add Sequential and Parallel

RunAll.run.xml

@@ -0,0 +1,14 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RunAll" type="JUnit" factoryName="JUnit">
+    <module name="statemachineftc.unitTest" />
+    <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
+    <option name="ALTERNATIVE_JRE_PATH" value="Android API 34, extension level 7 Platform" />
+    <option name="PACKAGE_NAME" value="tests" />
+    <option name="MAIN_CLASS_NAME" value="" />
+    <option name="METHOD_NAME" value="" />
+    <option name="TEST_OBJECT" value="package" />
+    <method v="2">
+      <option name="Make" enabled="true" />
+    </method>
+  </configuration>
+</component>

build.gradle

@@ -69,8 +69,10 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.junit.jupiter:junit-jupiter:5.8.1'
-    implementation 'org.firstinspires.ftc:RobotCore:9.0.1'
+    implementation 'org.junit.jupiter:junit-jupiter-api:5.8.1'
+    implementation 'org.junit.jupiter:junit-jupiter-engine:5.8.1'
+    implementation 'org.junit.platform:junit-platform-launcher:1.8.1'
+    implementation 'org.firstinspires.ftc:RobotCore:10.1.0'
 }
 
 afterEvaluate {

build/intermediates/incremental/debug/packageDebugResources/compile-file-map.properties

@@ -1 +1 @@
-#Tue Apr 02 21:32:58 MDT 2024
+#Fri Oct 11 22:12:12 MDT 2024

build/intermediates/incremental/debug/packageDebugResources/merger.xml

@@ -1,2 +1,2 @@
 <?xml version="1.0" encoding="utf-8"?>
-<merger version="3"><dataSet aapt-namespace="http://schemas.android.com/apk/res-auto" config="main$Generated" generated="true" ignore_pattern="!.svn:!.git:!.ds_store:!*.scc:.*:&lt;dir>_*:!CVS:!thumbs.db:!picasa.ini:!*~"><source path="/Users/gradengentry/Desktop/Repos/StateMachineFTC/src/main/res"/><source path="/Users/gradengentry/Desktop/Repos/StateMachineFTC/build/generated/res/rs/debug"/><source path="/Users/gradengentry/Desktop/Repos/StateMachineFTC/build/generated/res/resValues/debug"/></dataSet><dataSet aapt-namespace="http://schemas.android.com/apk/res-auto" config="main" generated-set="main$Generated" ignore_pattern="!.svn:!.git:!.ds_store:!*.scc:.*:&lt;dir>_*:!CVS:!thumbs.db:!picasa.ini:!*~"><source path="/Users/gradengentry/Desktop/Repos/StateMachineFTC/src/main/res"/><source path="/Users/gradengentry/Desktop/Repos/StateMachineFTC/build/generated/res/rs/debug"/><source path="/Users/gradengentry/Desktop/Repos/StateMachineFTC/build/generated/res/resValues/debug"/></dataSet><dataSet aapt-namespace="http://schemas.android.com/apk/res-auto" config="debug$Generated" generated="true" ignore_pattern="!.svn:!.git:!.ds_store:!*.scc:.*:&lt;dir>_*:!CVS:!thumbs.db:!picasa.ini:!*~"><source path="/Users/gradengentry/Desktop/Repos/StateMachineFTC/src/debug/res"/></dataSet><dataSet aapt-namespace="http://schemas.android.com/apk/res-auto" config="debug" generated-set="debug$Generated" ignore_pattern="!.svn:!.git:!.ds_store:!*.scc:.*:&lt;dir>_*:!CVS:!thumbs.db:!picasa.ini:!*~"><source path="/Users/gradengentry/Desktop/Repos/StateMachineFTC/src/debug/res"/></dataSet><mergedItems/></merger>
+<merger version="3"><dataSet aapt-namespace="http://schemas.android.com/apk/res-auto" config="main$Generated" generated="true" ignore_pattern="!.svn:!.git:!.ds_store:!*.scc:.*:&lt;dir>_*:!CVS:!thumbs.db:!picasa.ini:!*~"><source path="/Users/gradengentry/Downloads/Repos/StateMachineFTC/src/main/res"/><source path="/Users/gradengentry/Downloads/Repos/StateMachineFTC/build/generated/res/rs/debug"/><source path="/Users/gradengentry/Downloads/Repos/StateMachineFTC/build/generated/res/resValues/debug"/></dataSet><dataSet aapt-namespace="http://schemas.android.com/apk/res-auto" config="main" generated-set="main$Generated" ignore_pattern="!.svn:!.git:!.ds_store:!*.scc:.*:&lt;dir>_*:!CVS:!thumbs.db:!picasa.ini:!*~"><source path="/Users/gradengentry/Downloads/Repos/StateMachineFTC/src/main/res"/><source path="/Users/gradengentry/Downloads/Repos/StateMachineFTC/build/generated/res/rs/debug"/><source path="/Users/gradengentry/Downloads/Repos/StateMachineFTC/build/generated/res/resValues/debug"/></dataSet><dataSet aapt-namespace="http://schemas.android.com/apk/res-auto" config="debug$Generated" generated="true" ignore_pattern="!.svn:!.git:!.ds_store:!*.scc:.*:&lt;dir>_*:!CVS:!thumbs.db:!picasa.ini:!*~"><source path="/Users/gradengentry/Downloads/Repos/StateMachineFTC/src/debug/res"/></dataSet><dataSet aapt-namespace="http://schemas.android.com/apk/res-auto" config="debug" generated-set="debug$Generated" ignore_pattern="!.svn:!.git:!.ds_store:!*.scc:.*:&lt;dir>_*:!CVS:!thumbs.db:!picasa.ini:!*~"><source path="/Users/gradengentry/Downloads/Repos/StateMachineFTC/src/debug/res"/></dataSet><mergedItems/></merger>

build/intermediates/manifest_merge_blame_file/debug/manifest-merger-blame-debug-report.txt

@@ -4,8 +4,8 @@
 4
 5    <uses-sdk
 6        android:minSdkVersion="24"
-6-->/Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
+6-->/Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
 7        android:targetSdkVersion="28" />
-7-->/Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
+7-->/Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
 8
 9</manifest>

build/outputs/logs/manifest-merger-debug-report.txt

@@ -1,25 +1,25 @@
 -- Merging decision tree log ---
 manifest
-ADDED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml:2:13-3:63
-INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml:2:13-3:63
-INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml:2:13-3:63
+ADDED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml:2:13-3:63
+INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml:2:13-3:63
+INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml:2:13-3:63
 	package
-		ADDED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml:3:16-60
-		INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
-		INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
+		ADDED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml:3:16-60
+		INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
+		INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
 	xmlns:android
-		ADDED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml:2:23-81
+		ADDED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml:2:23-81
 uses-sdk
-INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml reason: use-sdk injection requested
-INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
-INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
-INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
-INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
+INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml reason: use-sdk injection requested
+INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
+INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
+INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
+INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
 	android:targetSdkVersion
-		INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
-		ADDED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
-		INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
+		INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
+		ADDED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
+		INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
 	android:minSdkVersion
-		INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
-		ADDED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
-		INJECTED from /Users/gradengentry/Desktop/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest11121576163084389438.xml
+		INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
+		ADDED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml
+		INJECTED from /Users/gradengentry/Downloads/Repos/StateMachineFTC/build/intermediates/tmp/ProcessLibraryManifest/debug/tempAndroidManifest7491562204287475936.xml

src/main/java/org/gentrifiedApps/statemachineftc/ParallelRunSM.java

@@ -0,0 +1,153 @@
+package org.gentrifiedApps.statemachineftc;
+
+import android.util.Pair;
+
+import org.junit.jupiter.api.DisplayNameGenerator;
+
+import java.util.AbstractMap;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Map;
+import java.util.function.Supplier;
+
+public class ParallelRunSM<T extends Enum<T>> {
+    private List<T> states;
+    private Map<T, StateChangeCallback> onEnterCommands;
+    private Supplier<Boolean> exitTransition;
+    private boolean isStarted = false;
+    private boolean isRunning = true;
+    private long startTime;
+
+    private AbstractMap.SimpleEntry<Boolean, Integer> timeout;
+
+    public boolean isRunning() {
+        return isRunning;
+    }
+
+    public boolean isStarted() {
+        return isStarted;
+    }
+
+    ParallelRunSM(ParallelRunSM.Builder<T> builder) {
+        this.states = builder.states;
+        this.exitTransition = builder.exitTransition;
+        this.onEnterCommands = builder.onEnterCommands;
+        this.timeout = builder.timeout;
+    }
+
+    public static class Builder<T extends Enum<T>> {
+        private List<T> states;
+        private Map<T, StateChangeCallback> onEnterCommands;
+        private Supplier<Boolean> exitTransition;
+        private ParallelRunSM<T> machine;
+        private int stopRunningIncluded = 0;
+        private AbstractMap.SimpleEntry<Boolean, Integer> timeout;
+
+        public Builder() {
+            states = new ArrayList<>();
+            onEnterCommands = new HashMap<>();
+        }
+
+        public ParallelRunSM.Builder<T> state(T state) {
+            if (states.contains(state)) {
+                throw new IllegalArgumentException("State already exists");
+            }
+            states.add(state);
+            return this;
+        }
+
+        public ParallelRunSM.Builder<T> onEnter(T state, StateChangeCallback command) {
+            if (!states.contains(state)) {
+                throw new IllegalArgumentException("State does not exist");
+            }
+            onEnterCommands.put(state, command);
+            return this;
+        }
+
+        public ParallelRunSM.Builder<T> stopRunning(T state, Supplier<Boolean> exitCommand) {
+            this.stopRunningIncluded++;
+            if (states.contains(state)) {
+                throw new IllegalArgumentException("State already exists");
+            }
+            states.add(state);
+            onEnterCommands.put(state, () -> {
+                if (exitCommand.get()) {
+                    this.machine.isRunning = false;
+                }
+            });
+            this.exitTransition = exitCommand;
+            return this;
+        }
+
+        public ParallelRunSM<T> build(Boolean useTimeout, Integer timeout) {
+            this.timeout = new AbstractMap.SimpleEntry<>(useTimeout, timeout);
+            if (states == null || states.isEmpty()) {
+                throw new IllegalArgumentException("States cannot be null or empty");
+            }
+
+            if (new HashSet<>(states).size() != states.size()) {
+                throw new IllegalArgumentException("States cannot have duplicates");
+            }
+
+            if (onEnterCommands.get(states.get(0)) == null) {
+                throw new IllegalArgumentException("Initial state must have a corresponding onEnter command");
+            }
+            if (this.stopRunningIncluded != 1) {
+                throw new IllegalArgumentException("Not enough or too many stopRunning commands");
+            }
+            if (this.exitTransition == null) {
+                throw new IllegalArgumentException("Exit transition must be set");
+            }
+            this.machine = new ParallelRunSM<T>(this);
+            return this.machine;
+        }
+    }
+
+    public void start() {
+        if (isStarted) {
+            throw new IllegalStateException("StateMachine has already been started");
+        }
+        isStarted = true;
+        startTime = System.currentTimeMillis();
+    }
+
+    public void stop() {
+        if (!isRunning) {
+            throw new IllegalStateException("StateMachine is already stopped");
+        }
+        isRunning = false;
+        //delete all actions
+        states.clear();
+        onEnterCommands.clear();
+    }
+
+    public boolean update() {
+        if (!states.isEmpty()) {
+            // run all states at once
+            for (T state : states) {
+                StateChangeCallback onEnterAction = onEnterCommands.get(state);
+                if (onEnterAction != null) {
+                    onEnterAction.onStateChange();
+                }
+            }
+        }
+        if (checkExitTransition()) {
+            isRunning = false;
+        }
+        return true;
+    }
+
+    public boolean checkExitTransition() {
+        boolean exitResult = exitTransition.get();
+        long elapsedTime = System.currentTimeMillis() - startTime;
+        System.out.println("Checking exit transition: " + exitResult);
+        System.out.println("Elapsed time: " + elapsedTime + "ms");
+        final boolean condition = exitResult || (timeout.getKey() && elapsedTime > timeout.getValue());
+        if (condition) {
+            isRunning = false;
+        }
+        return condition;
+    }
+}