Merge dev onto master

.gitignore

@@ -1,9 +1,12 @@
 # Output
 build
+out
 *.iml
 .idea
 .gradle
 *.jar
+*.csv
+__pycache__
 
 # Project files
 *.iml
@@ -15,3 +18,9 @@ build
 # Personal deploy scripts
 deploy.sh
 debug.sh
+
+# personal testing scripts
+./src/main/python/re*.py
+
+# Vim sessions
+sessions

Makefile

@@ -0,0 +1,45 @@
+default: all
+
+all: arc852 stubs bin
+
+stubs: clean java-stubs python-stubs
+
+bin: java-bin
+
+# cleans and wipe the build dir
+clean:
+	./gradlew clean
+
+# dunno
+java-bin:
+	./gradlew installDist
+
+# generate java stubs for grpc
+java-stubs:
+	./gradlew assemble build
+
+# generate python stubs for grpc
+python-stubs:
+	mkdir -p ./build/generated/source/python
+	touch ./build/generated/source/python/__init__.py
+	python3 -m grpc_tools.protoc -I. --python_out=./build/generated/source/python --grpc_python_out=./build/generated/source/python --proto_path=./src/main/proto CVData.proto
+
+# initiate java server
+java-server:
+	build/install/Deep-Space-Robot/bin/grpc-Server
+
+# initiated python server, nonexistent as of now
+python-server:
+	python3 src/main/python/greeter_server.py
+
+# initiate python client, nonapplicable, the usage of client is different and can be found under src/main/python/grpc
+python-client:
+	python3 src/main/python/visionClient.py
+
+# initiate java client, not applicable
+java-client:
+	build/install/Deep-Space-Robot/bin/grpc-Server
+
+# install and update arc852 python library
+arc852:
+	sudo -H pip3 install --upgrade arc852-robotics --extra-index-url https://pypi.fury.io/pambrose/

README.md

@@ -1,3 +1,8 @@
 Deep-Space-Robot: Team 852
+
 --- 
+Here lies the code for 852's 2019 season
+
+Robot code can be built with the local gradle wrapper with `./gradlew build` and deployed to roboRIO with `./gradlew deploy`
 
+Run `make` to build the whole project including gRPC stubs

build.gradle

@@ -1,10 +1,31 @@
 plugins {
     id "java"
+
     id "edu.wpi.first.GradleRIO" version "2019.2.1"
-    id "idea"
+
+    // Provide convenience executables for trying out the examples.
+    id 'application'
+
+    // ASSUMES GRADLE 2.12 OR HIGHER. Use plugin version 0.7.5 with earlier gradle versions
+    id 'com.google.protobuf' version '0.8.8'
+
+    // Generate IntelliJ IDEA's .idea & .iml project files
+    id 'idea'
+}
+
+repositories {
+    maven { // The google mirror is less flaky than mavenCentral()
+        url "https://maven-central.storage-download.googleapis.com/repos/central/data/"
+    }
+    mavenLocal()
+    //mavenCentral()
 }
 
 def ROBOT_MAIN_CLASS = "frc.team852.Main"
+def grpcVersion = '1.18.0' // CURRENT_GRPC_VERSION
+def protobufVersion = '3.5.1'
+def protocVersion = '3.5.1-1'
+
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project EmbeddedTools.
@@ -42,9 +63,45 @@ dependencies {
     compile wpi.deps.vendor.java()
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    compile group: 'io.prometheus', name: 'client', version: '0.0.10'
+    compile group: 'io.prometheus', name: 'simpleclient', version: '0.6.0'
+    compile group: 'io.prometheus', name: 'simpleclient_hotspot', version: '0.6.0'
+    compile group: 'io.prometheus', name: 'simpleclient_httpserver', version: '0.6.0'
+    compile group: 'io.prometheus', name: 'simpleclient_servlet', version: '0.6.0'
+    compile "io.grpc:grpc-protobuf:${grpcVersion}"
+    compile "io.grpc:grpc-stub:${grpcVersion}"
+    compileOnly "javax.annotation:javax.annotation-api:1.2"
+    compile group: 'org.eclipse.jetty', name: 'jetty-server', version: '9.4.14.v20181114'
+    compile group: 'org.eclipse.jetty', name: 'jetty-servlet', version: '9.4.14.v20181114'
+    compile group: "edu.wpi.first.shuffleboard", name: "api", version: "1.3.1"
+    compile group: 'org.openjfx', name: 'javafx-base', version: '11.0.1'
+
+    // examples/advanced need this for JsonFormat
+    compile "com.google.protobuf:protobuf-java-util:${protobufVersion}"
+
+    compile "io.grpc:grpc-netty-shaded:${grpcVersion}"
+
+    testImplementation "io.grpc:grpc-testing:${grpcVersion}"
+    testImplementation "junit:junit:4.12"
+    testImplementation "org.mockito:mockito-core:1.9.5"
+
+    testCompile group: 'junit', name: 'junit', version: '4.12'
 
 }
 
+protobuf {
+    protoc { artifact = "com.google.protobuf:protoc:${protocVersion}" }
+    plugins {
+        grpc { artifact = "io.grpc:protoc-gen-grpc-java:${grpcVersion}" }
+    }
+    generateProtoTasks {
+        all()*.plugins { grpc {} }
+    }
+}
+
+startScripts.enabled = false
+
+
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
@@ -54,5 +111,23 @@ jar {
 }
 
 wrapper {
-    gradleVersion = '5.0'
+    gradleVersion = '5.1.1'
 }
+
+startScripts.enabled = false
+
+
+task grpcServer(type: CreateStartScripts) {
+    mainClassName = 'frc.team852.lib.grpc.CVDataServer'
+    applicationName = 'grpc-Server'
+    outputDir = new File(project.buildDir, 'tmp')
+    classpath = startScripts.classpath
+}
+
+
+applicationDistribution.into('bin') {
+    from(grpcServer)
+    fileMode = 0755
+}
+
+

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,5 @@
-#Tue Jan 22 16:12:18 PST 2019
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.1.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-all.zip
+zipStorePath=permwrapper/dists

src/main/java/frc/team852/FieldPaths.java

@@ -0,0 +1,34 @@
+package frc.team852;
+
+import frc.team852.lib.path.geometry.PathGenerator;
+import frc.team852.lib.path.utilities.CSVEditor;
+import frc.team852.lib.path.utilities.Pose2D;
+import frc.team852.lib.path.utilities.Trajectory;
+
+import java.io.IOException;
+import java.util.List;
+
+public class FieldPaths {
+    public static List<Pose2D> testPath;
+    public static PathGenerator testGen;
+
+    public static void genPaths() {
+        Trajectory<Pose2D> test = new Trajectory<>();
+        test.add(new Pose2D(0, 0, 0));
+        test.add(new Pose2D(2, 0, 0));
+        test.add(new Pose2D(4, 2, Math.PI / 2));
+        //test.add(new Pose2D(0, 2, Math.PI / 2));
+        testGen = new PathGenerator(test);
+        testPath = testGen.generatePoints();
+    }
+
+    public static void main(String[] args) {
+        genPaths();
+        try {
+            CSVEditor.setName("field_test.csv");
+            CSVEditor.dumpCSV(testGen);
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+}

src/main/java/frc/team852/Main.java

@@ -24,6 +24,6 @@ private Main() {
    * <p>If you change your main robot class, change the parameter type.
    */
   public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
+    RobotBase.startRobot(() -> new Robot(0.01));
   }
 }

src/main/java/frc/team852/OI.java

@@ -4,7 +4,11 @@
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.buttons.Button;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import frc.team852.command.ToggleGearbox;
+import frc.team852.command.*;
+import frc.team852.lib.utils.fightstick.FightStickAxisButton;
+import frc.team852.lib.utils.fightstick.FightStickDigitalButton;
+import frc.team852.lib.utils.fightstick.FightStickInput;
+import frc.team852.lib.utils.fightstick.FightStickPOVDirection;
 
 public class OI {
   /**
@@ -26,19 +30,18 @@ public class OI {
    * <p>
    * Start the command when the button is pressed and let it run the command
    * until it is finished as determined by it's isFinished method.
-   * button.whenPressed(new ElevatorToPosition());
+   * button.whenPressed(new ElevatorMoveBangBang());
    * <p>
    * Run the command while the button is being held down and interrupt it once
    * the button is released.
-   * button.whileHeld(new ElevatorToPosition());
+   * button.whileHeld(new ElevatorMoveBangBang());
    * <p>
    * Start the command when the button is released and let it run the command
    * until it is finished as determined by it's isFinished method.
-   * button.whenReleased(new ElevatorToPosition());
+   * button.whenReleased(new ElevatorMoveBangBang());
    */
-  public static Joystick stick1 = new Joystick(0);
-  public static Joystick stick2 = new Joystick(1);
-  public static XboxController xbox = new XboxController(2);
+  public static XboxController xbox = new XboxController(0);
+  public static Joystick fightStick = new Joystick(1);
 
   // Joystick buttons start at 1
   public static Button xboxA = new JoystickButton(xbox, 1);
@@ -52,11 +55,48 @@ public class OI {
   public static Button xboxLS = new JoystickButton(xbox, 9);
   public static Button xboxRS = new JoystickButton(xbox, 10);
 
+  public static FightStickDigitalButton fightStickA = new FightStickDigitalButton(fightStick, 1, FightStickInput.input.medKick);
+  public static FightStickDigitalButton fightStickB = new FightStickDigitalButton(fightStick, 2, FightStickInput.input.heavyKick);
+  public static FightStickDigitalButton fightStickX = new FightStickDigitalButton(fightStick, 3, FightStickInput.input.medPunch);
+  public static FightStickDigitalButton fightStickY = new FightStickDigitalButton(fightStick, 4, FightStickInput.input.heavyPunch);
+  public static FightStickDigitalButton fightStickLB = new FightStickDigitalButton(fightStick, 5, FightStickInput.input.lightPunch);
+  public static FightStickDigitalButton fightStickRB = new FightStickDigitalButton(fightStick, 6, FightStickInput.input.R1);
+  public static FightStickDigitalButton fightStickShare = new FightStickDigitalButton(fightStick, 7, FightStickInput.input.share);
+  public static FightStickDigitalButton fightStickOption = new FightStickDigitalButton(fightStick, 8, FightStickInput.input.option);
+  public static FightStickDigitalButton fightStickL3 = new FightStickDigitalButton(fightStick, 9, FightStickInput.input.L3);
+  public static FightStickDigitalButton fightStickR3 = new FightStickDigitalButton(fightStick, 10, FightStickInput.input.R3);
+  public static FightStickAxisButton fightStickLT = new FightStickAxisButton(fightStick, 2, FightStickInput.input.lightKick);
+  public static FightStickAxisButton fightStickRT = new FightStickAxisButton(fightStick, 3, FightStickInput.input.R2);
+
+  public static FightStickPOVDirection POVUp = new FightStickPOVDirection(FightStickInput.input.POVtop);
+  public static FightStickPOVDirection POVDown = new FightStickPOVDirection(FightStickInput.input.POVbot);
+  public static FightStickPOVDirection POVcenter = new FightStickPOVDirection(FightStickInput.input.POVcenter);
+
   public OI() {
     // Only created once, init and execute are called when button is pressed/released
-    new JoystickButton(stick1, 1).whenPressed(new ToggleGearbox());
-    new JoystickButton(stick2, 1).whenPressed(new ToggleGearbox());
 
+    FieldPaths.genPaths();
+    xboxLB.whenPressed(new ToggleGearbox(RobotMap.SLOW));
+    xboxRB.whenPressed(new ToggleGearbox(RobotMap.FAST));
+
+    xboxY.whenPressed(new Ball());
+
+    xboxStart.whenPressed(new TogglePogo());
+
+    fightStickLB.whileHeld(new ElevatorMoveBangBang());
+    //fightStickRB.whileHeld(new ElevatorMove());
+
+    fightStickX.whenPressed(new ElevatorMove(ElevatorHeight.HATCH_LOW));
+    fightStickY.whenPressed(new ElevatorMove(ElevatorHeight.HATCH_MID));
+    fightStickRB.whenPressed(new ElevatorMove(ElevatorHeight.HATCH_HIGH));
+
+    fightStickA.whenPressed(new ElevatorMove(ElevatorHeight.CARGO_LOW));
+    fightStickB.whenPressed(new ElevatorMove(ElevatorHeight.CARGO_MID));
+    fightStickRT.whenActive(new ElevatorMove(ElevatorHeight.CARGO_HIGH));
+
+    //Climb Hab 2
+//    fightStickOption.whenPressed(new TimedClimb());
+    fightStickShare.whileHeld(new ClimberMove());
 
   }