com.qualcomm.ftccommon

Class FtcEventLoopBase

java.lang.Object

com.qualcomm.ftccommon.FtcEventLoopBase

All Implemented Interfaces:

EventLoop

Direct Known Subclasses:

FtcEventLoop, FtcEventLoopIdle

public abstract class FtcEventLoopBase
extends java.lang.Object
implements EventLoop

FtcEventLoopBase is an abstract base that handles defines core event processing logic that's available whether or not a Robot is currently extant or not

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected static class	FtcEventLoopBase.LynxUsbDeviceContainer abstracts whether we've got a live LynxUsbDeviceImpl or we just opened something locally ourselves.

Field Summary

Fields

Modifier and Type	Field and Description
protected android.app.Activity	activityContext
protected FtcEventLoopHandler	ftcEventLoopHandler
protected NetworkConnectionHandler	networkConnectionHandler
protected ProgrammingModeController	programmingModeController
protected RegisteredOpModes	registeredOpModes
protected RobotConfigFileManager	robotCfgFileMgr
protected boolean	runningOnDriverStation
static java.lang.String	TAG
protected USBScanManager	usbScanManager
protected OpModeRegister	userOpmodeRegister

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

TELEMETRY_DEFAULT_INTERVAL

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
protected void	checkForChangedOpModes()
protected boolean	enterFirmwareUpdateMode(RobotUsbDevice robotUsbDevice)
protected FtcEventLoopBase.LynxUsbDeviceContainer	getLynxUsbDeviceForFirmwareUpdate(SerialNumber serialNumber)
protected java.util.List<USBAccessibleLynxModule>	getUSBAccessibleLynxDevices(boolean forFirmwareUpdate)
protected void	handleCommandActivateConfiguration(java.lang.String data)
protected void	handleCommandClearRememberedGroups() Clear the list of remembered groups
protected void	handleCommandDeleteConfiguration(java.lang.String fileInfo)
protected void	handleCommandDisconnectWifiDirect()
protected void	handleCommandDismissAllDialogs(Command command)
protected void	handleCommandDismissDialog(Command command)
protected void	handleCommandDismissProgress(Command command)
protected void	handleCommandGetCandidateLynxFirmwareImages(Command commandRequest)
protected void	handleCommandGetUSBAccessibleLynxModules(Command commandRequest)
protected void	handleCommandLynxChangeModuleAddresses(Command commandRequest)
protected void	handleCommandLynxFirmwareUpdate(Command commandRequest) Update the firmware of the device indicated in the command.
protected void	handleCommandRequestAboutInfo(Command command)
protected void	handleCommandRequestConfigurations() Serialize the entire list of config file metadata and send to the driver station
protected void	handleCommandRequestConfigurationTemplates() Serialize the entire list of config file metadata and send to the driver station
protected void	handleCommandRequestInspectionReport() Return an inspection report of this (robot controller) device back to the caller
protected void	handleCommandRequestParticularConfiguration(java.lang.String data)
protected void	handleCommandRequestRememberedGroups() Serialize the list of remembered Wifi Direct groups and send it to the driver station
protected void	handleCommandRestartRobot()
protected void	handleCommandSaveConfiguration(java.lang.String fileInfo)
protected void	handleCommandShowDialog(Command command)
protected void	handleCommandShowProgress(Command command)
protected void	handleCommandShowToast(Command command)
protected void	handleCommandStartDriverStationProgramAndManage()
protected void	handleCommandStartProgrammingMode() Starts programming mode on the robot controller, as requested by driver station.
protected void	handleCommandStopProgrammingMode() Stops programming mode on the robot controller, as requested by driver station.
protected CallbackResult	handleCommandVisuallyConfirmWifiReset()
protected CallbackResult	handleCommandVisuallyIdentify(Command command)
void	init(EventLoopManager eventLoopManager) Init method, this will be called before the first call to loop.
CallbackResult	processCommand(Command command) Process command method, this will be called if the event loop manager receives a user defined command.
protected void	sendUIState()
protected USBScanManager	startUsbScanMangerIfNecessary()
protected void	talkToParentLynxModule(DeviceManager deviceManager, LynxUsbDevice lynxUsbDevice, int moduleAddress, Consumer<LynxModule> consumer)
void	teardown() Teardown method, this will be called after the last call to loop.
protected boolean	updateFirmwareOnce(FtcEventLoopBase.LynxUsbDeviceContainer lynxUsbDevice, java.lang.String imageFileName, byte[] firmwareImage, SerialNumber serialNumber)
protected boolean	updateLynxFirmware(SerialNumber serialNumber, com.qualcomm.ftccommon.CommandList.FWImage imageFileName) Updates the firmware of the Expansion Hub in the indicated USB-attached device to be the indicated firmware.

Methods inherited from class java.lang.Object

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

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

getOpModeManager, handleUsbModuleAttach, handleUsbModuleDetach, loop, onUsbDeviceAttached, pendUsbDeviceAttachment, processedRecentlyAttachedUsbDevices, refreshUserTelemetry, requestOpModeStop

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

networkConnectionHandler

protected NetworkConnectionHandler networkConnectionHandler

activityContext

protected android.app.Activity activityContext

robotCfgFileMgr

protected RobotConfigFileManager robotCfgFileMgr

ftcEventLoopHandler

protected FtcEventLoopHandler ftcEventLoopHandler

runningOnDriverStation

protected boolean runningOnDriverStation

programmingModeController

protected final ProgrammingModeController programmingModeController

usbScanManager

protected USBScanManager usbScanManager

userOpmodeRegister

protected final OpModeRegister userOpmodeRegister

registeredOpModes

protected final RegisteredOpModes registeredOpModes

Constructor Detail

FtcEventLoopBase

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

Method Detail

startUsbScanMangerIfNecessary

protected USBScanManager startUsbScanMangerIfNecessary()
                                                throws RobotCoreException

Throws:

RobotCoreException

teardown

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

Description copied from interface: EventLoop

Teardown method, this will be called after the last call to loop. You should place your robot into a safe state before this method exits, since there will be no more changes to communicate with your robot. Threading: called on the EventLoopRunnable.run() thread.

Specified by:

teardown in interface EventLoop

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

processCommand

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

Description copied from interface: EventLoop

Process command method, this will be called if the event loop manager receives a user defined command. How this command is handled is up to the event loop implementation. Threading: called on the RecvRunnable.run() thread.

Specified by:

processCommand in interface EventLoop

Parameters:

command - command to process

Throws:

java.lang.InterruptedException

RobotCoreException

handleCommandActivateConfiguration

protected void handleCommandActivateConfiguration(java.lang.String data)

sendUIState

protected void sendUIState()

checkForChangedOpModes

protected void checkForChangedOpModes()

init

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

Description copied from interface: EventLoop

Init method, this will be called before the first call to loop. You should set up your hardware in this method. Threading: called on the RobotSetupRunnable.run() thread, before the EventLoopRunnable.run() thread is created.

Specified by:

init in interface EventLoop

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

handleCommandRestartRobot

protected void handleCommandRestartRobot()

handleCommandRequestParticularConfiguration

protected void handleCommandRequestParticularConfiguration(java.lang.String data)

handleCommandDeleteConfiguration

protected void handleCommandDeleteConfiguration(java.lang.String fileInfo)

handleCommandSaveConfiguration

protected void handleCommandSaveConfiguration(java.lang.String fileInfo)

handleCommandRequestConfigurations

protected void handleCommandRequestConfigurations()

Serialize the entire list of config file metadata and send to the driver station

handleCommandRequestRememberedGroups

protected void handleCommandRequestRememberedGroups()

Serialize the list of remembered Wifi Direct groups and send it to the driver station

handleCommandClearRememberedGroups

protected void handleCommandClearRememberedGroups()

Clear the list of remembered groups

handleCommandLynxFirmwareUpdate

protected void handleCommandLynxFirmwareUpdate(Command commandRequest)

Update the firmware of the device indicated in the command. Note: we need to run this in a worker thread so that our command processor here remains responsive and able to process new messages.

updateLynxFirmware

protected boolean updateLynxFirmware(SerialNumber serialNumber,
                                     com.qualcomm.ftccommon.CommandList.FWImage imageFileName)

Updates the firmware of the Expansion Hub in the indicated USB-attached device to be the indicated firmware.

updateFirmwareOnce

protected boolean updateFirmwareOnce(FtcEventLoopBase.LynxUsbDeviceContainer lynxUsbDevice,
                                     java.lang.String imageFileName,
                                     byte[] firmwareImage,
                                     SerialNumber serialNumber)

enterFirmwareUpdateMode

protected boolean enterFirmwareUpdateMode(RobotUsbDevice robotUsbDevice)

handleCommandGetUSBAccessibleLynxModules

protected void handleCommandGetUSBAccessibleLynxModules(Command commandRequest)

getLynxUsbDeviceForFirmwareUpdate

protected FtcEventLoopBase.LynxUsbDeviceContainer getLynxUsbDeviceForFirmwareUpdate(SerialNumber serialNumber)

getUSBAccessibleLynxDevices

protected java.util.List<USBAccessibleLynxModule> getUSBAccessibleLynxDevices(boolean forFirmwareUpdate)
                                                                       throws RobotCoreException

Throws:

RobotCoreException

handleCommandLynxChangeModuleAddresses

protected void handleCommandLynxChangeModuleAddresses(Command commandRequest)

talkToParentLynxModule

protected void talkToParentLynxModule(DeviceManager deviceManager,
                                      LynxUsbDevice lynxUsbDevice,
                                      int moduleAddress,
                                      Consumer<LynxModule> consumer)
                               throws RobotCoreException,
                                      java.lang.InterruptedException,
                                      LynxNackException

Throws:

RobotCoreException

java.lang.InterruptedException

LynxNackException

handleCommandGetCandidateLynxFirmwareImages

protected void handleCommandGetCandidateLynxFirmwareImages(Command commandRequest)

handleCommandRequestConfigurationTemplates

protected void handleCommandRequestConfigurationTemplates()

Serialize the entire list of config file metadata and send to the driver station

handleCommandStartProgrammingMode

protected void handleCommandStartProgrammingMode()

Starts programming mode on the robot controller, as requested by driver station.

handleCommandStartDriverStationProgramAndManage

protected void handleCommandStartDriverStationProgramAndManage()

handleCommandStopProgrammingMode

protected void handleCommandStopProgrammingMode()

Stops programming mode on the robot controller, as requested by driver station.

handleCommandShowDialog

protected void handleCommandShowDialog(Command command)

handleCommandDismissDialog

protected void handleCommandDismissDialog(Command command)

handleCommandDismissAllDialogs

protected void handleCommandDismissAllDialogs(Command command)

handleCommandShowProgress

protected void handleCommandShowProgress(Command command)

handleCommandDismissProgress

protected void handleCommandDismissProgress(Command command)

handleCommandShowToast

protected void handleCommandShowToast(Command command)

handleCommandRequestInspectionReport

protected void handleCommandRequestInspectionReport()

Return an inspection report of this (robot controller) device back to the caller

handleCommandRequestAboutInfo

protected void handleCommandRequestAboutInfo(Command command)

handleCommandDisconnectWifiDirect

protected void handleCommandDisconnectWifiDirect()

handleCommandVisuallyIdentify

protected CallbackResult handleCommandVisuallyIdentify(Command command)

handleCommandVisuallyConfirmWifiReset

protected CallbackResult handleCommandVisuallyConfirmWifiReset()