com.qualcomm.robotcore.eventloop

Interface EventLoop

All Known Implementing Classes:

FtcEventLoop, FtcEventLoopBase, FtcEventLoopIdle

public interface EventLoop

Event loop interface

Event loops need to implement this interface. Contains methods for managing the life cycle of your robot.

Field Summary

Fields

Modifier and Type	Field and Description
static double	TELEMETRY_DEFAULT_INTERVAL The value to pass to refreshUserTelemetry(TelemetryMessage, double) as the time interval parameter in order to cause a system default interval to be used.

Method Summary

Modifier and Type	Method and Description
OpModeManagerImpl	getOpModeManager() Returns the OpModeManager associated with this event loop
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, this will be called before the first call to loop.
void	loop() This method will be repeatedly called by the event loop manager.
void	onUsbDeviceAttached(android.hardware.usb.UsbDevice usbDevice) Notifies the event loop that a UsbDevice has just been attached to the system.
void	pendUsbDeviceAttachment(SerialNumber serialNumber, long time, java.util.concurrent.TimeUnit unit)
CallbackResult	processCommand(Command command) Process command method, this will be called if the event loop manager receives a user defined command.
void	processedRecentlyAttachedUsbDevices() Process the batch of newly arrived USB devices.
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
void	teardown() Teardown method, this will be called after the last call to loop.

Field Detail

TELEMETRY_DEFAULT_INTERVAL

static final double TELEMETRY_DEFAULT_INTERVAL

The value to pass to refreshUserTelemetry(TelemetryMessage, double) as the time interval parameter in order to cause a system default interval to be used.

See Also:

Constant Field Values

Method Detail

init

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

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.

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

void loop()
   throws RobotCoreException,
          java.lang.InterruptedException

This method will be repeatedly called by the event loop manager. Threading: called on the EventLoopRunnable.run() thread.

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.

java.lang.InterruptedException

refreshUserTelemetry

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.

Parameters:

telemetry - the telemetry object to send

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

teardown

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

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.

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

onUsbDeviceAttached

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

Notifies the event loop that a UsbDevice has just been attached to the system. User interface activities that receive UsbManager.ACTION_USB_DEVICE_ATTACHED notifications should retrieve the UsbDevice using intent.getParcelableExtra(UsbManager.EXTRA_DEVICE) then pass that along to this method in their event loop for processing.

Implementations of this method should avoid doing significant processing during this notification. Rather, they should squirrel the device away for processing during a later processedRecentlyAttachedUsbDevices call.

Parameters:

usbDevice - the newly arrived device

See Also:

processedRecentlyAttachedUsbDevices()

pendUsbDeviceAttachment

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

processedRecentlyAttachedUsbDevices

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

Process the batch of newly arrived USB devices. This is called on the EventLoop thread by the EventLoopManager; there is sufficient time and correct context to, e.g., fully arm the associated module software to make the device operational within the app.

Throws:

RobotCoreException

java.lang.InterruptedException

See Also:

handleUsbModuleDetach(RobotUsbModule), onUsbDeviceAttached(UsbDevice)

handleUsbModuleDetach

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

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.

Parameters:

module -

Throws:

RobotCoreException

java.lang.InterruptedException

See Also:

processedRecentlyAttachedUsbDevices()

handleUsbModuleAttach

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

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

Parameters:

module -

Throws:

RobotCoreException

java.lang.InterruptedException

processCommand

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

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.

Parameters:

command - command to process

Throws:

java.lang.InterruptedException

RobotCoreException

getOpModeManager

OpModeManagerImpl getOpModeManager()

Returns the OpModeManager associated with this event loop

Returns:

the OpModeManager associated with this event loop

requestOpModeStop

void requestOpModeStop(OpMode opModeToStopIfActive)

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

Parameters:

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