CoroutineState.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.command3;
 
import java.util.function.BooleanSupplier;
import org.wpilib.system.RobotController;

sealed interface CoroutineState {
  CoroutineState LIVE = new Live();

  CoroutineState FROZEN = new Frozen();

  CoroutineState CANCELED = new Canceled();

  static ParkedUntil parkedUntil(long targetTimestampNanos) {
    return new ParkedUntil(targetTimestampNanos);
  }

  static ParkedOnCondition parkedUntil(BooleanSupplier condition) {
    return new ParkedOnCondition(condition);
  }

  static ParkedWhile parkedWhile(BooleanSupplier condition) {
    return new ParkedWhile(condition);
  }

  static ForkFailed forkFailed(Coroutine.ForkResult failure) {
    return new ForkFailed(failure);
  }

  boolean shouldMount();

  record Live() implements CoroutineState {
    @Override
    public boolean shouldMount() {
      return true;
    }
 
    @Override
    public String toString() {
      return "LIVE";
    }
  }

  record Frozen() implements CoroutineState {
    @Override
    public boolean shouldMount() {
      return false;
    }
 
    @Override
    public String toString() {
      return "FROZEN";
    }
  }

  record ParkedUntil(long targetTimestampNanos) implements CoroutineState {
    boolean elapsed() {
      return RobotController.getTime() >= targetTimestampNanos;
    }
 
    @Override
    public boolean shouldMount() {
      return elapsed();
    }
 
    @Override
    public String toString() {
      return "ParkedUntil[" + targetTimestampNanos + "ns]";
    }
  }

  record ParkedOnCondition(BooleanSupplier condition) implements CoroutineState {
    public boolean conditionMet() {
      return condition.getAsBoolean();
    }
 
    @Override
    public boolean shouldMount() {
      return conditionMet();
    }
 
    @Override
    public String toString() {
      return "ParkedOnCondition[dynamic]";
    }
  }

  record ParkedWhile(BooleanSupplier condition) implements CoroutineState {
    public boolean conditionMet() {
      return !condition.getAsBoolean();
    }
 
    @Override
    public boolean shouldMount() {
      return conditionMet();
    }
 
    @Override
    public String toString() {
      return "ParkedWhile[dynamic]";
    }
  }

  record Canceled() implements CoroutineState {
    @Override
    public boolean shouldMount() {
      return false;
    }
 
    @Override
    public String toString() {
      return "CANCELED";
    }
  }

  record ForkFailed(Coroutine.ForkResult failure) implements CoroutineState {
    @Override
    public boolean shouldMount() {
      return false;
    }
 
    @Override
    public String toString() {
      return "FORK_FAILED[" + failure + "]";
    }
  }
}