com.qualcomm.ftccommon

Class FtcEventLoopHandler

java.lang.Object

com.qualcomm.ftccommon.FtcEventLoopHandler

public class FtcEventLoopHandler
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
protected UpdateUI.Callback	callback
protected static boolean	DEBUG
protected EventLoopManager	eventLoopManager
protected HardwareFactory	hardwareFactory
protected HardwareMap	hardwareMap the actual hardware map seen by the user
protected HardwareMap	hardwareMapExtra the hardware map in which we keep any extra devices (ones not used by the user) we need to instantiate
static java.lang.String	NO_VOLTAGE_SENSOR This string is sent in the robot battery telemetry payload to identify that no voltage sensor is available on the robot.
protected java.lang.Object	refreshUserTelemetryLock
protected double	robotBatteryInterval
protected double	robotBatteryLoggingInterval
protected ElapsedTime	robotBatteryLoggingTimer
protected MovingStatistics	robotBatteryStatistics
protected ElapsedTime	robotBatteryTimer
protected BatteryChecker	robotControllerBatteryChecker
protected double	robotControllerBatteryCheckerInterval
protected android.content.Context	robotControllerContext
static java.lang.String	TAG
protected double	updateUIInterval
protected ElapsedTime	updateUITimer
protected double	userTelemetryInterval
protected ElapsedTime	userTelemetryTimer

Constructor Summary

Constructors

Constructor and Description
FtcEventLoopHandler(HardwareFactory hardwareFactory, UpdateUI.Callback callback, android.content.Context robotControllerContext)

Method Summary

Modifier and Type	Method and Description
void	close()
protected static void	closeAutoCloseOnTeardown(HardwareMap hardwareMap)
protected void	closeBatteryMonitoring()
protected static void	closeHardwareMap(HardwareMap hardwareMap)
protected static void	closeMotorControllers(HardwareMap hardwareMap)
protected static void	closeServoControllers(HardwareMap hardwareMap)
void	displayGamePadInfo(java.lang.String activeOpModeName)
EventLoopManager	getEventLoopManager()
java.util.List<LynxUsbDeviceImpl>	getExtantLynxDeviceImpls()
Gamepad[]	getGamepads()
<T> T	getHardwareDevice(java.lang.Class<? extends T> classOrInterface, SerialNumber serialNumber, <any> usbScanManagerSupplier) Returns the device whose serial number is the one indicated, from the hardware map if possible but instantiating / opening it if necessary.
HardwareMap	getHardwareMap()
java.lang.String	getOpMode(java.lang.String extra)
void	init(EventLoopManager eventLoopManager)
void	refreshUserTelemetry(TelemetryMessage telemetry, double requestedInterval) Updates the (indicated) user's telemetry: the telemetry is transmitted if a sufficient interval has passed since the last transmission.
void	restartRobot()
void	sendBatteryInfo() Send robot phone power % and robot battery voltage level to Driver station
void	sendTelemetry(java.lang.String tag, java.lang.String msg)
void	updateBatteryStatus(BatteryChecker.BatteryStatus status)

Methods inherited from class java.lang.Object

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

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

NO_VOLTAGE_SENSOR

public static final java.lang.String NO_VOLTAGE_SENSOR

This string is sent in the robot battery telemetry payload to identify that no voltage sensor is available on the robot.

See Also:

Constant Field Values

DEBUG

protected static final boolean DEBUG

See Also:

Constant Field Values

callback

protected final UpdateUI.Callback callback

hardwareFactory

protected final HardwareFactory hardwareFactory

robotControllerContext

protected final android.content.Context robotControllerContext

eventLoopManager

protected EventLoopManager eventLoopManager

robotControllerBatteryChecker

protected BatteryChecker robotControllerBatteryChecker

robotControllerBatteryCheckerInterval

protected double robotControllerBatteryCheckerInterval

robotBatteryTimer

protected ElapsedTime robotBatteryTimer

robotBatteryInterval

protected double robotBatteryInterval

robotBatteryStatistics

protected MovingStatistics robotBatteryStatistics

robotBatteryLoggingTimer

protected ElapsedTime robotBatteryLoggingTimer

robotBatteryLoggingInterval

protected double robotBatteryLoggingInterval

userTelemetryTimer

protected ElapsedTime userTelemetryTimer

userTelemetryInterval

protected double userTelemetryInterval

refreshUserTelemetryLock

protected final java.lang.Object refreshUserTelemetryLock

updateUITimer

protected ElapsedTime updateUITimer

updateUIInterval

protected double updateUIInterval

hardwareMap

protected HardwareMap hardwareMap

the actual hardware map seen by the user

hardwareMapExtra

protected HardwareMap hardwareMapExtra

the hardware map in which we keep any extra devices (ones not used by the user) we need to instantiate

Constructor Detail

FtcEventLoopHandler

public FtcEventLoopHandler(HardwareFactory hardwareFactory,
                           UpdateUI.Callback callback,
                           android.content.Context robotControllerContext)

Method Detail

init

public void init(EventLoopManager eventLoopManager)

close

public void close()

closeHardwareMap

protected static void closeHardwareMap(HardwareMap hardwareMap)

getEventLoopManager

public EventLoopManager getEventLoopManager()

getHardwareMap

public HardwareMap getHardwareMap()
                           throws RobotCoreException,
                                  java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

getExtantLynxDeviceImpls

public java.util.List<LynxUsbDeviceImpl> getExtantLynxDeviceImpls()

getHardwareDevice

public <T> T getHardwareDevice(java.lang.Class<? extends T> classOrInterface,
                               SerialNumber serialNumber,
                               <any> usbScanManagerSupplier)

Returns the device whose serial number is the one indicated, from the hardware map if possible but instantiating / opening it if necessary. null is returned if the object cannot be accessed.

Parameters:

classOrInterface - the interface to retrieve on the returned object

serialNumber - the serial number of the object to retrieve

usbScanManagerSupplier - how to get a USBScanManager if it ends up we need one

displayGamePadInfo

public void displayGamePadInfo(java.lang.String activeOpModeName)

getGamepads

public Gamepad[] getGamepads()

refreshUserTelemetry

public void refreshUserTelemetry(TelemetryMessage telemetry,
                                 double requestedInterval)

Updates the (indicated) user's telemetry: the telemetry is transmitted if a sufficient interval has passed since the last transmission. If the telemetry is transmitted, the telemetry is cleared and the timer is reset. A battery voltage key may be added to the message before transmission.

Parameters:

telemetry - the telemetry data to send

requestedInterval - the minimum interval (s) since the last transmission. NaN indicates that a default transmission interval should be used

See Also:

EventLoop.TELEMETRY_DEFAULT_INTERVAL

sendBatteryInfo

public void sendBatteryInfo()

Send robot phone power % and robot battery voltage level to Driver station

sendTelemetry

public void sendTelemetry(java.lang.String tag,
                          java.lang.String msg)

closeMotorControllers

protected static void closeMotorControllers(HardwareMap hardwareMap)

closeServoControllers

protected static void closeServoControllers(HardwareMap hardwareMap)

closeAutoCloseOnTeardown

protected static void closeAutoCloseOnTeardown(HardwareMap hardwareMap)

closeBatteryMonitoring

protected void closeBatteryMonitoring()

restartRobot

public void restartRobot()

getOpMode

public java.lang.String getOpMode(java.lang.String extra)

updateBatteryStatus

public void updateBatteryStatus(BatteryChecker.BatteryStatus status)