Tele op action

src/main/java/com/acmerobotics/robomatic/demo/DemoAuto.java

@@ -4,11 +4,11 @@
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-@Autonomous(name="demoAuto")
+//@Autonomous(name="demoAuto")
 public class DemoAuto extends LinearOpMode {
     @Override
     public void runOpMode() {
-        DemoRobot robot = new DemoRobot(this);
+        DemoRobot robot = new DemoRobot(this, false);
 
         DemoConfig config = (DemoConfig) new ConfigurationLoader(hardwareMap.appContext).getConfig();
 

src/main/java/com/acmerobotics/robomatic/demo/DemoRobot.java

@@ -7,8 +7,8 @@ public class DemoRobot extends Robot {
 
     public final DemoSubsystem subsystem;
 
-    public DemoRobot(LinearOpMode opmode) {
-        super(opmode);
+    public DemoRobot(LinearOpMode opmode, boolean inTeleOp) {
+        super(opmode, inTeleOp);
 
         registerHub("hub0");
 

src/main/java/com/acmerobotics/robomatic/demo/DemoTeleOp.java

@@ -4,12 +4,12 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-@TeleOp(name="DemoTeleOp")
+//@TeleOp(name="DemoTeleOp")
 public class DemoTeleOp extends LinearOpMode {
 
     @Override
     public void runOpMode() {
-        DemoRobot robot = new DemoRobot(this);
+        DemoRobot robot = new DemoRobot(this, true);
         StickyGamepad stickyGamepad1 = new StickyGamepad(gamepad1);
 
         telemetry.addLine("init");

src/main/java/com/acmerobotics/robomatic/robot/Robot.java

@@ -11,6 +11,8 @@
 import com.acmerobotics.robomatic.hardware.CachingSensor;
 import com.acmerobotics.robomatic.hardware.CachingServo;
 import com.acmerobotics.robomatic.hardware.LynxOptimizedI2cFactory;
+import com.acmerobotics.robomatic.util.StickyGamepad;
+import com.acmerobotics.robomatic.util.TeleOpActionImpl;
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.hardware.bosch.BNO055IMUImpl;
 import com.qualcomm.hardware.lynx.LynxEmbeddedIMU;
@@ -41,9 +43,15 @@ public abstract class Robot {
 
     private HardwareMap map;
     private LinearOpMode opmode;
+    private boolean inTeleOp;
+
+    private StickyGamepad stickyGamepad1;
+    private StickyGamepad stickyGamepad2;
 
     private List<Subsystem> subsystems;
 
+    private List<TeleOpActionImpl> teleOpActions;
+
     private Map<DcMotorController, LynxModule> motorControllers;
     private Map<AnalogInputController, LynxModule> analogInputControllers;
     private Map<DigitalChannelController, LynxModule> digitalChannelControllers;
@@ -59,9 +67,10 @@ public abstract class Robot {
     private Map<String, Object> telemetry;
     private List<String> telemetryLines;
 
-    public Robot (LinearOpMode opmode) {
+    public Robot (LinearOpMode opmode, boolean inTeleOp) {
         this.map = opmode.hardwareMap;
         this.opmode = opmode;
+        this.inTeleOp = inTeleOp;
 
         motorControllers = new HashMap<>(2);
         analogInputControllers = new HashMap<>(2);
@@ -78,6 +87,11 @@ public Robot (LinearOpMode opmode) {
 
         subsystems = new ArrayList<>();
 
+        teleOpActions = new ArrayList<>();
+
+        stickyGamepad1 = new StickyGamepad(opmode.gamepad1);
+        stickyGamepad2 = new StickyGamepad(opmode.gamepad2);
+
     }
 
     public void addTelemetry (String caption, Object value) {
@@ -131,11 +145,22 @@ private void updateSubsystems () {
         FtcDashboard.getInstance().sendTelemetryPacket(packet);
     }
 
+    private void updateTeleOpAction(){
+        if (inTeleOp) {
+            for (TeleOpActionImpl teleOpAction : teleOpActions) {
+                teleOpAction.action(opmode.gamepad1, opmode.gamepad2, stickyGamepad1, stickyGamepad2);
+                stickyGamepad1.update();
+                stickyGamepad2.update();
+            }
+        }
+    }
+
     public void update () {
         updateBulkData();
         updateCachingSensors();
         updateSubsystems();
         updateCachingHardwareDevices();
+        updateTeleOpAction();
     }
 
     public interface Target {
@@ -177,6 +202,10 @@ public DigitalChannel getDigitalChannel (String deviceName) {
         return new BulkReadDigitalChannel(this, map.get(DigitalChannelImpl.class, deviceName));
     }
 
+    public int getPhoneCameraId(){
+        return map.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", map.appContext.getPackageName());
+    }
+
     protected void registerHub (String deviceName) {
         LynxModule hub = map.get(LynxModule.class, deviceName);
         hubs.add(hub);
@@ -193,6 +222,10 @@ public void registerCachingSensor (CachingSensor sensor) {
         if (!cachingSensors.contains(sensor)) cachingSensors.add(sensor);
     }
 
+    public void registerTeleOpAction(TeleOpActionImpl teleOpAction){
+        teleOpActions.add(teleOpAction);
+    }
+
     private LynxGetBulkInputDataResponse getBulkResponse (DcMotorController controller) {
         return bulkDataResponses.get(motorControllers.get(controller));
     }

src/main/java/com/acmerobotics/robomatic/util/StickyGamepad.java

@@ -16,6 +16,7 @@ public class StickyGamepad {
     private boolean left_bumper_down, right_bumper_down;
     private boolean left_stick_button_down, right_stick_button_down;
 
+    // makes it so a press and hold on the gamepad counts as a single press and doesn't get looped over
     public StickyGamepad(Gamepad gamepad) {
         this.gamepad = gamepad;
     }

src/main/java/com/acmerobotics/robomatic/util/TeleOpActionImpl.java

@@ -0,0 +1,8 @@
+package com.acmerobotics.robomatic.util;
+
+import com.acmerobotics.robomatic.util.StickyGamepad;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+public interface TeleOpActionImpl {
+    void action(Gamepad gamepad1, Gamepad gamepad2, StickyGamepad stickyGamepad1, StickyGamepad stickyGamepad2);
+}

src/main/res/layout/activity_opmode_configuration.xml

@@ -1,10 +1,16 @@
 <?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:orientation="vertical" android:layout_width="match_parent"
     tools:context="com.acmerobotics.robomatic.config.OpModeConfigurationActivity"
     android:id="@+id/opmode_config"
     android:keepScreenOn="true"
     android:layout_height="match_parent">
 
+    <ImageView
+        android:id="@+id/field"
+        android:layout_width="match_parent"
+        android:layout_height="413dp"
+        android:src="@drawable/field" />
 </LinearLayout>