IHardwareSyncPulseProvider.java

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package com.neuronrobotics.sdk.addons.kinematics;
 
import java.util.ArrayList;
import java.util.HashMap;
 
public interface IHardwareSyncPulseProvider {
    HashMap<IHardwareSyncPulseProvider,ArrayList<IHardwareSyncPulseReciver>>syncPulse=new HashMap<>();
 
    
    default public void addIHardwareSyncPulseReciver(IHardwareSyncPulseReciver r) {
        if (getListeners().contains(r) || r==this)
            return;
        getListeners().add(r);
    }
 
    default public void removeIHardwareSyncPulseReciver(IHardwareSyncPulseReciver r) {
        if (getListeners().contains(r))
            getListeners().remove(r);
    }
 
    default public void doSync() {
        for (IHardwareSyncPulseReciver r : getListeners()) {
            if(r!=this)
                r.sync();
        }
    }
    
    default public ArrayList<IHardwareSyncPulseReciver> getListeners(){
        if(syncPulse.get(this)==null)
            syncPulse.put(this, new ArrayList<>());
        return syncPulse.get(this);
    }
}