Examples with ElapsedTimer me.wobblyyyy.pathfinder2.time.ElapsedTimer used on opensource projects

Example 6 with ElapsedTimer

use of me.wobblyyyy.pathfinder2.time.ElapsedTimer in project Pathfinder2 by Wobblyyyy.

the class TestTaskTrajectory method testMaxTimeTaskTrajectory.

@Test
public void testMaxTimeTaskTrajectory() {
    ElapsedTimer timer = new ElapsedTimer(true);
    Trajectory trajectory = new TaskTrajectoryBuilder().setMaxTimeMs(10).setIsFinished(() -> false).build();
    testTrajectory(trajectory, pathfinder.getPosition(), 100);
    Assertions.assertTrue(timer.elapsedMs() < 10);
}

Example 7 with ElapsedTimer

use of me.wobblyyyy.pathfinder2.time.ElapsedTimer in project Pathfinder2 by Wobblyyyy.

the class Pathfinder method tickUntil.

/**
 * Tick Pathfinder according to a {@code TickConfig}.
 *
 * @param config the ticking configuration to use.
 * @return {@code this}, used for method chaining.
 */
public Pathfinder tickUntil(TickConfig config) {
    double delayMs = config.getDelayMs();
    if (delayMs > 0) {
        ElapsedTimer delayTimer = new ElapsedTimer(true);
        while (delayTimer.elapsedMs() <= delayMs) ;
    }
    double timeoutMs = config.getTimeoutMs();
    ElapsedTimer timer = new ElapsedTimer(true);
    List<Supplier<Boolean>> shouldContinueRunning = config.getShouldContinueRunning();
    List<Supplier<Boolean>> shouldStopRunning = config.getShouldStopRunning();
    List<Runnable> onTick = config.getOnTick();
    List<Runnable> onFinish = config.getOnFinish();
    while (timer.elapsedMs() <= timeoutMs) {
        for (Supplier<Boolean> supplier : shouldContinueRunning) {
            if (!supplier.get()) {
                break;
            }
        }
        for (Supplier<Boolean> supplier : shouldStopRunning) {
            if (supplier.get()) {
                break;
            }
        }
        tick();
        for (Runnable runnable : onTick) {
            runnable.run();
        }
    }
    for (Runnable runnable : onFinish) {
        runnable.run();
    }
    return this;
}

Example 8 with ElapsedTimer

use of me.wobblyyyy.pathfinder2.time.ElapsedTimer in project Pathfinder2 by Wobblyyyy.

the class TestTaskTrajectory method testMinTimeTaskTrajectory.

@Test
public void testMinTimeTaskTrajectory() {
    ElapsedTimer timer = new ElapsedTimer(true);
    Trajectory trajectory = new TaskTrajectoryBuilder().setMinTimeMs(10).setIsFinished(() -> timer.elapsedMs() > 10).build();
    testTrajectory(trajectory, pathfinder.getPosition(), 100);
    Assertions.assertTrue(timer.elapsedMs() > 10);
}

Example 9 with ElapsedTimer

use of me.wobblyyyy.pathfinder2.time.ElapsedTimer in project Pathfinder2 by Wobblyyyy.

the class GenericTrajectoryTester method follow.

public void follow(Trajectory trajectory, PointXYZ point) {
    // this is pretty disgusting code, but it gets the job done
    // basically just spawn a new monitor thread to ensure that it doesn't
    // take over a certain amount of time to execute the trajectory. if it
    // does, something's broken, so the test should fail
    pathfinder.followTrajectory(trajectory);
    ElapsedTimer timer = new ElapsedTimer();
    AtomicBoolean hasNotExpired = new AtomicBoolean(true);
    AtomicBoolean hasExecuted = new AtomicBoolean(false);
    Thread monitor = new Thread(() -> {
        timer.start();
        try {
            while (!hasExecuted.get()) Thread.sleep(1);
            while (timer.elapsedMs() < maximumExecutionTimeMs) {
                Thread.sleep(1);
                if (!pathfinder.isActive())
                    break;
            }
            if (pathfinder.isActive())
                hasNotExpired.set(false);
        } catch (InterruptedException e) {
            e.printStackTrace();
        }
    });
    monitor.start();
    pathfinder.tickUntil(hasNotExpired::get, pf -> hasExecuted.set(true));
    if (!hasNotExpired.get())
        throw new RuntimeException(StringUtils.format("Trajectory <%s> (target <%s>) took more than %s " + "milliseconds to execute, meaning something " + "went wrong with following the trajectory!", trajectory, point, maximumExecutionTimeMs));
    assertPositionIs(point);
}

Example 10 with ElapsedTimer

use of me.wobblyyyy.pathfinder2.time.ElapsedTimer in project Pathfinder2 by Wobblyyyy.

the class Trajectory method withTimeLimits.

/**
 * Create a wrapper trajectory around this trajectory that behaves exactly
 * the same as {@code this} trajectory, but with time limits. The
 * trajectory will only execute if it has not exceeded
 * {@code maximumTimeMs}. At the very least, this will execute until
 * {@code minimumTimeMs} has elapsed.
 *
 * @param minimumTimeMs the minimum amount of time the trajectory may
 *                      execute for, in milliseconds.
 * @param maximumTimeMs the maximum amount of time the trajectory may
 *                      execute for, in milliseconds.
 * @return a wrapper for {@code this} trajectory.
 */
default Trajectory withTimeLimits(double minimumTimeMs, double maximumTimeMs) {
    Function<PointXYZ, PointXYZ> nextMarkerFunction = InternalTrajectoryUtils.nextMarkerFunction(this);
    Function<PointXYZ, Boolean> isDoneFunction = InternalTrajectoryUtils.isDoneFunction(this);
    Function<PointXYZ, Double> speedFunction = InternalTrajectoryUtils.speedFunction(this);
    Supplier<String> _toString = this::toString;
    return new Trajectory() {

        final ElapsedTimer timer = new ElapsedTimer();

        @Override
        public PointXYZ nextMarker(PointXYZ current) {
            if (!timer.hasStarted())
                timer.start();
            return nextMarkerFunction.apply(current);
        }

        @Override
        public boolean isDone(PointXYZ current) {
            double elapsedMs = timer.elapsedMs();
            if (elapsedMs < minimumTimeMs)
                return true;
            else if (elapsedMs < maximumTimeMs)
                return isDoneFunction.apply(current);
            else
                return (elapsedMs > maximumTimeMs);
        }

        @Override
        public double speed(PointXYZ current) {
            return speedFunction.apply(current);
        }

        @Override
        public String toString() {
            return _toString.get();
        }
    };
}