Remove poorly implemented Scheduler interop

src/main/java/au/edu/sa/mbhs/studentrobotics/bunyipslib/BunyipsSubsystem.java

@@ -12,7 +12,6 @@
 import java.util.Objects;
 import java.util.function.Consumer;
 
-import au.edu.sa.mbhs.studentrobotics.bunyipslib.external.Mathf;
 import au.edu.sa.mbhs.studentrobotics.bunyipslib.external.units.Measure;
 import au.edu.sa.mbhs.studentrobotics.bunyipslib.external.units.Time;
 import au.edu.sa.mbhs.studentrobotics.bunyipslib.tasks.IdleTask;
@@ -278,13 +277,21 @@ public final void setDefaultTask(@NonNull Task defaultTask) {
     }
 
     /**
-     * Determine if the subsystem is idle, meaning an IdleTask is running.
+     * Determine if the subsystem is idle, meaning an IdleTask (or no task) is running.
      */
     public final boolean isIdle() {
         Task current = getCurrentTask();
         return current == null || current.toString().equals("IdleTask");
     }
 
+    /**
+     * Determine if the subsystem is running the default task.
+     */
+    public final boolean isRunningDefaultTask() {
+        Task current = getCurrentTask();
+        return current != null && current.equals(defaultTask);
+    }
+
     /**
      * Set the current task to the given task.
      *
@@ -378,15 +385,6 @@ private void internalUpdate() {
             task.run();
             // Update the state of isFinished() after running the task as it may have changed
             task.poll();
-            if (!task.isFinished()) { // TODO: was mute check
-                Scheduler.addTaskReport(
-                        toString(),
-                        task == defaultTask,
-                        task.toString(),
-                        Mathf.round(task.getDeltaTime().in(Seconds), 1),
-                        task.getTimeout().in(Seconds)
-                );
-            }
         }
         // This should be the only place where periodic() is called for this subsystem
         Exceptions.runUserMethod(opMode, this::periodic);

src/main/java/au/edu/sa/mbhs/studentrobotics/bunyipslib/Scheduler.kt

@@ -28,12 +28,8 @@ class Scheduler : BunyipsComponent() {
     private val subsystems = ArrayList<BunyipsSubsystem>()
     private val allocatedTasks = ArrayList<ScheduledTask>()
 
-    /**
-     * Create a new scheduler and reset static fields.
-     */
     init {
         isMuted = false
-        reports.clear()
     }
 
     /**
@@ -114,7 +110,7 @@ class Scheduler : BunyipsComponent() {
                 // Task count will account for tasks on subsystems that are not IdleTasks, and also subsystem tasks
                 val taskCount = (allocatedTasks.size - allocatedTasks.stream()
                     .filter { task -> task.taskToRun.dependency.isPresent }.count()
-                        + subsystems.size - subsystems.stream().filter { obj: BunyipsSubsystem -> obj.isIdle }.count())
+                        + subsystems.size - subsystems.stream().filter { s -> s.isIdle }.count())
                 it.telemetry.add("\nManaging % task% (%s, %c) on % subsystem%",
                     taskCount,
                     if (taskCount == 1L) "" else "s",
@@ -124,12 +120,23 @@ class Scheduler : BunyipsComponent() {
                     subsystems.size,
                     if (subsystems.size == 1) "" else "s"
                 )
-                for (item in reports) {
-                    if (item.contains("IdleTask")) continue
-                    it.telemetry.add(item)
+                for (subsystem in subsystems) {
+                    val task = subsystem.currentTask
+                    if (task == null || task is IdleTask) continue
+                    var report = Text.format(
+                        "<small><b>%</b>% <font color='gray'>|</font> <b>%</b> -> %",
+                        subsystem.javaClass.simpleName,
+                        if (subsystem.isRunningDefaultTask) " (d.)" else "",
+                        task.toString().replace("${subsystem.javaClass.simpleName}:", ""),
+                        task.deltaTime to Seconds round 1
+                    )
+                    val timeoutSec = task.timeout to Seconds
+                    report += if (timeoutSec == 0.0) "s" else "/" + timeoutSec + "s"
+                    report += "</small>"
+                    it.telemetry.add(report)
                 }
                 for (task in allocatedTasks) {
-                    if (task.taskToRun.dependency.isPresent // Whether the task is never run from the Scheduler (and task reports will come from the reports array)
+                    if (task.taskToRun.dependency.isPresent // Whether the task is never run from the Scheduler (and task reports were handled above)
                         || !task.taskToRun.isRunning // Whether this task is actually running
                         || task.muted // Whether the task has declared itself as muted
                     ) {
@@ -143,7 +150,6 @@ class Scheduler : BunyipsComponent() {
                     )
                 }
             }
-            reports.clear()
         }
 
         for (task in allocatedTasks) {
@@ -708,37 +714,6 @@ class Scheduler : BunyipsComponent() {
     }
 
     companion object {
-        private val reports = ArrayList<String>()
         private var isMuted = false
-
-        /**
-         * Used internally by subsystems and tasks to report their running status statically.
-         * This method is not intended for use by the user.
-         *
-         * @param className     The class name of the subsystem or context.
-         * @param isDefaultTask Whether this task is a default task.
-         * @param taskName      The name of the task.
-         * @param deltaTimeSec  The time this task has been running in seconds
-         * @param timeoutSec    The time this task is allowed to run in seconds, 0.0 if indefinite
-         */
-        @JvmStatic
-        fun addTaskReport(
-            className: String,
-            isDefaultTask: Boolean,
-            taskName: String,
-            deltaTimeSec: Double,
-            timeoutSec: Double
-        ) {
-            if (isMuted) return
-            var report = Text.format(
-                "<small><b>%</b>% <font color='gray'>|</font> <b>%</b> -> %",
-                className,
-                if (isDefaultTask) " (d.)" else "",
-                taskName.replace("$className:", ""),
-                deltaTimeSec
-            )
-            report += if (timeoutSec == 0.0) "s" else "/" + timeoutSec + "s"
-            reports.add("$report</small>")
-        }
     }
 }

src/main/java/au/edu/sa/mbhs/studentrobotics/bunyipslib/tasks/IdleTask.java

@@ -5,15 +5,10 @@
 /**
  * Task that runs forever but does nothing.
  * This is used as a default task on subsystems that don't have a default task.
- * IdleTask is ignored from subsystem report telemetry via a string match to "IdleTask".
  *
  * @author Lucas Bubner, 2024
  * @since 1.0.0-pre
  */
 public class IdleTask extends Task {
-    @Override
-    protected void init() {
-        // Ensure the name remains the same for telemetry ignoring
-        named("IdleTask");
-    }
+    // no-op
 }

src/main/java/au/edu/sa/mbhs/studentrobotics/bunyipslib/tasks/bases/Task.kt

@@ -479,6 +479,6 @@ abstract class Task(
         /**
          * Default task setter extension for [BunyipsSubsystem] to set the default task of a subsystem.
          */
-        infix fun BunyipsSubsystem.default(defaultTask: Task) = this.setDefaultTask(defaultTask)
+        infix fun BunyipsSubsystem.default(defaultTask: Task) = setDefaultTask(defaultTask)
     }
 }