Task deps

commons/src/main/scala/com/lynbrookrobotics/potassium/commons/arm/Arm.scala

@@ -59,6 +59,8 @@ abstract class Arm {
       override def onEnd(): Unit = {
         arm.resetToDefault()
       }
+
+      override val dependencies: Set[Component[_]] = Set(arm)
     }
 
     //move arm above target using bangbang control. When it is above target, run inner (finite) task.
@@ -76,6 +78,8 @@ abstract class Arm {
         })
       }
       override def onEnd(): Unit = arm.resetToDefault()
+
+      override val dependencies: Set[Component[_]] = Set(arm)
     }
 
     //move arm below target using bangbang control. When it is below target, run inner (finite) task.
@@ -92,6 +96,8 @@ abstract class Arm {
         })
       }
       override def onEnd(): Unit = arm.resetToDefault()
+
+      override val dependencies: Set[Component[_]] = Set(arm)
     }
   }
 }

commons/src/main/scala/com/lynbrookrobotics/potassium/commons/drivetrain/unicycle/control/UnicycleCoreTasks.scala

@@ -31,6 +31,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
 
@@ -46,6 +48,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   class ContinuousVelocityDrive(forward: Stream[Velocity], turn: Stream[AngularVelocity])
@@ -60,6 +64,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   class DriveDistance(distance: Length, tolerance: Length)
@@ -82,6 +88,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   class DriveDistanceWithTrapezoidalProfile(cruisingVelocity: Velocity,
@@ -128,6 +136,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   /**
@@ -198,6 +208,8 @@ trait UnicycleCoreTasks {
       stableTicks = 0
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   class DriveDistanceAtAngle(distance: Length,
@@ -236,6 +248,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   class DriveBeyondStraight(distance: Length,
@@ -290,6 +304,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
 
@@ -324,6 +340,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   class RotateToAngle(absoluteAngle: Angle, tolerance: Angle)
@@ -344,6 +362,8 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   class CorrectOffsetWithLatency(timestampedOffset: Stream[(Angle, Time)], tolerance: Angle)
@@ -384,9 +404,11 @@ trait UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
-  class DriveToTargetWithConstantSpeed(drivetrainComponent: Drivetrain,
+  class DriveToTargetWithConstantSpeed(drive: Drivetrain,
                                        distanceToTarget: Stream[Option[Length]],
                                        angleToTarget: Stream[Angle],
                                        forwardVelocity: Dimensionless,
@@ -408,7 +430,7 @@ trait UnicycleCoreTasks {
         }
       )
 
-      drivetrainComponent.setController(out.withCheckZipped(distanceToTarget){
+      drive.setController(out.withCheckZipped(distanceToTarget){
         distanceToTarget => {
           if (distanceToTarget.exists(_ <= minDistance)) {
             finished()
@@ -418,7 +440,9 @@ trait UnicycleCoreTasks {
     }
 
     override def onEnd(): Unit = {
-      drivetrainComponent.resetToDefault()
+      drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 }

commons/src/main/scala/com/lynbrookrobotics/potassium/commons/drivetrain/unicycle/control/purePursuit/PurePursuitTasks.scala

@@ -1,6 +1,6 @@
 package com.lynbrookrobotics.potassium.commons.drivetrain.unicycle.control.purePursuit
 
-import com.lynbrookrobotics.potassium.Signal
+import com.lynbrookrobotics.potassium.{Component, Signal}
 import com.lynbrookrobotics.potassium.commons.cartesianPosition.XYPosition
 import com.lynbrookrobotics.potassium.commons.drivetrain.unicycle.control.UnicycleCoreTasks
 import com.lynbrookrobotics.potassium.streams.Stream
@@ -65,6 +65,8 @@ trait PurePursuitTasks extends UnicycleCoreTasks {
 
       absoluteFollow = null
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 
   class FollowWayPointsWithPosition(wayPoints: Seq[Point],
@@ -108,5 +110,7 @@ trait PurePursuitTasks extends UnicycleCoreTasks {
     override def onEnd(): Unit = {
       drive.resetToDefault()
     }
+
+    override val dependencies: Set[Component[_]] = Set(drive)
   }
 }

commons/src/main/scala/com/lynbrookrobotics/potassium/commons/flywheel/DoubleFlywheel.scala

@@ -91,6 +91,8 @@ abstract class DoubleFlywheel {
       override def onEnd(): Unit = {
         doubleFlywheel.resetToDefault()
       }
+
+      override val dependencies: Set[Component[_]] = Set(doubleFlywheel)
     }
 
     class WhileAtDoubleVelocity(leftVel: Stream[Frequency], rightVel: Stream[Frequency], tolerance: Frequency)
@@ -110,6 +112,8 @@ abstract class DoubleFlywheel {
       override def onEnd(): Unit = {
         doubleFlywheel.resetToDefault()
       }
+
+      override val dependencies: Set[Component[_]] = Set(doubleFlywheel)
     }
   }
 

commons/src/main/scala/com/lynbrookrobotics/potassium/commons/flywheel/Flywheel.scala

@@ -56,6 +56,8 @@ abstract class Flywheel {
       override def onEnd(): Unit = {
         flywheel.resetToDefault()
       }
+
+      override val dependencies: Set[Component[_]] = Set(flywheel)
     }
   }
 

commons/src/main/scala/com/lynbrookrobotics/potassium/commons/lift/Lift.scala

@@ -82,6 +82,8 @@ abstract class Lift {
       override def onEnd(): Unit = {
         lift.resetToDefault()
       }
+
+      override val dependencies: Set[Component[_]] = Set(lift)
     }
 
     //move arm above target using bangbang control. When it is above target, run inner (finite) task.
@@ -99,6 +101,8 @@ abstract class Lift {
       }
 
       override def onEnd(): Unit = lift.resetToDefault()
+
+      override val dependencies: Set[Component[_]] = Set(lift)
     }
 
     //move arm below target using bangbang control. When it is below target, run inner (finite) task.
@@ -116,6 +120,8 @@ abstract class Lift {
       }
 
       override def onEnd(): Unit = lift.resetToDefault()
+
+      override val dependencies: Set[Component[_]] = Set(lift)
     }
 
   }

commons/src/main/scala/com/lynbrookrobotics/potassium/commons/position/Position.scala

@@ -60,6 +60,8 @@ abstract class Position[S <: Quantity[S],
       override def onEnd(): Unit = {
         comp.resetToDefault()
       }
+
+      override val dependencies: Set[Component[_]] = Set(comp)
     }
 
     class HoldPosition(pos: S)(implicit properties: Signal[Properties], hardware: Hardware, comp: Comp) extends ContinuousTask {
@@ -71,6 +73,8 @@ abstract class Position[S <: Quantity[S],
       override def onEnd(): Unit = {
         comp.resetToDefault()
       }
+
+      override val dependencies: Set[Component[_]] = Set(comp)
     }
   }
 

commons/src/test/scala/com/lynbrookrobotics/potassium/commons/lift/OffloadedLiftTaskTest.scala

@@ -67,6 +67,8 @@ class OffloadedLiftTaskTest extends FunSuite {
       }
 
       override protected def onEnd() = Unit
+
+      override val dependencies: Set[Component[_]] = Set()
     }
 
     val task = new lift.positionTasks.WhileAbovePosition(
@@ -145,6 +147,8 @@ class OffloadedLiftTaskTest extends FunSuite {
       }
 
       override protected def onEnd() = Unit
+
+      override val dependencies: Set[Component[_]] = Set()
     }
 
     val task = new lift.positionTasks.WhileBelowPosition(

core/shared/src/main/scala/com/lynbrookrobotics/potassium/events/ContinuousEvent.scala

@@ -65,7 +65,6 @@ class ContinuousEvent {
     */
   def foreach(task: ContinuousTask): Unit = {
     onStart.foreach { () =>
-      Task.abortCurrentTask()
       Task.executeTask(task)
     }
 
@@ -80,8 +79,6 @@ class ContinuousEvent {
     var currentRunningTask: ContinuousTask = null
 
     onStart.foreach { () =>
-      Task.abortCurrentTask()
-
       currentRunningTask = task.get
 
       Task.executeTask(currentRunningTask)

core/shared/src/main/scala/com/lynbrookrobotics/potassium/tasks/AndUntilDoneTask.scala

@@ -1,4 +1,5 @@
 package com.lynbrookrobotics.potassium.tasks
+import com.lynbrookrobotics.potassium.Component
 
 /**
   * A finite task where a continuous task is run while a finite task is running
@@ -28,4 +29,6 @@ class AndUntilDoneTask private[tasks](first: FiniteTask, second: ContinuousTask)
 
     second.abort()
   }
+
+  override val dependencies: Set[Component[_]] = first.dependencies ++ second.dependencies
 }

core/shared/src/main/scala/com/lynbrookrobotics/potassium/tasks/ContinuousTask.scala

@@ -1,12 +1,15 @@
 package com.lynbrookrobotics.potassium.tasks
 
+import com.lynbrookrobotics.potassium.Component
 import com.lynbrookrobotics.potassium.clock.Clock
 import squants.Time
 
 /**
   * Represents a task that can only be stopped by an external impulse.
   */
 abstract class ContinuousTask extends Task {
+  private var running = false
+  def isRunning: Boolean = running
   protected def onStart(): Unit
   protected def onEnd(): Unit
 
@@ -22,12 +25,22 @@ abstract class ContinuousTask extends Task {
   /**
     * Starts the continuous task.
     */
-  override def init(): Unit = onStart()
+  override def init(): Unit = {
+    if (!running) {
+      running = true
+      onStart()
+    }
+  }
 
   /**
     * Stops the continuous task.
     */
-  override def abort(): Unit = onEnd()
+  override def abort(): Unit = {
+    if (running) {
+      onEnd()
+      running = false
+    }
+  }
 
   /**
     * Returns a FiniteTask of this ContinuousTask running for the given duration
@@ -44,5 +57,7 @@ object ContinuousTask {
     override protected def onStart(): Unit = {}
 
     override protected def onEnd(): Unit = {}
+
+    override val dependencies: Set[Component[_]] = Set()
   }
 }

core/shared/src/main/scala/com/lynbrookrobotics/potassium/tasks/FiniteTask.scala

@@ -1,5 +1,6 @@
 package com.lynbrookrobotics.potassium.tasks
 
+import com.lynbrookrobotics.potassium.Component
 import com.lynbrookrobotics.potassium.clock.Clock
 import squants.Time
 
@@ -112,6 +113,8 @@ abstract class FiniteTask extends Task { self =>
     override def onStart() = self.init()
 
     override def onEnd() = self.abort()
+
+    override val dependencies: Set[Component[_]] = self.dependencies
   }
 }
 
@@ -120,5 +123,7 @@ object FiniteTask {
     override def onStart(): Unit = finished()
 
     override def onEnd(): Unit = {}
+
+    override val dependencies: Set[Component[_]] = Set()
   }
 }

core/shared/src/main/scala/com/lynbrookrobotics/potassium/tasks/ParallelContinuousTask.scala

@@ -1,4 +1,5 @@
 package com.lynbrookrobotics.potassium.tasks
+import com.lynbrookrobotics.potassium.Component
 
 /**
   * A continuous task where two subtasks are run in parallel
@@ -16,4 +17,6 @@ class ParallelContinuousTask private[tasks](first: ContinuousTask, second: Conti
     first.abort()
     second.abort()
   }
+
+  override val dependencies: Set[Component[_]] = first.dependencies ++ second.dependencies
 }

core/shared/src/main/scala/com/lynbrookrobotics/potassium/tasks/ParallelFiniteTask.scala

@@ -1,4 +1,5 @@
 package com.lynbrookrobotics.potassium.tasks
+import com.lynbrookrobotics.potassium.Component
 
 /**
   * A finite task where two subtasks are run in parallel
@@ -30,4 +31,6 @@ class ParallelFiniteTask private[tasks] (first: FiniteTask, second: FiniteTask)
       second.abort()
     }
   }
+
+  override val dependencies: Set[Component[_]] = first.dependencies ++ second.dependencies
 }