Stop using DriverStation when nohaljni is passed (for OxplorerGUI)

FRCTeam3044 · Apr 4, 2024 · c2d65e4 · c2d65e4
1 parent 4827a0f
commit c2d65e4
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Showing 8 changed files with 68 additions and 28 deletions.
diff --git a/Pathfinding/build.gradle b/Pathfinding/build.gradle
@@ -6,7 +6,7 @@ plugins {
 }
 
 group 'me.nabdev.pathfinding'
-version '0.12.0-SNAPSHOT-WITHJNI2'
+version '0.12.1'
 
 java {
     withSourcesJar()
@@ -24,11 +24,6 @@ dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
-
-    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
-    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
-    simulationRelease wpi.sim.enableRelease()
-
     implementation 'org.json:json:20231013' 
 }
 

diff --git a/Pathfinding/src/main/java/me/nabdev/pathfinding/Pathfinder.java b/Pathfinding/src/main/java/me/nabdev/pathfinding/Pathfinder.java
@@ -9,6 +9,7 @@
 import me.nabdev.pathfinding.structures.Obstacle;
 import me.nabdev.pathfinding.structures.Path;
 import me.nabdev.pathfinding.structures.Vertex;
+import me.nabdev.pathfinding.utilities.DriverStationWrapper;
 import me.nabdev.pathfinding.utilities.FieldLoader.FieldData;
 import me.nabdev.pathfinding.utilities.FieldLoader.ObstacleData;
 
@@ -18,7 +19,6 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -79,9 +79,9 @@ public class Pathfinder {
      */
     private SearchAlgorithmType searchAlgorithmType;
 
-    private double lastMatchTime = DriverStation.getMatchTime();
-    private Optional<Alliance> lastAlliance = DriverStation.getAlliance();
-    private boolean lastIsAuto = DriverStation.isAutonomous();
+    private double lastMatchTime = DriverStationWrapper.getMatchTime();
+    private Optional<Alliance> lastAlliance = DriverStationWrapper.getAlliance();
+    private boolean lastIsAuto = DriverStationWrapper.isAutonomous();
     // Every obstacle vertex (ORDER IS IMPORTANT)
     ArrayList<Vertex> obstacleVertices = new ArrayList<>();
     ArrayList<Vertex> uninflatedObstacleVertices = new ArrayList<>();
@@ -162,16 +162,16 @@ public Pathfinder(FieldData field, double pointSpacing, double cornerPointSpacin
      */
     public void periodic() {
         boolean shouldInvalidate = false;
-        if (DriverStation.getMatchTime() < endgameTime && !(lastMatchTime < endgameTime)) {
+        if (DriverStationWrapper.getMatchTime() < endgameTime && !(lastMatchTime < endgameTime)) {
             shouldInvalidate = true;
         }
-        lastMatchTime = DriverStation.getMatchTime();
-        Optional<Alliance> alliance = DriverStation.getAlliance();
+        lastMatchTime = DriverStationWrapper.getMatchTime();
+        Optional<Alliance> alliance = DriverStationWrapper.getAlliance();
         if (!alliance.equals(lastAlliance)) {
             lastAlliance = alliance;
             shouldInvalidate = true;
         }
-        boolean isAuto = DriverStation.isAutonomous();
+        boolean isAuto = DriverStationWrapper.isAutonomous();
         if (isAuto != lastIsAuto) {
             lastIsAuto = isAuto;
             shouldInvalidate = true;

diff --git a/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveAutoModifier.java b/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveAutoModifier.java
@@ -1,14 +1,14 @@
 package me.nabdev.pathfinding.modifiers;
 
-import edu.wpi.first.wpilibj.DriverStation;
+import me.nabdev.pathfinding.utilities.DriverStationWrapper;
 
 /**
  * A modifier that keeps the obstacle active during the autonomous period
  */
 public class ActiveAutoModifier extends ObstacleModifier {
     @Override
     public boolean isActive() {
-        return DriverStation.isAutonomous();
+        return DriverStationWrapper.isAutonomous();
     }
 
     @Override

diff --git a/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveEndgameModifier.java b/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveEndgameModifier.java
@@ -1,7 +1,7 @@
 package me.nabdev.pathfinding.modifiers;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import me.nabdev.pathfinding.Pathfinder;
+import me.nabdev.pathfinding.utilities.DriverStationWrapper;
 
 /**
  * A modifier that keeps the obstacle active during the endgame period
@@ -10,8 +10,8 @@ public class ActiveEndgameModifier extends ObstacleModifier {
 
     @Override
     public boolean isActive() {
-        if (DriverStation.isTeleop()) {
-            double matchTime = DriverStation.getMatchTime();
+        if (DriverStationWrapper.isTeleop()) {
+            double matchTime = DriverStationWrapper.getMatchTime();
             if (matchTime <= Pathfinder.getEndgameTime()) {
                 return true;
             }

diff --git a/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveMyAllianceModifier.java b/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveMyAllianceModifier.java
@@ -2,8 +2,8 @@
 
 import java.util.Optional;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import me.nabdev.pathfinding.utilities.DriverStationWrapper;
 
 /**
  * A modifier that keeps the obstacle active if it is the same alliance as the
@@ -23,10 +23,10 @@ public ActiveMyAllianceModifier(ModifierCollection collection) {
 
     @Override
     public boolean isActive() {
-        Optional<Alliance> alliance = DriverStation.getAlliance();
+        Optional<Alliance> alliance = DriverStationWrapper.getAlliance();
         if (!alliance.isPresent())
             return false;
-        if (alliance.get() == DriverStation.Alliance.Blue) {
+        if (alliance.get() == Alliance.Blue) {
             return myCollection.hasModifier(ObstacleModifierTypes.BLUE_ALLIANCE);
         } else {
             return myCollection.hasModifier(ObstacleModifierTypes.RED_ALLIANCE);

diff --git a/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveOtherAllianceModifier.java b/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveOtherAllianceModifier.java
@@ -2,8 +2,8 @@
 
 import java.util.Optional;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import me.nabdev.pathfinding.utilities.DriverStationWrapper;
 
 /**
  * A modifier that keeps the obstacle active if it is not the same alliance as
@@ -23,10 +23,10 @@ public ActiveOtherAllianceModifier(ModifierCollection collection) {
 
     @Override
     public boolean isActive() {
-        Optional<Alliance> alliance = DriverStation.getAlliance();
+        Optional<Alliance> alliance = DriverStationWrapper.getAlliance();
         if (!alliance.isPresent())
             return false;
-        if (alliance.get() == DriverStation.Alliance.Blue) {
+        if (alliance.get() == Alliance.Blue) {
             return myCollection.hasModifier(ObstacleModifierTypes.RED_ALLIANCE);
         } else {
             return myCollection.hasModifier(ObstacleModifierTypes.BLUE_ALLIANCE);

diff --git a/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveTeleModifier.java b/Pathfinding/src/main/java/me/nabdev/pathfinding/modifiers/ActiveTeleModifier.java
@@ -1,7 +1,7 @@
 package me.nabdev.pathfinding.modifiers;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import me.nabdev.pathfinding.Pathfinder;
+import me.nabdev.pathfinding.utilities.DriverStationWrapper;
 
 /**
  * A modifier that keeps the obstacle active during the teleop period, not
@@ -10,8 +10,8 @@
 public class ActiveTeleModifier extends ObstacleModifier {
     @Override
     public boolean isActive() {
-        if (DriverStation.isTeleop()) {
-            double matchTime = DriverStation.getMatchTime();
+        if (DriverStationWrapper.isTeleop()) {
+            double matchTime = DriverStationWrapper.getMatchTime();
             if (matchTime <= Pathfinder.getEndgameTime()) {
                 return false;
             }

diff --git a/Pathfinding/src/main/java/me/nabdev/pathfinding/utilities/DriverStationWrapper.java b/Pathfinding/src/main/java/me/nabdev/pathfinding/utilities/DriverStationWrapper.java
@@ -0,0 +1,45 @@
+package me.nabdev.pathfinding.utilities;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+import java.util.Optional;
+
+public class DriverStationWrapper {
+    private static boolean canUseJni;
+    static {
+        canUseJni = !Boolean.getBoolean("nohaljni");
+    }
+
+    public static boolean isAutonomous() {
+        if (canUseJni) {
+            return DriverStation.isAutonomous();
+        } else {
+            return false;
+        }
+    }
+
+    public static boolean isTeleop() {
+        if (canUseJni) {
+            return DriverStation.isTeleop();
+        } else {
+            return true;
+        }
+    }
+
+    public static double getMatchTime() {
+        if (canUseJni) {
+            return DriverStation.getMatchTime();
+        } else {
+            return 0;
+        }
+    }
+
+    public static Optional<Alliance> getAlliance() {
+        if (canUseJni) {
+            return DriverStation.getAlliance();
+        } else {
+            return Optional.empty();
+        }
+    }
+}