Started making changes to subsystem model

SnakeSkin-Core/src/main/kotlin/org/snakeskin/dsl/Subsystem.kt

@@ -17,37 +17,10 @@ import org.snakeskin.subsystem.Subsystem
  * @version 7/4/17
  */
 
-fun Subsystem.machine(machine: String) = getStateMachine(machine)
-fun Subsystem.machine() = getDefaultStateMachine()
-
-fun buildSubsystem(name: String = "UNNAMED", setup: SubsystemBuilder.() -> Unit): Subsystem {
-    val builder = SubsystemBuilder(name)
+fun Subsystem.stateMachine(setup: StateMachineBuilder.() -> Unit): StateMachine {
+    val builder = StateMachineBuilder()
     builder.setup()
-    return builder.build()
-}
-
-class SubsystemBuilder(private val name: String): Builder<Subsystem> {
-    private val builder = Subsystem(name)
-
-    fun setup(action: () -> Unit) {
-        builder.addSetupTask(action)
-    }
-
-    fun on(event: String, action: Parameters.() -> Unit) {
-        builder.addEventHandler(event, action)
-    }
-
-    fun stateMachine(machine: String, setup: StateMachineBuilder.() -> Unit): StateMachine {
-        val sBuilder = StateMachineBuilder()
-        sBuilder.setup()
-        val instance = sBuilder.build()
-        builder.addStateMachine(machine, instance)
-        return instance
-    }
-
-    fun test(name: String, body: () -> Boolean) {
-        builder.addTest(name, body)
-    }
-
-    override fun build() = builder
+    val machine = builder.build()
+    addStateMachine(machine)
+    return machine
 }

SnakeSkin-Core/src/main/kotlin/org/snakeskin/event/EventRouter.kt

@@ -17,24 +17,16 @@ import org.snakeskin.logic.Parameters
  * @version 7/4/17
  */
 object EventRouter {
-    private val priorityHandlers = hashMapOf<String, ArrayList<(Parameters) -> Unit>>()
     private val handlers = hashMapOf<String, ArrayList<(Parameters) -> Unit>>()
     private val executor = ExecutorFactory.getExecutor("Event Router")
 
     fun registerHandler(event: String, handler: (Parameters) -> Unit) {
         handlers.putIfAbsent(event, arrayListOf())
         handlers[event]!!.add(handler)
     }
-    internal fun registerPriority(event: String, handler: (Parameters) -> Unit) {
-        priorityHandlers.putIfAbsent(event, arrayListOf())
-        priorityHandlers[event]!!.add(handler)
-    }
 
 
     @Synchronized @JvmStatic @JvmOverloads fun fireEvent(event: String, parameters: MutableParameters = MutableParameters()) {
-        priorityHandlers[event]?.forEach {
-            it(parameters.toParameters())
-        }
         handlers[event]?.forEach {
             executor.submit { it(parameters.toParameters()) }
         }

SnakeSkin-Core/src/main/kotlin/org/snakeskin/registry/Subsystems.kt

@@ -25,7 +25,9 @@ object Subsystems: Registry<Subsystem>() {
 
     @JvmStatic fun testAll() {
         registry.forEach {
-            it.runTests()
+            //Disabled for now
+            //TODO
+            //it.runTests()
         }
     }
 }

SnakeSkin-Core/src/main/kotlin/org/snakeskin/subsystem/Subsystem.kt

@@ -8,6 +8,7 @@ import org.snakeskin.exception.ItemNotFoundException
 import org.snakeskin.factory.ExecutorFactory
 import org.snakeskin.state.StateMachine
 import java.lang.reflect.InvocationTargetException
+import java.util.concurrent.TimeUnit
 
 /*
  * SnakeSkin - Created on 7/4/17
@@ -22,75 +23,35 @@ import java.lang.reflect.InvocationTargetException
  * @version 7/4/17
  */
 
-open class Subsystem(val name: String = "UNNAMED") {
+open class Subsystem(val name: String, private val loopRate: Long = 20L) {
     //Executor, for running subsystem actions
     private val executor = ExecutorFactory.getExecutor("Subsystem")
 
-    //<editor-fold desc="State Handler">
-    private val stateMachines = hashMapOf<String, StateMachine>() //The states that a subsystem can be in
+    private val stateMachines = arrayListOf<StateMachine>()
+    fun addStateMachine(machine: StateMachine = StateMachine()) = stateMachines.add(machine)
 
-    fun addStateMachine(machine: String, instance: StateMachine = StateMachine()) = stateMachines.put(machine, instance)
+    /**
+     * Setup tasks for this subsystem
+     */
+    open fun setup() {}
 
-    fun getStateMachine(machine: String): StateMachine {
-        if (stateMachines.contains(machine)) {
-            return stateMachines[machine]!!
-        } else {
-            throw ItemNotFoundException("Could not find state machine $machine")
-        }
-    }
-
-    fun getDefaultStateMachine(): StateMachine {
-        val firstKey = stateMachines.keys.firstOrNull()
-        if (firstKey != null) {
-            return stateMachines[firstKey]!!
-        } else {
-            throw ItemNotFoundException("Subsystem doesn't have any state machines")
-        }
-    }
-
-
-    //</editor-fold>
-
-    //<editor-fold desc="Setup Tasks">
-    private val setupTasks = arrayListOf<() -> Unit>()
-    fun addSetupTask(task: () -> Unit) = setupTasks.add(task)
-    //</editor-fold>
-
-    //<editor-fold desk="Tests">
-    private val tests = hashMapOf<String, () -> Boolean>()
-    fun addTest(name: String, test: () -> Boolean) = tests.put(name, test)
-    fun runTests() {
-        tests.forEach {
-            name, test ->
-            println("TEST $name\tSTARTING")
-            val result = test()
-            if (result)
-                println("TEST $name\tPASSED")
-            else
-                println("TEST $name\tFAILED")
-        }
-    }
-    //</editor-fold>
+    /**
+     * Looping actions for this subsystem
+     */
+    open fun action() {}
 
     internal fun init() {
-        setupTasks.forEach {
-            try {
-                it()
-            } catch (e: Exception) {
-                throw InitException("Error occurred while running setup tasks for subsystem '$name'", e)
-            }
+        try {
+            setup()
+        } catch (e: Exception) {
+            throw InitException("Error occured while running setup tasks for subsystem '$name", e)
         }
         stateMachines.forEach {
-            _, machine ->
-            EventRouter.registerPriority(Events.DISABLED) {
+            machine ->
+            EventRouter.registerHandler(Events.DISABLED) {
                 machine.setState(States.DISABLED)
             }
         }
-    }
-
-    fun addEventHandler(event: String, action: (Parameters) -> Unit) = EventRouter.registerPriority(event) {
-        executor.submit {
-            action(it)
-        }
+        executor.scheduleAtFixedRate(this::action, 0L, loopRate, TimeUnit.MILLISECONDS)
     }
 }

build.gradle

@@ -56,4 +56,8 @@ subprojects {
     compileTestKotlin {
         kotlinOptions.jvmTarget = "1.8"
     }
+}
+
+task wrapper(type: Wrapper) {
+    gradleVersion = '4.7'
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,5 @@
-#Sat Dec 09 22:50:28 EST 2017
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.7-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.3-all.zip

gradlew

@@ -33,11 +33,11 @@ DEFAULT_JVM_OPTS=""
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
 
-warn ( ) {
+warn () {
     echo "$*"
 }
 
-die ( ) {
+die () {
     echo
     echo "$*"
     echo
@@ -155,7 +155,7 @@ if $cygwin ; then
 fi
 
 # Escape application args
-save ( ) {
+save () {
     for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
     echo " "
 }