Add LimelightHelpers; make Limelight an interface

limelight/src/main/java/com/team2813/lib2813/limelight/JSONHelper.java

@@ -1,6 +1,7 @@
 package com.team2813.lib2813.limelight;
 
 import java.util.Optional;
+import java.util.OptionalDouble;
 import java.util.OptionalLong;
 import java.util.function.Function;
 
@@ -39,10 +40,6 @@ static Function<JSONObject, Optional<JSONObject>> getRoot() {
 		return getJSONObject("Results");
 	}
 
-	static OptionalLong unboxLong(Optional<Long> val) {
-    return val.map(OptionalLong::of).orElseGet(OptionalLong::empty);
-	}
-
 	static Function<JSONObject, Optional<Long>> getLong(String key) {
 		return (j) -> {
 			if (!j.has(key)) {
@@ -55,6 +52,20 @@ static Function<JSONObject, Optional<Long>> getLong(String key) {
 			}
 		};
 	}
+
+	static Function<JSONObject, Optional<Double>> getDouble(String key) {
+		return (j) -> {
+			if (!j.has(key)) {
+				return Optional.empty();
+			}
+			try {
+				return Optional.of(j.getDouble(key));
+			} catch (JSONException e) {
+				return Optional.empty();
+			}
+		};
+	}
+
 	static Function<JSONObject, Optional<JSONArray>> getArr(String key) {
 		return (obj) -> {
 			if (!obj.has(key)) {

limelight/src/main/java/com/team2813/lib2813/limelight/Limelight.java

@@ -1,135 +1,32 @@
 package com.team2813.lib2813.limelight;
 
-import static com.team2813.lib2813.limelight.JSONHelper.getArr;
-import static com.team2813.lib2813.limelight.JSONHelper.getLong;
-import static com.team2813.lib2813.limelight.JSONHelper.getRoot;
-import static com.team2813.lib2813.limelight.JSONHelper.unboxLong;
-
-import java.util.HashMap;
-import java.util.Map;
-import java.util.Objects;
-import java.util.Optional;
-import java.util.OptionalLong;
-import java.util.concurrent.Executors;
-import java.util.concurrent.ScheduledExecutorService;
-import java.util.concurrent.ScheduledFuture;
-import java.util.concurrent.TimeUnit;
-import java.util.function.Function;
-
-import org.json.JSONArray;
 import org.json.JSONObject;
 
-import edu.wpi.first.wpilibj.DriverStation;
-
-public class Limelight {
-	private static Map<String, Limelight> limelights = new HashMap<>();
-	private final String name;
-	private final DataCollection collectionThread;
-	private static final ScheduledExecutorService executor = Executors.newScheduledThreadPool(2);
-
-	static final String DEFAULT_ADDRESS = "limelight.local";
-
-	private ScheduledFuture<?> thread;
-
-	boolean started = false;
-
-	// specific types of data;
-	private final LocationalData data;
-
-	Limelight(String address) {
-		data = new LocationalData(this);
-		this.name = address;
-		collectionThread = new DataCollection(address);
-	}
-
-	void start() {
-		if (!started) {
-			thread = executor.scheduleAtFixedRate(collectionThread, 20, 40, TimeUnit.MILLISECONDS);
-			started = true;
-		}
-	}
-
-	void runThread() {
-		collectionThread.run();
-	}
-
-	String getName() {
-		return name;
-	}
-
-	public Optional<JSONObject> getJsonDump() {
-		return collectionThread.getMostRecent();
-	}
+import java.util.Optional;
+import java.util.OptionalDouble;
 
+public interface Limelight {
+
 	/**
-	 * Gets the targeting latency from the limelight
-	 * @return The targeting latency
+	 * Gets the limelight with the default name.
+	 * @return the {@link Limelight} object for interfacing with the limelight
 	 */
-	public OptionalLong getTargetingLatency() {
-		return unboxLong(getJsonDump().flatMap(getRoot()).flatMap(getLong("tl")));
+	public static Limelight getDefaultLimelight() {
+		return RestLimelight.getDefaultLimelight();
 	}
 
-	public OptionalLong getCaptureLatency() {
-		return unboxLong(getJsonDump().flatMap(getRoot()).flatMap(getLong("cl")));
-	}
+	OptionalDouble getTimestamp();
 
-	public OptionalLong getTimestamp() {
-		return unboxLong(getJsonDump().flatMap(getRoot()).flatMap(getLong("ts")));
-	}
+	boolean hasTarget();
 
-	private static <T> Function<T, Boolean> not(Function<? super T, Boolean> fnc) {
-		return (t) -> !fnc.apply(t);
-	} 
-
-	public boolean hasTarget() {
-		return getJsonDump().flatMap(getRoot()).flatMap(getArr("Fiducial")).map(not(JSONArray::isEmpty)).orElse(false);
-	}
 	/**
 	 * Gets an object for getting locational data
 	 * @return an object for getting locational data
 	 */
-	public LocationalData getLocationalData() {
-		return data;
-	}
-
-	private void clean() {
-		try {
-			thread.cancel(true);
-			executor.awaitTermination(2, TimeUnit.SECONDS);
-		} catch (InterruptedException e) {
-			DriverStation.reportError(e.getMessage(), false);
-		}
-	}
-
-	/**
-	 * Gets the limelight with the default name.
-	 * @return the {@link Limelight} object for interfacing with the limelight
-	 */
-	public static Limelight getDefaultLimelight() {
-		return getLimelight("");
-	}
+	LocationalData getLocationalData();
 
-	/**
-	 * Gets the limelight with the specified name. Calling with a blank {@code limelightName}
-	 * is equivalent to calling {@link #getDefaultLimelight()}
-	 * @param limelightName The hostname or ip address of the limelight
-	 * @return the {@link Limelight} object for interfacing with the limelight
-	 * @throws NullPointerException if {@code limelightName} is null
-	 */
-	public static Limelight getLimelight(String limelightName) {
-		String table = Objects.requireNonNull(limelightName,"limelightName shouldn't be null");
-		if (table.isBlank()) {
-			table = DEFAULT_ADDRESS;
-		}
-		Limelight result = limelights.computeIfAbsent(table, Limelight::new);
-		result.start();
-		return result;
-	}
+	OptionalDouble getCaptureLatency();
 
-	static void eraseInstances() {
-		for (Limelight limelight : limelights.values()) {
-			limelight.clean();
-		}
-		limelights.clear();
-	}
+	@Deprecated
+	Optional<JSONObject> getJsonDump();
 }