Ri

FRamework.iml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/src" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/test" isTestSource="true" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="TalonSRXLibJava2" level="project" />
+    <orderEntry type="library" name="lib7" level="project" />
+    <orderEntry type="library" name="lib6" level="project" />
+  </component>
+</module>

docs/google_checks.xml

@@ -108,32 +108,32 @@
         value="Type name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="MemberName">
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9]*$"/>
       <message key="name.invalidPattern"
         value="Member name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="ParameterName">
       <property name="id" value="ParameterNameNonPublic"/>
-      <property name="format" value="^[a-z]([a-z0-9][a-zA-Z0-9]*)?$"/>
+      <property name="format" value="^[a-zPos]([a-z0-9][a-zA-Z0-9]*)?$"/>
       <property name="excludeScope" value="public"/>
       <message key="name.invalidPattern"
         value="Parameter name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="ParameterName">
       <property name="id" value="ParameterNamePublic"/>
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9]*$"/>
       <property name="scope" value="public"/>
       <message key="name.invalidPattern"
         value="Parameter name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="CatchParameterName">
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9]*$"/>
       <message key="name.invalidPattern"
         value="Catch parameter name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="LocalVariableName">
       <property name="tokens" value="VARIABLE_DEF"/>
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9]*$"/>
       <property name="allowOneCharVarInForLoop" value="true"/>
       <message key="name.invalidPattern"
         value="Local variable name ''{0}'' must match pattern ''{1}''."/>
@@ -221,7 +221,7 @@
       <property name="allowThrowsTagsForSubclasses" value="true"/>
     </module>
     <module name="MethodName">
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9_]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9_]*$"/>
       <message key="name.invalidPattern"
         value="Method name ''{0}'' must match pattern ''{1}''."/>
     </module>

ivy.xml

@@ -13,5 +13,6 @@
     <dependency org="org.apache.ant" name="ant-junit" rev="1.9.7"/>
     <dependency org="com.puppycrawl.tools" name="checkstyle" rev="7.4"/>
     <dependency org="org.mockito" name="mockito-core" rev="2.7.0"/>
+    <dependency org="com.googlecode.json-simple" name="json-simple" rev="1.1.1"/>
   </dependencies>
 </ivy-module>

src/com/nutrons/framework/Robot.java

@@ -3,14 +3,13 @@
 import static com.nutrons.framework.util.CompMode.AUTO;
 import static com.nutrons.framework.util.CompMode.TELE;
 import static com.nutrons.framework.util.CompMode.TEST;
-import static io.reactivex.Flowable.combineLatest;
 
 import com.nutrons.framework.commands.Command;
 import com.nutrons.framework.util.CompMode;
 import com.nutrons.framework.util.FlowOperators;
 import edu.wpi.first.wpilibj.SampleRobot;
 import io.reactivex.Flowable;
-import io.reactivex.schedulers.Schedulers;
+import java.util.concurrent.TimeUnit;
 
 public abstract class Robot extends SampleRobot {
 
@@ -62,9 +61,9 @@ public final Flowable<Boolean> enabledStream() {
    */
   public final Flowable<CompMode> competitionStream() {
     return Flowable.merge(
-        FlowOperators.toFlow(this::isAutonomous).filter(x -> x).map((x) -> AUTO),
+        FlowOperators.toFlow(this::isAutonomous, 50, TimeUnit.MILLISECONDS).filter(x -> x).map((x) -> AUTO),
         FlowOperators.toFlow(this::isOperatorControl).filter(x -> x).map((x) -> TELE),
-        FlowOperators.toFlow(this::isTest).filter(x -> x).map((x) -> TEST)).distinctUntilChanged();
+        FlowOperators.toFlow(this::isTest).filter(x -> x).map((x) -> TEST)).distinctUntilChanged().replay(1).autoConnect();
     // filter(x -> x) will filter all false values from the stream.
   }
 
@@ -140,4 +139,4 @@ public final boolean isOperatorControl() {
   public final boolean isNewDataAvailable() {
     return super.isNewDataAvailable();
   }
-}
+}

src/com/nutrons/framework/StreamManager.java

@@ -1,5 +1,9 @@
 package com.nutrons.framework;
 
+import static com.nutrons.framework.util.CompMode.AUTO;
+import static com.nutrons.framework.util.CompMode.TELE;
+import static io.reactivex.Flowable.combineLatest;
+
 import com.nutrons.framework.commands.Command;
 import com.nutrons.framework.util.CompMode;
 import io.reactivex.Flowable;
@@ -10,9 +14,7 @@
 import java.util.List;
 import java.util.function.Supplier;
 
-import static com.nutrons.framework.util.CompMode.AUTO;
-import static com.nutrons.framework.util.CompMode.TELE;
-import static io.reactivex.Flowable.combineLatest;
+
 
 /**
  * This class sets up the I/O factories and initializes subsystems.
@@ -38,7 +40,7 @@ public StreamManager(Robot robot) {
    * Subclasses should register subsystems in their constructor.
    *
    * @param enabled a Flowable of booleans, representing changes in the enabled state of the robot
-   * @param mode    a Flowable of CompModes, representing changes in the competition game mode
+   * @param mode a Flowable of CompModes, representing changes in the competition game mode
    */
   public StreamManager(Flowable<Boolean> enabled, Flowable<CompMode> mode) {
     this.subsystems = new ArrayList<>();
@@ -50,7 +52,8 @@ public StreamManager(Flowable<Boolean> enabled, Flowable<CompMode> mode) {
    * Called to by the bootstrapper to subscribe subsystem streams,
    * and start the competition loop.
    */
-  public final void startCompetition(Supplier<Command> autoSupplier, Supplier<Command> teleopSupplier) {
+  public final void startCompetition(Supplier<Command> autoSupplier,
+      Supplier<Command> teleopSupplier) {
     Observable.fromIterable(this.subsystems).blockingSubscribe(x -> {
       System.out.println("registering " + x.getClass().getName());
       x.registerSubscriptions();
@@ -59,7 +62,7 @@ public final void startCompetition(Supplier<Command> autoSupplier, Supplier<Comm
     System.out.println("all subsystems registered");
     Command auto = autoSupplier.get();
     if (auto != null) {
-      combineLatest(this.enabled, this.mode, (x, y) -> x && y.compareTo(AUTO) == 0)
+      combineLatest(this.enabled, this.mode, (x, y) -> x && y.compareTo(AUTO) == 0).onBackpressureDrop()
           .subscribeOn(Schedulers.io())
           .filter(x -> x)
           .map((a) -> {
@@ -70,7 +73,7 @@ public final void startCompetition(Supplier<Command> autoSupplier, Supplier<Comm
     }
     Command tele = teleopSupplier.get();
     if (tele != null) {
-      combineLatest(this.enabled, this.mode, (x, y) -> x && y.compareTo(TELE) == 0)
+      combineLatest(this.enabled, this.mode, (x, y) -> x && y.compareTo(TELE) == 0).onBackpressureDrop()
           .subscribeOn(Schedulers.io())
           .filter(x -> x)
           .map((a) -> {

src/com/nutrons/framework/commands/Command.java

@@ -1,16 +1,15 @@
 package com.nutrons.framework.commands;
 
+import static com.nutrons.framework.util.FlowOperators.toFlow;
+
 import io.reactivex.Flowable;
 import io.reactivex.Observable;
 import io.reactivex.disposables.Disposable;
 import io.reactivex.flowables.ConnectableFlowable;
 import io.reactivex.schedulers.Schedulers;
-import org.reactivestreams.Publisher;
-
 import java.util.concurrent.TimeUnit;
 import java.util.function.Supplier;
-
-import static com.nutrons.framework.util.FlowOperators.toFlow;
+import org.reactivestreams.Publisher;
 
 public class Command implements CommandWorkUnit {
 
@@ -71,31 +70,56 @@ public static Command parallel(Command... commands) {
     return new Command(new ParallelCommand(commands));
   }
 
+  public static Command fromSwitch(Publisher<? extends CommandWorkUnit> commandStream, boolean subcommandsSelfTerminate) {
+    return fromSwitch(commandStream, subcommandsSelfTerminate, true);
+  }
+
   /**
-   * Creates a command that runs sequentially to another.
+   * Creates a command that runs commands in a stream.
    *
-   * @param commandStream A flowable of commands
+   * @param commandStream             A flowable of commands
+   * @param subcommandsSelfTerminate  if true, commands in the stream will self terminate;
+   * @param subcommandsForceTerminate if true, commands in the stream will terminate the previous command.
    * @retuns Second command after first is executed.
    */
-  public static Command fromSwitch(Publisher<? extends CommandWorkUnit> commandStream) {
-    return new Command(x -> Flowable.defer(() ->
-        Flowable.switchOnNext(Flowable.fromPublisher(commandStream).map(y -> y.execute(x))
-            .subscribeOn(Schedulers.io()))).scan((a, b) -> {
-      a.run();
-      return b;
-    }));
+  public static Command fromSwitch(Publisher<? extends CommandWorkUnit> commandStream,
+                                   boolean subcommandsSelfTerminate,
+                                   boolean subcommandsForceTerminate) {
+    return new Command(x -> Flowable.fromPublisher(commandStream)
+        .concatMap(y -> Flowable.<Terminator>just(FlattenedTerminator.from(y.execute(subcommandsSelfTerminate)))
+            .subscribeOn(Schedulers.trampoline()))
+        .scan((a, b) -> {
+          if (subcommandsForceTerminate) {
+            a.run();
+          }
+          return b;
+        }));
+  }
+
+  public static Command defer(Supplier<Command> supplier) {
+    return Command.just(x -> {
+      Command actual = supplier.get();
+      return actual.execute(x);
+    });
   }
 
+  /**
+   * Adds a command that will terminate the current command.
+   *
+   * @param terminator Terminator command you wish to add.
+   * @return teriminatable command.
+   */
   public Command addFinalTerminator(Terminator terminator) {
-    return Command.just(x -> this.source.execute(x).flatMap(y -> Flowable.<Terminator>just(y, terminator)).subscribeOn(Schedulers.io()));
+    return Command.just(x -> this.source.execute(x)
+        .flatMap(y -> Flowable.<Terminator>just(y, terminator)));
   }
 
   /**
    * Copies this command into one which will not execute until 'starter' emits an item.
    */
   public Command startable(Publisher<?> starter) {
     return new Command(new SerialCommand(
-        Command.just(x -> Flowable.defer(() -> Flowable.<Terminator>never().takeUntil(starter))),
+        Command.just(x -> Flowable.<Terminator>never().takeUntil(starter)),
         this));
   }
 
@@ -104,8 +128,7 @@ public Command startable(Publisher<?> starter) {
    * will delay the execution of all actions until startCondition returns true.
    */
   public Command when(Supplier<Boolean> startCondition) {
-    Flowable ignition = Flowable
-        .defer(() -> emptyPulse.map(x -> startCondition.get()).filter(x -> x).onBackpressureDrop());
+    Flowable ignition = emptyPulse.map(x -> startCondition.get()).filter(x -> x).onBackpressureDrop();
     return this.startable(ignition);
   }
 
@@ -120,15 +143,15 @@ public Command terminable(Publisher<?> terminator) {
   /**
    * Copies this command into one which will end when terminator emits an item.
    *
-   * @param terminatesAtEnd if true, the command will terminate only when the end is reached,
-   *                        if false, the command may terminate before the end is reached.
+   * @param terminatesAtEnd if true, the command will terminate only when the end is reached, if
+   *                        false, the command may terminate before the end is reached.
    */
   public Command endsWhen(Publisher<?> terminator, boolean terminatesAtEnd) {
     return Command.just(x -> {
-      Flowable<Terminator> sourceTerminator = this.execute(terminatesAtEnd);
+      Flowable<? extends Terminator> sourceTerminator = this.execute(terminatesAtEnd);
       Terminator multi = FlattenedTerminator.from(sourceTerminator);
-      return Flowable.defer(() -> Flowable.<Terminator>never().takeUntil(terminator)
-          .mergeWith(Flowable.just(multi::run)));
+      return Flowable.<Terminator>never().takeUntil(terminator)
+          .mergeWith(Flowable.just(multi));
     });
   }
 
@@ -137,7 +160,8 @@ public Command endsWhen(Publisher<?> terminator, boolean terminatesAtEnd) {
    * will only complete once endCondition returns true.
    */
   public Command until(Supplier<Boolean> endCondition) {
-    ConnectableFlowable<?> terminator = emptyPulse.map(x -> endCondition.get()).filter(x -> x).onBackpressureDrop().publish();
+    ConnectableFlowable<?> terminator = emptyPulse.map(x -> endCondition.get()).filter(x -> x)
+        .onBackpressureDrop().publish();
     terminator.connect();
     return this.terminable(terminator);
   }
@@ -153,7 +177,7 @@ public Command then(Command next) {
    * Copies this command into one which will delay execution for a period of time.
    */
   public Command delayStart(long delay, TimeUnit unit) {
-    return this.startable(Flowable.timer(delay, unit));
+    return this.startable(Flowable.timer(delay, unit).onBackpressureBuffer());
   }
 
   /**
@@ -163,18 +187,31 @@ public Command delayFinish(long delay, TimeUnit unit) {
     return this.terminable(Flowable.timer(delay, unit));
   }
 
+  /**
+   * End and terminate this command only after the specified time has passed.
+   * Kills a command after a given time and unit
+   *
+   * @param delay a number in relation to a unit 1000 = 1 ms if unit is ms.
+   * @param unit  unit you wish to count in.
+   * @return a command that will terminate after a given time.
+   */
   public Command killAfter(long delay, TimeUnit unit) {
     return Command.just(x -> {
-      Flowable<Terminator> terms = this.terminable(Flowable.timer(delay, unit)).execute(x);
+      Flowable<? extends Terminator> terms = this.terminable(Flowable.timer(delay, unit))
+          .execute(x);
       return terms;
     });
   }
 
   @Override
-  public Flowable<Terminator> execute(boolean selfTerminating) {
-    Flowable<Terminator> terms = source.execute(selfTerminating).subscribeOn(Schedulers.io());
+  public Flowable<? extends Terminator> execute(boolean selfTerminating) {
+    Flowable<? extends Terminator> terms = source.execute(selfTerminating)
+        .subscribeOn(Schedulers.trampoline());
     if (selfTerminating) {
-      terms.toList().subscribe(x -> Observable.fromIterable(x).blockingSubscribe(Terminator::run));
+      terms.toList().map(Observable::fromIterable).subscribeOn(Schedulers.trampoline())
+          .subscribe(x -> x.subscribe(Terminator::run));
+    } else {
+      terms.subscribe();
     }
     return terms;
   }

src/com/nutrons/framework/commands/CommandWorkUnit.java

@@ -3,5 +3,5 @@
 import io.reactivex.Flowable;
 
 public interface CommandWorkUnit {
-  Flowable<Terminator> execute(boolean selfTerminating);
+  Flowable<? extends Terminator> execute(boolean selfTerminating);
 }

src/com/nutrons/framework/commands/FlattenedTerminator.java

@@ -10,13 +10,13 @@ class FlattenedTerminator implements Terminator {
 
   private final AtomicBoolean lock;
   private final ArrayList<Terminator> terminators;
-  private final Flowable<Terminator> terminatorStream;
+  private final Flowable<? extends Terminator> terminatorStream;
 
-  private FlattenedTerminator(Flowable<Terminator> terminators) {
+  private FlattenedTerminator(Flowable<? extends Terminator> terminators) {
     this.lock = new AtomicBoolean(false);
     this.terminators = new ArrayList<>();
     this.terminatorStream = terminators;
-    terminators.subscribeOn(Schedulers.io()).subscribe(x -> {
+    terminators.subscribe(x -> {
       if (!lock.get()) {
         synchronized (lock) {
           if (!lock.get()) {
@@ -29,13 +29,13 @@ private FlattenedTerminator(Flowable<Terminator> terminators) {
     });
   }
 
-  static FlattenedTerminator from(Flowable<Terminator> terminators) {
+  static FlattenedTerminator from(Flowable<? extends Terminator> terminators) {
     return new FlattenedTerminator(terminators);
   }
 
   public Flowable<? extends Terminator> toSingle() {
     return Flowable.just(this).mergeWith(terminatorStream.ignoreElements().toFlowable())
-        .subscribeOn(Schedulers.io());
+        .subscribeOn(Schedulers.trampoline());
   }
 
   @Override