com.qualcomm.ftccommon

Class FtcEventLoop

java.lang.Object

com.qualcomm.ftccommon.FtcEventLoopBase

com.qualcomm.ftccommon.FtcEventLoop

All Implemented Interfaces:

EventLoop

public class FtcEventLoop
extends FtcEventLoopBase

Main event loop to control the robot

Modify this class with your own code, or create your own event loop by implementing EventLoop.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	FtcEventLoop.DefaultUsbModuleAttachmentHandler

Nested classes/interfaces inherited from class com.qualcomm.ftccommon.FtcEventLoopBase

FtcEventLoopBase.LynxUsbDeviceContainer

Field Summary

Fields

Modifier and Type	Field and Description
protected OpModeManagerImpl	opModeManager
protected java.util.concurrent.atomic.AtomicReference<OpMode>	opModeStopRequested
protected java.util.Map<java.lang.String,java.lang.Long>	recentlyAttachedUsbDevices
protected UsbModuleAttachmentHandler	usbModuleAttachmentHandler
protected Utility	utility

Fields inherited from class com.qualcomm.ftccommon.FtcEventLoopBase

activityContext, ftcEventLoopHandler, networkConnectionHandler, programmingModeController, registeredOpModes, robotCfgFileMgr, runningOnDriverStation, TAG, usbScanManager, userOpmodeRegister

Fields inherited from interface com.qualcomm.robotcore.eventloop.EventLoop

TELEMETRY_DEFAULT_INTERVAL

Constructor Summary

Constructors

Constructor and Description
FtcEventLoop(HardwareFactory hardwareFactory, OpModeRegister userOpmodeRegister, UpdateUI.Callback callback, android.app.Activity activityContext, ProgrammingModeController programmingModeController)

Method Summary

Modifier and Type	Method and Description
protected static OpModeManagerImpl	createOpModeManager(android.app.Activity activityContext)
OpModeManagerImpl	getOpModeManager() Returns the OpModeManager associated with this event loop
protected SerialNumber	getSerialNumberOfUsbDevice(android.hardware.usb.UsbDevice usbDevice)
UsbModuleAttachmentHandler	getUsbModuleAttachmentHandler()
protected void	handleCommandDiscoverLynxModules(java.lang.String extra)
protected void	handleCommandInitOpMode(java.lang.String extra)
protected void	handleCommandRunOpMode(java.lang.String extra)
protected void	handleCommandScan(java.lang.String extra)
protected void	handleCommandSetMatchNumber(java.lang.String extra)
void	handleUsbModuleAttach(RobotUsbModule module) Process the fact that (we believe) that the indicated module has now reappeared after a previously observed detachment.
void	handleUsbModuleDetach(RobotUsbModule module) Process the fact that a usb module has now become detached from the system.
void	init(EventLoopManager eventLoopManager) Init method
void	loop() Loop method, this will be called repeatedly while the robot is running.
void	onUsbDeviceAttached(android.hardware.usb.UsbDevice usbDevice) Deal with the fact that a UsbDevice has recently attached to the system
void	pendUsbDeviceAttachment(SerialNumber serialNumber, long time, java.util.concurrent.TimeUnit unit)
CallbackResult	processCommand(Command command) If the driver station sends over a command, it will be routed to this method.
void	processedRecentlyAttachedUsbDevices() Process any usb devices that might have recently attached.
void	refreshUserTelemetry(TelemetryMessage telemetry, double sInterval) Update's the user portion of the driver station screen with the contents of the telemetry object here provided if a sufficiently long duration has passed since the last update.
void	requestOpModeStop(OpMode opModeToStopIfActive) Requests that an OpMode be stopped if it's the currently active one
protected void	sendUIState() The driver station is requesting our opmode list/ UI state.
void	setUsbModuleAttachmentHandler(UsbModuleAttachmentHandler handler)
void	teardown() Teardown method

Methods inherited from class com.qualcomm.ftccommon.FtcEventLoopBase

checkForChangedOpModes, enterFirmwareUpdateMode, getLynxUsbDeviceForFirmwareUpdate, getUSBAccessibleLynxDevices, handleCommandActivateConfiguration, handleCommandClearRememberedGroups, handleCommandDeleteConfiguration, handleCommandDisconnectWifiDirect, handleCommandDismissAllDialogs, handleCommandDismissDialog, handleCommandDismissProgress, handleCommandGetCandidateLynxFirmwareImages, handleCommandGetUSBAccessibleLynxModules, handleCommandLynxChangeModuleAddresses, handleCommandLynxFirmwareUpdate, handleCommandRequestAboutInfo, handleCommandRequestConfigurations, handleCommandRequestConfigurationTemplates, handleCommandRequestInspectionReport, handleCommandRequestParticularConfiguration, handleCommandRequestRememberedGroups, handleCommandRestartRobot, handleCommandSaveConfiguration, handleCommandShowDialog, handleCommandShowProgress, handleCommandShowToast, handleCommandStartDriverStationProgramAndManage, handleCommandStartProgrammingMode, handleCommandStopProgrammingMode, handleCommandVisuallyConfirmWifiReset, handleCommandVisuallyIdentify, startUsbScanMangerIfNecessary, talkToParentLynxModule, updateFirmwareOnce, updateLynxFirmware

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

utility

protected final Utility utility

opModeManager

protected final OpModeManagerImpl opModeManager

usbModuleAttachmentHandler

protected UsbModuleAttachmentHandler usbModuleAttachmentHandler

recentlyAttachedUsbDevices

protected final java.util.Map<java.lang.String,java.lang.Long> recentlyAttachedUsbDevices

opModeStopRequested

protected final java.util.concurrent.atomic.AtomicReference<OpMode> opModeStopRequested

Constructor Detail

FtcEventLoop

public FtcEventLoop(HardwareFactory hardwareFactory,
                    OpModeRegister userOpmodeRegister,
                    UpdateUI.Callback callback,
                    android.app.Activity activityContext,
                    ProgrammingModeController programmingModeController)

Method Detail

createOpModeManager

protected static OpModeManagerImpl createOpModeManager(android.app.Activity activityContext)

getOpModeManager

public OpModeManagerImpl getOpModeManager()

Description copied from interface: EventLoop

Returns the OpModeManager associated with this event loop

Returns:

the OpModeManager associated with this event loop

getUsbModuleAttachmentHandler

public UsbModuleAttachmentHandler getUsbModuleAttachmentHandler()

setUsbModuleAttachmentHandler

public void setUsbModuleAttachmentHandler(UsbModuleAttachmentHandler handler)

init

public void init(EventLoopManager eventLoopManager)
          throws RobotCoreException,
                 java.lang.InterruptedException

Init method

This code will run when the robot first starts up. Place any initialization code in this method.

It is important to save a copy of the event loop manager from this method, as that is how you'll get access to the gamepad.

If an Exception is thrown then the event loop manager will not start the robot.

Caller synchronizes: called on RobotSetupRunnable.run() thread

Specified by:

init in interface EventLoop

Overrides:

init in class FtcEventLoopBase

Parameters:

eventLoopManager - event loop manager that is responsible for this event loop

Throws:

RobotCoreException - if a RobotCoreException is thrown, it will be handled by the event loop manager. The manager will report that the robot failed to start.

java.lang.InterruptedException

loop

public void loop()
          throws RobotCoreException

Loop method, this will be called repeatedly while the robot is running.

Throws:

RobotCoreException - if a RobotCoreException is thrown, it will be handled by the event loop manager. The manager may decide to either stop processing this iteration of the loop, or it may decide to shut down the robot.

See Also:

Caller synchronizes: called on EventLoopRunnable.run() thread.

refreshUserTelemetry

public void refreshUserTelemetry(TelemetryMessage telemetry,
                                 double sInterval)

Description copied from interface: EventLoop

Update's the user portion of the driver station screen with the contents of the telemetry object here provided if a sufficiently long duration has passed since the last update.

Parameters:

telemetry - the telemetry object to send

sInterval - the required minimum interval. NaN indicates that a system default interval should be used.

teardown

public void teardown()
              throws RobotCoreException,
                     java.lang.InterruptedException

Teardown method

This method will be called when the robot is being shut down. This method should stop the robot. There will be no more changes to write to the hardware after this method is called.

If an exception is thrown, then the event loop manager will attempt to shut down the robot without the benefit of this method.

Specified by:

teardown in interface EventLoop

Overrides:

teardown in class FtcEventLoopBase

Throws:

RobotCoreException - if a RobotCoreException is thrown, it will be handled by the event loop manager. The manager will then attempt to shut down the robot without the benefit of the teardown method.

java.lang.InterruptedException

See Also:

Caller synchronizes: called on EventLoopRunnable.run() thread.

processCommand

public CallbackResult processCommand(Command command)
                              throws java.lang.InterruptedException,
                                     RobotCoreException

If the driver station sends over a command, it will be routed to this method. You can choose what to do with this command, or you can just ignore it completely.

Called on RecvRunnable.run() thread. Method is thread safe, non-interfering

Specified by:

processCommand in interface EventLoop

Overrides:

processCommand in class FtcEventLoopBase

Parameters:

command - command to process

Throws:

java.lang.InterruptedException

RobotCoreException

handleCommandScan

protected void handleCommandScan(java.lang.String extra)
                          throws RobotCoreException,
                                 java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

See Also:

FtcConfigurationActivity#doUSBScanAndUpdateUI()

handleCommandDiscoverLynxModules

protected void handleCommandDiscoverLynxModules(java.lang.String extra)
                                         throws RobotCoreException,
                                                java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

sendUIState

protected void sendUIState()

The driver station is requesting our opmode list/ UI state. Build up an appropriately-delimited list and send it back to them. Also take this opportunity to forcibly refresh their error/warning state: the opmode list is only infrequently requested (so sending another datagram isn't a traffic burden) and it's requested just after a driver station reconnects after a disconnect (so doing the refresh now is probably an opportune thing to do).

Overrides:

sendUIState in class FtcEventLoopBase

handleCommandSetMatchNumber

protected void handleCommandSetMatchNumber(java.lang.String extra)

handleCommandInitOpMode

protected void handleCommandInitOpMode(java.lang.String extra)

handleCommandRunOpMode

protected void handleCommandRunOpMode(java.lang.String extra)

requestOpModeStop

public void requestOpModeStop(OpMode opModeToStopIfActive)

Description copied from interface: EventLoop

Requests that an OpMode be stopped if it's the currently active one

Parameters:

opModeToStopIfActive - the OpMode to stop if it's currently active

onUsbDeviceAttached

public void onUsbDeviceAttached(android.hardware.usb.UsbDevice usbDevice)

Deal with the fact that a UsbDevice has recently attached to the system

Parameters:

usbDevice -

See Also:

EventLoop.processedRecentlyAttachedUsbDevices()

getSerialNumberOfUsbDevice

protected SerialNumber getSerialNumberOfUsbDevice(android.hardware.usb.UsbDevice usbDevice)

pendUsbDeviceAttachment

public void pendUsbDeviceAttachment(SerialNumber serialNumber,
                                    long time,
                                    java.util.concurrent.TimeUnit unit)

processedRecentlyAttachedUsbDevices

public void processedRecentlyAttachedUsbDevices()
                                         throws RobotCoreException,
                                                java.lang.InterruptedException

Process any usb devices that might have recently attached. Called on the event loop thread.

Throws:

RobotCoreException

java.lang.InterruptedException

See Also:

EventLoop.handleUsbModuleDetach(RobotUsbModule), EventLoop.onUsbDeviceAttached(UsbDevice)

handleUsbModuleDetach

public void handleUsbModuleDetach(RobotUsbModule module)
                           throws RobotCoreException,
                                  java.lang.InterruptedException

Description copied from interface: EventLoop

Process the fact that a usb module has now become detached from the system. This is called on the EventLoop thread by the EventLoopManager; there is sufficient time and correct context to, e.g., fully disarm and 'pretend' the associated module.

Throws:

RobotCoreException

java.lang.InterruptedException

See Also:

EventLoop.processedRecentlyAttachedUsbDevices()

handleUsbModuleAttach

public void handleUsbModuleAttach(RobotUsbModule module)
                           throws RobotCoreException,
                                  java.lang.InterruptedException

Description copied from interface: EventLoop

Process the fact that (we believe) that the indicated module has now reappeared after a previously observed detachment.

Throws:

RobotCoreException

java.lang.InterruptedException