试图制作 TuningOrSampleAutonomousRegister

6-BennyLi-9 · 6-BennyLi-9 · commit 75108644c64f · 2024-09-13T21:13:37.000+08:00
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Actions/DriveActionBuilder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/Actions/DriveActionBuilder.java
@@ -4,24 +4,24 @@
 
 import com.acmerobotics.roadrunner.Vector2d;
 
+import org.firstinspires.ftc.teamcode.DriveControls.MecanumDrive;
 import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriveOrderBuilder;
 import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriveOrderPackage;
 import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriverProgram;
-import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
 import org.firstinspires.ftc.teamcode.Utils.Enums.TrajectoryType;
 import org.firstinspires.ftc.teamcode.Utils.Functions;
 
-public class DrivingActionsBuilder implements DriveOrderBuilder {
+public class DriveActionBuilder implements DriveOrderBuilder {
 	private final DriveActionPackage actionPackage;
 	private final DriverProgram drive;
 	private DriveAction cache;
 
-	public DrivingActionsBuilder(@NonNull SimpleMecanumDrive drive) {
+	public DriveActionBuilder(@NonNull MecanumDrive drive) {
 		actionPackage = new DriveActionPackage();
 		actionPackage.actions.add(new DriveAction(drive.classic, drive.BufPower, drive.poseHistory.getLast()));
 		this.drive = drive;
 	}
-	DrivingActionsBuilder(DriverProgram drive, DriveActionPackage actionPackage) {
+	DriveActionBuilder(DriverProgram drive, DriveActionPackage actionPackage) {
 		this.actionPackage = actionPackage;
 		this.drive = drive;
 	}
@@ -33,7 +33,7 @@ public DriveOrderBuilder SetPower(double power) {
 		cache.SetPower(power);
 		cache.trajectoryType = TrajectoryType.WithoutChangingPosition;
 		actionPackage.actions.add(cache);
-		return new DrivingActionsBuilder(drive, actionPackage);
+		return new DriveActionBuilder(drive, actionPackage);
 	}
 
 	@Override
@@ -43,7 +43,7 @@ public DriveOrderBuilder TurnRadians(double radians) {
 		cache.Turn(radians);
 		cache.trajectoryType = TrajectoryType.TurnOnly;
 		actionPackage.actions.add(cache);
-		return new DrivingActionsBuilder(drive, actionPackage);
+		return new DriveActionBuilder(drive, actionPackage);
 	}
 
 	@Override
@@ -57,7 +57,7 @@ public DriveOrderBuilder StrafeInDistance(double radians, double distance) {
 		cache.StrafeInDistance(radians, distance);
 		cache.trajectoryType = TrajectoryType.LinerStrafe;
 		actionPackage.actions.add(cache);
-		return new DrivingActionsBuilder(drive, actionPackage);
+		return new DriveActionBuilder(drive, actionPackage);
 	}
 
 	@Override
@@ -66,7 +66,7 @@ public DriveOrderBuilder StrafeTo(Vector2d pose) {
 		cache.StrafeTo(pose);
 		cache.trajectoryType = TrajectoryType.LinerStrafe;
 		actionPackage.actions.add(cache);
-		return new DrivingActionsBuilder(drive, actionPackage);
+		return new DriveActionBuilder(drive, actionPackage);
 	}
 
 	@Override
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/MecanumDrive.java
@@ -15,6 +15,7 @@
 import com.acmerobotics.roadrunner.ftc.Actions;
 
 import org.firstinspires.ftc.teamcode.DriveControls.Actions.DriveAction;
+import org.firstinspires.ftc.teamcode.DriveControls.Actions.DriveActionBuilder;
 import org.firstinspires.ftc.teamcode.DriveControls.Localizers.DeadWheelSubassemblyLocalizer;
 import org.firstinspires.ftc.teamcode.DriveControls.Localizers.LocalizerDefinition.Localizer;
 import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriveOrder;
@@ -200,4 +201,16 @@ public void preview(@NonNull Canvas fieldOverlay){
 	public Classic getClassic() {
 		return classic;
 	}
+
+	@Override
+	public Pose2d getCurrentPose() {
+		return RobotPosition;
+	}
+
+	/**
+	 * @return 定义开启新的 DriveActionBuilder
+	 */
+	public DriveActionBuilder drivingCommandsBuilder(){
+		return new DriveActionBuilder(this);
+	}
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/OrderDefinition/DriverProgram.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/OrderDefinition/DriverProgram.java
@@ -2,6 +2,8 @@
 
 import androidx.annotation.NonNull;
 
+import com.acmerobotics.roadrunner.Pose2d;
+
 import org.firstinspires.ftc.teamcode.Hardwares.Classic;
 
 import java.util.LinkedList;
@@ -11,4 +13,5 @@ public interface DriverProgram {
 	default void runOrderPackage(@NonNull DriveOrderPackage orderPackage){}
 	default void runOrderPackage(@NonNull LinkedList<DriveOrder> orders){}
 	Classic getClassic();
+	Pose2d getCurrentPose();
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/SimpleMecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveControls/SimpleMecanumDrive.java
@@ -161,6 +161,11 @@ public Classic getClassic() {
 		return classic;
 	}
 
+	@Override
+	public Pose2d getCurrentPose() {
+		return RobotPosition;
+	}
+
 	/**
 	 * @param driveOrderPackage 要执行的DriveCommandPackage，不建议在使用时才定义driveCommandPackage，虽然没有任何坏处
 	 */
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/LocalizationTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/LocalizationTest.java
@@ -11,7 +11,7 @@ public class LocalizationTest extends TeleopProgramTemplate {
 	SimpleMecanumDrive drive;
 	@Override
 	public void whenInit() {
-		drive=robot.InitMecanumDrive(new Pose2d(0,0,0));
+		drive= (SimpleMecanumDrive) robot.InitMecanumDrive(new Pose2d(0,0,0));
 		robot.addData("POSITION","WAIT FOR START");
 	}
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/SMDTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/SMDTest.java
@@ -25,9 +25,9 @@ public void runOpMode() {
 
 		if (!opModeIsActive() || isStopRequested())return;
 
-		drive=robot.InitMecanumDrive(new Pose2d(0,0,0));
+		drive= (SimpleMecanumDrive) robot.InitMecanumDrive(new Pose2d(0,0,0));
 
-		DriveCommandPackage trajectory=robot.drivingCommandsBuilder()
+		DriveCommandPackage trajectory= (DriveCommandPackage) robot.DrivingOrderBuilder()
 				.StrafeInDistance(0,24)
 				.TurnAngle(90)
 				.StrafeTo(new Vector2d(24,0))
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java
@@ -12,8 +12,10 @@
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.DriveControls.MecanumDrive;
+import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriveOrderBuilder;
+import org.firstinspires.ftc.teamcode.DriveControls.OrderDefinition.DriverProgram;
 import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
-import org.firstinspires.ftc.teamcode.DriveControls.Commands.DrivingCommandsBuilder;
 import org.firstinspires.ftc.teamcode.Hardwares.Classic;
 import org.firstinspires.ftc.teamcode.Hardwares.Structure;
 import org.firstinspires.ftc.teamcode.Hardwares.Webcam;
@@ -46,7 +48,7 @@ public class Robot {
 
 	public State state;
 	public org.firstinspires.ftc.teamcode.Utils.Enums.RunningState RunningState;
-	private SimpleMecanumDrive drive=null;
+	private DriverProgram drive=null;
 
 	public Timer timer;
 
@@ -88,7 +90,7 @@ public Robot(@NonNull HardwareMap hardwareMap, @NonNull org.firstinspires.ftc.te
 	 * 自动初始化SimpleMecanumDrive
 	 * @return 返回定义好的SimpleMecanumDrive
 	 */
-	public SimpleMecanumDrive InitMecanumDrive(Pose2d RobotPosition){
+	public DriverProgram InitMecanumDrive(Pose2d RobotPosition){
 		drive=new SimpleMecanumDrive(this,RobotPosition);
 		if(RunningState!= org.firstinspires.ftc.teamcode.Utils.Enums.RunningState.Autonomous) {
 			Log.w("Robot.java","Initialized Driving Program in Manual Driving State.");
@@ -131,8 +133,12 @@ public void operateThroughGamePad(Gamepad gamepad1,Gamepad gamepad2){
 		classic.operateThroughGamePad(gamepad1);
 		structure.operateThroughGamePad(gamepad2);
 	}
-	public DrivingCommandsBuilder drivingCommandsBuilder(){
-		return drive.drivingCommandsBuilder();
+	public DriveOrderBuilder DrivingOrderBuilder(){
+		if(drive instanceof SimpleMecanumDrive)
+			return ((SimpleMecanumDrive) drive).drivingCommandsBuilder();
+		else if(drive instanceof MecanumDrive)
+			return ((MecanumDrive) drive).drivingCommandsBuilder();
+		return null;
 	}
 
 	/**
@@ -141,16 +147,16 @@ public DrivingCommandsBuilder drivingCommandsBuilder(){
 	 */
 	public void turnAngle(double angle){
 		if(RunningState== org.firstinspires.ftc.teamcode.Utils.Enums.RunningState.ManualDrive)return;
-		drive.runOrderPackage(drive.drivingCommandsBuilder().TurnAngle(angle).END());
+		drive.runOrderPackage(DrivingOrderBuilder().TurnAngle(angle).END());
 	}
 	public void strafeTo(Vector2d pose){
 		if(RunningState== org.firstinspires.ftc.teamcode.Utils.Enums.RunningState.ManualDrive)return;
-		drive.runOrderPackage(drive.drivingCommandsBuilder().StrafeTo(pose).END());
+		drive.runOrderPackage(DrivingOrderBuilder().StrafeTo(pose).END());
 	}
 
 	public Pose2d pose(){
 		drive.update();
-		return drive.RobotPosition;
+		return drive.getCurrentPose();
 	}
 
 	/**
@@ -159,7 +165,7 @@ public Pose2d pose(){
 	 */
 	public void SetGlobalBufPower(double BufPower){
 		if(drive!=null) {
-			drive.runOrderPackage(drive.drivingCommandsBuilder().SetPower(BufPower).END());//考虑是否删去此代码片段
+			drive.runOrderPackage(DrivingOrderBuilder().SetPower(BufPower).END());//考虑是否删去此代码片段
 		}
 		motors.setBufPower(BufPower);
 	}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TuningOrSampleAutonomousRegister.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TuningOrSampleAutonomousRegister.java
@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpModeManager;
+import com.qualcomm.robotcore.eventloop.opmode.OpModeRegistrar;
+
+import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOrSampleAutonomous;
+
+import java.io.IOException;
+import java.lang.reflect.TypeVariable;
+
+/**
+ * @see org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOrSampleAutonomous
+ */
+@Deprecated
+public final class TuningOrSampleAutonomousRegister {
+	//TODO:将DISABLED设为true以禁用TuningOrSampleAutonomous
+	public static final boolean DISABLED = false;
+
+	@OpModeRegistrar
+	public static void mainRegister(OpModeManager manager) throws IOException {
+		Class<? extends TypeVariable[]> aClass = TuningOrSampleAutonomous.class.getTypeParameters().getClass();
+	}
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Annotations/TuningOrSampleAutonomous.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Annotations/TuningOrSampleAutonomous.java
@@ -5,6 +5,8 @@
 
 import java.lang.annotation.Documented;
 import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
 import java.lang.annotation.Target;
 
 /**
@@ -14,6 +16,7 @@
 //@Disabled
 @Target({ElementType.TYPE})
 @Documented
+@Retention(RetentionPolicy.RUNTIME)
 public @interface TuningOrSampleAutonomous {
 	@UserRequirementFunctions
 	boolean DISABLED() default false;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Annotations/TuningOrSampleTeleOPs.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Annotations/TuningOrSampleTeleOPs.java
@@ -5,6 +5,8 @@
 
 import java.lang.annotation.Documented;
 import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
 import java.lang.annotation.Target;
 
 /**
@@ -13,6 +15,7 @@
 //@Disabled
 @Target({ElementType.TYPE})
 @Documented
+@Retention(RetentionPolicy.RUNTIME)
 public @interface TuningOrSampleTeleOPs {
 	@UserRequirementFunctions
 	boolean DISABLED() default false;

Original file line number	Diff line number	Diff line change
`@@ -11,7 +11,7 @@ public class LocalizationTest extends TeleopProgramTemplate {`
`11`	`11`	`SimpleMecanumDrive drive;`
`12`	`12`	`@Override`
`13`	`13`	`public void whenInit() {`
`14`		`- drive=robot.InitMecanumDrive(new Pose2d(0,0,0));`
	`14`	`+ drive= (SimpleMecanumDrive) robot.InitMecanumDrive(new Pose2d(0,0,0));`
`15`	`15`	`robot.addData("POSITION","WAIT FOR START");`
`16`	`16`	`}`
`17`	`17`