = Category.OPERATOR_INTERFACE;
 
-        joystick0 = RobotProvider.instance.getJoystick(0);
-        joystick1 = RobotProvider.instance.getJoystick(1);
-        joystick2 = RobotProvider.instance.getJoystick(2);
+        leftJoystick = RobotProvider.instance.getJoystick(0);
+        gamepad = RobotProvider.instance.getJoystick(1);
+        driverOI = new DriverOI(leftJoystick);
     }
 
     public void run(final Context context) {
@@ -30,8 +32,8 @@ public void run(final Context context) {
             context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
             RobotProvider.instance.refreshDriverStationData();
 
-            // Add driver controls here - make sure to take/release ownership
-            // of mechanisms when appropriate.
+            // call each of the OI fragment's runOI methods.
+            driverOI.runOI(context);
         }
     }
 }

src/main/java/com/team766/robot/example/constants/InputConstants.java

@@ -0,0 +1,11 @@
+package com.team766.robot.example.constants;
+
+public class InputConstants {
+    // this class only contains constants - should never be instantiated
+    private InputConstants() {}
+
+    public static final int AXIS_X = 0;
+    public static final int AXIS_Y = 1;
+
+    public static final int BUTTON_TRIGGER = 1;
+}

src/main/java/com/team766/robot/reva/BoxOpOI.java

@@ -19,9 +19,9 @@ public class BoxOpOI extends OIFragment {
     private final Shooter shooter;
     private final Climber climber;
 
-    private final OICondition shooterShoot;
-    private final OICondition intakeOut;
-    private final OICondition intakeIn;
+    private final Condition shooterShoot;
+    private final Condition intakeOut;
+    private final Condition intakeIn;
 
     public BoxOpOI(
             JoystickReader gamepad,
@@ -36,9 +36,9 @@ public BoxOpOI(
         this.shooter = shooter;
         this.climber = climber;
 
-        shooterShoot = new OICondition(() -> gamepad.getAxis(InputConstants.XBOX_RT) > 0);
-        intakeOut = new OICondition(() -> gamepad.getButton(InputConstants.XBOX_RB));
-        intakeIn = new OICondition(() -> gamepad.getButton(InputConstants.XBOX_LB));
+        shooterShoot = new Condition(() -> gamepad.getAxis(InputConstants.XBOX_RT) > 0);
+        intakeOut = new Condition(() -> gamepad.getButton(InputConstants.XBOX_RB));
+        intakeIn = new Condition(() -> gamepad.getButton(InputConstants.XBOX_LB));
     }
 
     @Override

src/main/java/com/team766/robot/reva/DebugOI.java

@@ -39,11 +39,11 @@ public class DebugOI extends OIFragment {
     private final Climber climber;
     private final Intake intake;
     private final Shooter shooter;
-    private final OICondition controlShoulder;
-    private final OICondition controlClimber;
-    private final OICondition controlShooter;
-    private final OICondition intakeIn;
-    private final OICondition intakeOut;
+    private final Condition controlShoulder;
+    private final Condition controlClimber;
+    private final Condition controlShooter;
+    private final Condition intakeIn;
+    private final Condition intakeOut;
 
     public DebugOI(
             JoystickReader macropad,
@@ -58,12 +58,11 @@ public DebugOI(
         this.intake = intake;
         this.shooter = shooter;
 
-        controlShoulder =
-                new OICondition(() -> macropad.getButton(InputConstants.CONTROL_SHOULDER));
-        controlClimber = new OICondition(() -> macropad.getButton(InputConstants.CONTROL_CLIMBER));
-        controlShooter = new OICondition(() -> macropad.getButton(InputConstants.CONTROL_SHOOTER));
-        intakeIn = new OICondition(() -> macropad.getButton(InputConstants.INTAKE_IN));
-        intakeOut = new OICondition(() -> macropad.getButton(InputConstants.INTAKE_OUT));
+        controlShoulder = new Condition(() -> macropad.getButton(InputConstants.CONTROL_SHOULDER));
+        controlClimber = new Condition(() -> macropad.getButton(InputConstants.CONTROL_CLIMBER));
+        controlShooter = new Condition(() -> macropad.getButton(InputConstants.CONTROL_SHOOTER));
+        intakeIn = new Condition(() -> macropad.getButton(InputConstants.INTAKE_IN));
+        intakeOut = new Condition(() -> macropad.getButton(InputConstants.INTAKE_OUT));
     }
 
     @Override