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Make option for linearity #6

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Merged
wilsonwatson merged 1 commit into from
Mar 22, 2026
Merged

Make option for linearity #6

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13 changes: 13 additions & 0 deletions src/main/java/org/frc5572/robotools/BoolVisitor.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
package org.frc5572.robotools;

import javax.lang.model.util.SimpleAnnotationValueVisitor8;

/** Find all uses of a string in annotation values */
public class BoolVisitor extends SimpleAnnotationValueVisitor8<Boolean, Void> {

@Override
public Boolean visitBoolean(boolean arg0, Void arg1) {
return arg0;
}

}
8 changes: 7 additions & 1 deletion src/main/java/org/frc5572/robotools/RobotProcessor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,7 @@ private void processGenerateTypeStateBuilder(TypeElement annotation,
TypeElement parent = (TypeElement) parent_;
String builderName = parent.getSimpleName() + "Builder";
String builderPackage = getPackageName(parent);
boolean isLinear = false;
// System.out.println("Processing " + builderPackage + "." + builderName);
for (var mirror : constructorElement.getAnnotationMirrors()) {
if (!mirror.getAnnotationType().asElement().getSimpleName().toString()
Expand All @@ -84,6 +85,11 @@ private void processGenerateTypeStateBuilder(TypeElement annotation,
if (res != null) {
builderName = res;
}
} else if (ev.getKey().getSimpleName().toString().equals("linear")) {
Boolean res = ev.getValue().accept(new BoolVisitor(), null);
if (res != null) {
isLinear = res;
}
}
}
}
Expand Down Expand Up @@ -136,7 +142,7 @@ private void processGenerateTypeStateBuilder(TypeElement annotation,
var specBuilder =
TypeSpec.classBuilder(builderName).addModifiers(Modifier.PUBLIC, Modifier.FINAL);

TypeStateBuilder typeStateBuilder = new TypeStateBuilder(builderName,
TypeStateBuilder typeStateBuilder = new TypeStateBuilder(builderName, isLinear,
fields.toArray(TypeStateBuilder.Field[]::new), parent.asType());
typeStateBuilder.apply(specBuilder);

Expand Down
97 changes: 57 additions & 40 deletions src/main/java/org/frc5572/robotools/TypeStateBuilder.java
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Original file line number Diff line number Diff line change
@@ -1,11 +1,9 @@
package org.frc5572.robotools;

import java.util.ArrayList;

import javax.lang.model.element.AnnotationMirror;
import javax.lang.model.element.Modifier;
import javax.lang.model.type.TypeMirror;

import com.squareup.javapoet.ClassName;
import com.squareup.javapoet.FieldSpec;
import com.squareup.javapoet.MethodSpec;
Expand All @@ -22,12 +20,14 @@ public class TypeStateBuilder {
private final ArrayList<OptionalField> optionalFields = new ArrayList<>();
private final Field[] fields;
private final TypeMirror result;
private final boolean isLinear;

/** Template builder for TypeState Builders */
public TypeStateBuilder(String name, Field[] fields_, TypeMirror result) {
public TypeStateBuilder(String name, boolean isLinear, Field[] fields_, TypeMirror result) {
this.fields = fields_;
this.result = result;
this.name = name;
this.isLinear = isLinear;
for (var field : fields_) {
if (field instanceof RequiredField rField) {
requiredFields.add(rField);
Expand All @@ -39,10 +39,12 @@ public TypeStateBuilder(String name, Field[] fields_, TypeMirror result) {
}
}

private static boolean advance(boolean[] enabled) {
private static boolean advance(boolean[] enabled, boolean isLinear) {
for (int i = 0; i < enabled.length; i++) {
if (enabled[i]) {
enabled[i] = false;
if (!isLinear) {
enabled[i] = false;
}
} else {
enabled[i] = true;
return true;
Expand All @@ -57,60 +59,65 @@ public void apply(TypeSpec.Builder builder) {

MethodSpec.Builder constructor = MethodSpec.constructorBuilder();
for (var field : initFields) {
builder.addField(FieldSpec
.builder(TypeName.get(field.type), field.name + "_", Modifier.PRIVATE, Modifier.FINAL).build());
constructor.addParameter(ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
builder.addField(FieldSpec.builder(TypeName.get(field.type), field.name + "_",
Modifier.PRIVATE, Modifier.FINAL).build());
constructor.addParameter(
ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addCode("this." + field.name + "_ = " + field.name + "_;\n");
}
for (var field : optionalFields) {
builder.addField(FieldSpec
.builder(TypeName.get(field.type), field.name + "_", Modifier.PRIVATE, Modifier.FINAL).build());
builder.addField(FieldSpec.builder(TypeName.get(field.type), field.name + "_",
Modifier.PRIVATE, Modifier.FINAL).build());
constructor.addCode("this." + field.name + "_ = " + field.default_code + ";\n");
}
builder.addMethod(constructor.addModifiers(Modifier.PUBLIC).build());
constructor = MethodSpec.constructorBuilder();
boolean isDifferent = false;
for (var field : initFields) {
constructor.addParameter(ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addParameter(
ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addCode("this." + field.name + "_ = " + field.name + "_;\n");
}
for (var field : optionalFields) {
constructor.addParameter(ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addParameter(
ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addCode("this." + field.name + "_ = " + field.name + "_;\n");
isDifferent = true;
}
if (isDifferent) {
builder.addMethod(constructor.addModifiers(Modifier.PRIVATE).build());
}
addMethods(builder, enabled);
while (advance(enabled)) {
while (advance(enabled, isLinear)) {
constructor = MethodSpec.constructorBuilder();
for (int i = 0; i < enabled.length; i++) {
if (enabled[i]) {
var field = requiredFields.get(i);
constructor.addParameter(ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addParameter(
ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addCode("this." + field.name + "_ = " + field.name + "_;\n");
}
}
TypeSpec.Builder stepClass = TypeSpec.classBuilder(getName(enabled));
for (int i = 0; i < enabled.length; i++) {
if (enabled[i]) {
var field = requiredFields.get(i);
stepClass.addField(FieldSpec
.builder(TypeName.get(field.type), field.name + "_", Modifier.PRIVATE, Modifier.FINAL)
.build());
stepClass.addField(FieldSpec.builder(TypeName.get(field.type), field.name + "_",
Modifier.PRIVATE, Modifier.FINAL).build());
}
}
for (var field : initFields) {
stepClass.addField(FieldSpec
.builder(TypeName.get(field.type), field.name + "_", Modifier.PRIVATE, Modifier.FINAL).build());
constructor.addParameter(ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
stepClass.addField(FieldSpec.builder(TypeName.get(field.type), field.name + "_",
Modifier.PRIVATE, Modifier.FINAL).build());
constructor.addParameter(
ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addCode("this." + field.name + "_ = " + field.name + "_;\n");
}
for (var field : optionalFields) {
stepClass.addField(FieldSpec
.builder(TypeName.get(field.type), field.name + "_", Modifier.PRIVATE, Modifier.FINAL).build());
constructor.addParameter(ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
stepClass.addField(FieldSpec.builder(TypeName.get(field.type), field.name + "_",
Modifier.PRIVATE, Modifier.FINAL).build());
constructor.addParameter(
ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
constructor.addCode("this." + field.name + "_ = " + field.name + "_;\n");
}
stepClass.addMethod(constructor.addModifiers(Modifier.PRIVATE).build());
Expand Down Expand Up @@ -143,8 +150,8 @@ private void addMethods(TypeSpec.Builder builder, boolean[] enabled) {
}
if (isFinishable) {
TypeName returnType = TypeName.get(result);
MethodSpec.Builder finish = MethodSpec.methodBuilder("finish").addModifiers(Modifier.PUBLIC)
.returns(returnType);
MethodSpec.Builder finish = MethodSpec.methodBuilder("finish")
.addModifiers(Modifier.PUBLIC).returns(returnType);
String code = "return new " + returnType + "(";
boolean isFirst = true;
for (Field field : fields) {
Expand All @@ -164,8 +171,10 @@ private void addMethods(TypeSpec.Builder builder, boolean[] enabled) {
System.arraycopy(enabled, 0, next, 0, enabled.length);
next[i] = true;
String nextName = getName(next);
MethodSpec.Builder method = MethodSpec.methodBuilder(field.name).returns(ClassName.get("", nextName));
method.addParameter(ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
MethodSpec.Builder method =
MethodSpec.methodBuilder(field.name).returns(ClassName.get("", nextName));
method.addParameter(
ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
String code = "return new " + nextName + "(";
boolean isFirst = true;
for (int j = 0; j < enabled.length; j++) {
Expand Down Expand Up @@ -195,9 +204,10 @@ private void addMethods(TypeSpec.Builder builder, boolean[] enabled) {
builder.addMethod(method.addModifiers(Modifier.PUBLIC).build());

if (field.alt != null) {
method = MethodSpec.methodBuilder(field.name).returns(ClassName.get("", nextName));
method.addParameter(
ParameterSpec.builder(TypeName.get(field.alt.type), field.alt.parameterName).build());
method =
MethodSpec.methodBuilder(field.name).returns(ClassName.get("", nextName));
method.addParameter(ParameterSpec
.builder(TypeName.get(field.alt.type), field.alt.parameterName).build());
code = "return new " + nextName + "(";
isFirst = true;
for (int j = 0; j < enabled.length; j++) {
Expand Down Expand Up @@ -234,12 +244,17 @@ private void addMethods(TypeSpec.Builder builder, boolean[] enabled) {
method.addCode(code + ");\n");
builder.addMethod(method.addModifiers(Modifier.PUBLIC).build());
}
if (isLinear) {
break;
}
}
}
String thisName = getName(enabled);
for (var field : optionalFields) {
MethodSpec.Builder method = MethodSpec.methodBuilder(field.name).returns(ClassName.get("", thisName));
method.addParameter(ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
MethodSpec.Builder method =
MethodSpec.methodBuilder(field.name).returns(ClassName.get("", thisName));
method.addParameter(
ParameterSpec.builder(TypeName.get(field.type), field.name + "_").build());
String code = "return new " + thisName + "(";
boolean isFirst = true;
for (int i = 0; i < enabled.length; i++) {
Expand Down Expand Up @@ -270,8 +285,8 @@ private void addMethods(TypeSpec.Builder builder, boolean[] enabled) {

if (field.alt != null) {
method = MethodSpec.methodBuilder(field.name).returns(ClassName.get("", thisName));
method.addParameter(
ParameterSpec.builder(TypeName.get(field.alt.type), field.alt.parameterName).build());
method.addParameter(ParameterSpec
.builder(TypeName.get(field.alt.type), field.alt.parameterName).build());
code = "return new " + thisName + "(";
isFirst = true;
for (int i = 0; i < enabled.length; i++) {
Expand Down Expand Up @@ -361,11 +376,12 @@ public RequiredField(TypeMirror type, String name) {

/** A field that is required to finish the builder. */
public static RequiredField fromAnnotation(TypeMirror type, String name,
AnnotationMirror mirror) {
AnnotationMirror mirror) {
AltMethod alt = null;
for (var ev : mirror.getElementValues().entrySet()) {
if (ev.getKey().getSimpleName().toString().equals("alt")) {
AnnotationMirror altMirror = ev.getValue().accept(new AnnotationMirrorVisitor(), null);
AnnotationMirror altMirror =
ev.getValue().accept(new AnnotationMirrorVisitor(), null);
alt = AltMethod.fromAnnotation(altMirror, name);
}
}
Expand All @@ -392,14 +408,15 @@ public OptionalField(TypeMirror type, String name, String default_code) {

/** A field that has a default in case it is not specified. */
public static OptionalField fromAnnotation(TypeMirror type, String name,
AnnotationMirror mirror) {
AnnotationMirror mirror) {
String defaultCode = "";
AltMethod alt = null;
for (var ev : mirror.getElementValues().entrySet()) {
if (ev.getKey().getSimpleName().toString().equals("value")) {
defaultCode = ev.getValue().accept(new StringVisitor(), null);
} else if (ev.getKey().getSimpleName().toString().equals("alt")) {
AnnotationMirror altMirror = ev.getValue().accept(new AnnotationMirrorVisitor(), null);
AnnotationMirror altMirror =
ev.getValue().accept(new AnnotationMirrorVisitor(), null);
alt = AltMethod.fromAnnotation(altMirror, name);
}
}
Expand All @@ -417,9 +434,9 @@ public static AltMethod fromAnnotation(AnnotationMirror mirror, String defaultNa
}

if (!mirror.getAnnotationType().asElement().getSimpleName().toString()
.equals("AltMethod")) {
.equals("AltMethod")) {
System.out.println("annotation name doesn't match "
+ mirror.getAnnotationType().asElement().getSimpleName().toString());
+ mirror.getAnnotationType().asElement().getSimpleName().toString());
return null;
}
TypeMirror type = null;
Expand Down
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