From 3e2b96dbe22e37fda259cb725b8c47adc344881a Mon Sep 17 00:00:00 2001
From: Kevin Cooney <kcooney@gmail.com>
Date: Sat, 27 Jan 2024 14:17:07 -0800
Subject: [PATCH 1/2] Test code for the Features code in lib2813

Features can be initally disabled or disabled, and can be configured to be
enabled via Shuffleboard. Commands can be configured to be scheduled only
if all controlling features are enabled by using Features.whenAllEnabled().

This allows us to add functionality to the robot that might not be fully tested
by having the functionality disabled by default.
---
 Robot2024/.idea/vcs.xml                       |  1 +
 Robot2024/lib2813                             |  2 +-
 .../src/main/java/com/team2813/Feature.java   | 19 +++++++++++++++++++
 .../java/com/team2813/RobotContainer.java     |  4 ++++
 4 files changed, 25 insertions(+), 1 deletion(-)
 create mode 100644 Robot2024/src/main/java/com/team2813/Feature.java

diff --git a/Robot2024/.idea/vcs.xml b/Robot2024/.idea/vcs.xml
index 6c0b863..a6c9db8 100644
--- a/Robot2024/.idea/vcs.xml
+++ b/Robot2024/.idea/vcs.xml
@@ -2,5 +2,6 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/lib2813" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/Robot2024/lib2813 b/Robot2024/lib2813
index b283d5d..fa6e3b7 160000
--- a/Robot2024/lib2813
+++ b/Robot2024/lib2813
@@ -1 +1 @@
-Subproject commit b283d5d1d54559608881251d63a504756789698f
+Subproject commit fa6e3b77e7cf2db7e5fce72a2d2c8495b410fbae
diff --git a/Robot2024/src/main/java/com/team2813/Feature.java b/Robot2024/src/main/java/com/team2813/Feature.java
new file mode 100644
index 0000000..866109d
--- /dev/null
+++ b/Robot2024/src/main/java/com/team2813/Feature.java
@@ -0,0 +1,19 @@
+package com.team2813;
+
+import com.team2813.lib2813.feature.FeatureIdentifier;
+
+/** Enumeration of all features for this robot. */
+public enum Feature implements FeatureIdentifier {
+    EXAMPLE(FeatureBehavior.INITIALLY_DISABLED);
+
+    private final FeatureBehavior behavior;
+
+    Feature(FeatureBehavior behavior) {
+        this.behavior = behavior;
+    }
+
+    @Override
+    public FeatureBehavior behavior() {
+        return behavior;
+    }
+}
diff --git a/Robot2024/src/main/java/com/team2813/RobotContainer.java b/Robot2024/src/main/java/com/team2813/RobotContainer.java
index 68f49ca..fb94583 100644
--- a/Robot2024/src/main/java/com/team2813/RobotContainer.java
+++ b/Robot2024/src/main/java/com/team2813/RobotContainer.java
@@ -6,11 +6,13 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 
+import com.team2813.lib2813.feature.Features;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 // import frc.robot.Constants.OperatorConstants;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
 import com.team2813.commands.DefaultDriveCommand;
@@ -42,6 +44,8 @@ public RobotContainer() {
 		shooter.setDefaultCommand(new DefaultShooterCommand(shooter, operatorController::getRightY));
 		configureBindings();
 		autoChooser = AutoBuilder.buildAutoChooser();
+		autoChooser.addOption("Test Feature",
+				Features.whenAllEnabled(Commands.print("autonomousInit"), Feature.EXAMPLE));
 		SmartDashboard.putData("Auto", autoChooser);
 	}
 

From aae14f994822d12d77fdbdc5106aa64950e68756 Mon Sep 17 00:00:00 2001
From: Kevin Cooney <kcooney@gmail.com>
Date: Sun, 17 Mar 2024 20:35:42 -0700
Subject: [PATCH 2/2] Reset the robot when features are changed while the robot
 is disabled.

---
 Robot2024/.idea/gradle.xml                    | 15 ++++++++-
 Robot2024/lib2813                             |  2 +-
 .../src/main/java/com/team2813/Robot.java     | 33 +++++++++++++++++--
 3 files changed, 45 insertions(+), 5 deletions(-)

diff --git a/Robot2024/.idea/gradle.xml b/Robot2024/.idea/gradle.xml
index 2c48b5c..4537d2e 100644
--- a/Robot2024/.idea/gradle.xml
+++ b/Robot2024/.idea/gradle.xml
@@ -4,11 +4,24 @@
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
+        <compositeConfiguration>
+          <compositeBuild compositeDefinitionSource="SCRIPT">
+            <builds>
+              <build path="$PROJECT_DIR$/lib2813" name="lib2813">
+                <projects>
+                  <project path="$PROJECT_DIR$/lib2813" />
+                  <project path="$PROJECT_DIR$/lib2813/lib" />
+                </projects>
+              </build>
+            </builds>
+          </compositeBuild>
+        </compositeConfiguration>
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />
-            <option value="$PROJECT_DIR$/lib" />
+            <option value="$PROJECT_DIR$/lib2813" />
+            <option value="$PROJECT_DIR$/lib2813/lib" />
           </set>
         </option>
       </GradleProjectSettings>
diff --git a/Robot2024/lib2813 b/Robot2024/lib2813
index fa6e3b7..49da620 160000
--- a/Robot2024/lib2813
+++ b/Robot2024/lib2813
@@ -1 +1 @@
-Subproject commit fa6e3b77e7cf2db7e5fce72a2d2c8495b410fbae
+Subproject commit 49da6203a10c42026e1ce3e42b501ee6cc14ec1f
diff --git a/Robot2024/src/main/java/com/team2813/Robot.java b/Robot2024/src/main/java/com/team2813/Robot.java
index 0d0ebaf..d9ab4cf 100644
--- a/Robot2024/src/main/java/com/team2813/Robot.java
+++ b/Robot2024/src/main/java/com/team2813/Robot.java
@@ -4,17 +4,26 @@
 
 package com.team2813;
 
+import com.team2813.lib2813.feature.Features;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
-
   private RobotContainer m_robotContainer;
+  private Object m_featureState;
+
+  private RobotContainer getContainer() {
+    if (m_robotContainer == null) {
+      m_robotContainer = new RobotContainer();
+    }
+    return m_robotContainer;
+  }
 
   @Override
   public void robotInit() {
+    m_featureState = Features.getState();
     m_robotContainer = new RobotContainer();
   }
 
@@ -26,12 +35,26 @@ public void robotPeriodic() {
   @Override
   public void disabledInit() {}
 
+  @Override
+  public void disabledExit() {
+    Object featureState = Features.getState();
+    if (!featureState.equals(m_featureState)) {
+      /* Features changed; reset the robot. This may have adverse
+       * side effects; it's generally not recommend to enable features
+       * via the UI on a competition day.
+       */
+      m_robotContainer = null;
+      CommandScheduler.getInstance().getDefaultButtonLoop().clear();
+      m_featureState = featureState;
+    }
+  }
+
   @Override
   public void disabledPeriodic() {}
 
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    m_autonomousCommand = getContainer().getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
@@ -42,12 +65,16 @@ public void autonomousInit() {
   public void autonomousPeriodic() {}
 
   @Override
-  public void teleopInit() {
+  public void autonomousExit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
+      m_autonomousCommand = null;
     }
   }
 
+  @Override
+  public void teleopInit() {}
+
   @Override
   public void teleopPeriodic() {}