com.qualcomm.robotcore.eventloop

Class EventLoopManager

java.lang.Object

com.qualcomm.robotcore.eventloop.EventLoopManager

All Implemented Interfaces:

SyncdDevice.Manager

public class EventLoopManager
extends java.lang.Object
implements SyncdDevice.Manager

Event Loop Manager

Takes RobocolDatagram messages, converts them into the appropriate data type, and then passes it to the current EventLoop.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	EventLoopManager.EventLoopMonitor Callback to monitor when event loop changes state

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	RC_BATTERY_STATUS_KEY
static java.lang.String	ROBOT_BATTERY_LEVEL_KEY
RobotState	state
static java.lang.String	SYSTEM_ERROR_KEY
static java.lang.String	SYSTEM_NONE_KEY
static java.lang.String	SYSTEM_WARNING_KEY
static java.lang.String	TAG

Constructor Summary

Constructors

Constructor and Description
EventLoopManager(android.content.Context context, EventLoopManagerClient eventLoopManagerClient, EventLoop idleEventLoop) Constructor

Method Summary

Modifier and Type	Method and Description
void	buildAndSendTelemetry(java.lang.String tag, java.lang.String msg)
void	close()
CallbackResult	commandEvent(Command command)
CallbackResult	emptyEvent(RobocolDatagram packet)
CallbackResult	gamepadEvent(RobocolDatagram packet)
EventLoop	getEventLoop() Get the current event loop
Gamepad	getGamepad(int port) Get the gamepad connected to a particular user
Gamepad[]	getGamepads() Get the gamepads
Heartbeat	getHeartbeat() Get the current heartbeat state
EventLoopManager.EventLoopMonitor	getMonitor() return any event loop monitor previously set
WebServer	getWebServer()
CallbackResult	heartbeatEvent(RobocolDatagram packet, long tReceived)
CallbackResult	onNetworkConnectionEvent(NetworkConnection.NetworkEvent event)
void	onPeerConnected()
void	onPeerDisconnected()
CallbackResult	packetReceived(RobocolDatagram packet)
CallbackResult	peerDiscoveryEvent(RobocolDatagram packet)
void	refreshSystemTelemetry() Do our best to maintain synchrony of the system error / warning state between applications without incurring undo overhead.
void	refreshSystemTelemetryNow() Forces an immediate refresh of the system telemetry
void	registerSyncdDevice(SyncdDevice device) Register a sync'd device
CallbackResult	reportGlobalError(java.lang.String error, boolean recoverable)
void	sendTelemetryData(TelemetryMessage telemetry) Send telemetry data
void	setEventLoop(EventLoop eventLoop) Replace the current event loop with a new event loop
void	setMonitor(EventLoopManager.EventLoopMonitor monitor) Set a monitor for this event loop, which will immediately have the appropriate method called to indicate the current peer status.
void	shutdown() Performs the logical inverse of start(EventLoop).
void	start(EventLoop eventLoop) Starts up the EventLoopManager.
CallbackResult	telemetryEvent(RobocolDatagram packet)
void	unregisterSyncdDevice(SyncdDevice device) Unregisters a device from this event loop.

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

SYSTEM_NONE_KEY

public static final java.lang.String SYSTEM_NONE_KEY

See Also:

Constant Field Values

SYSTEM_ERROR_KEY

public static final java.lang.String SYSTEM_ERROR_KEY

See Also:

Constant Field Values

SYSTEM_WARNING_KEY

public static final java.lang.String SYSTEM_WARNING_KEY

See Also:

Constant Field Values

ROBOT_BATTERY_LEVEL_KEY

public static final java.lang.String ROBOT_BATTERY_LEVEL_KEY

See Also:

Constant Field Values

RC_BATTERY_STATUS_KEY

public static final java.lang.String RC_BATTERY_STATUS_KEY

See Also:

Constant Field Values

state

public RobotState state

Constructor Detail

EventLoopManager

public EventLoopManager(android.content.Context context,
                        EventLoopManagerClient eventLoopManagerClient,
                        EventLoop idleEventLoop)

Constructor

Method Detail

getWebServer

public WebServer getWebServer()

setMonitor

public void setMonitor(EventLoopManager.EventLoopMonitor monitor)

Set a monitor for this event loop, which will immediately have the appropriate method called to indicate the current peer status.

Parameters:

monitor - event loop monitor

getMonitor

public EventLoopManager.EventLoopMonitor getMonitor()

return any event loop monitor previously set

getEventLoop

public EventLoop getEventLoop()

Get the current event loop

Returns:

current event loop

getGamepad

public Gamepad getGamepad(int port)

Get the gamepad connected to a particular user

Parameters:

port - user 0 and 1 are valid

Returns:

gamepad

getGamepads

public Gamepad[] getGamepads()

Get the gamepads

Array index will match the user number

Returns:

gamepad

getHeartbeat

public Heartbeat getHeartbeat()

Get the current heartbeat state

Returns:

heartbeat

telemetryEvent

public CallbackResult telemetryEvent(RobocolDatagram packet)

reportGlobalError

public CallbackResult reportGlobalError(java.lang.String error,
                                        boolean recoverable)

packetReceived

public CallbackResult packetReceived(RobocolDatagram packet)

refreshSystemTelemetryNow

public void refreshSystemTelemetryNow()

Forces an immediate refresh of the system telemetry

refreshSystemTelemetry

public void refreshSystemTelemetry()

Do our best to maintain synchrony of the system error / warning state between applications without incurring undo overhead.

onNetworkConnectionEvent

public CallbackResult onNetworkConnectionEvent(NetworkConnection.NetworkEvent event)

start

public void start(EventLoop eventLoop)
           throws RobotCoreException

Starts up the EventLoopManager. This mostly involves setting up the network connections and listeners and senders, then getting the event loop thread going. Note that shutting down the EventLoopManager does not do a full complete inverse. Rather, it leaves the underlying network connection alive and running, as this, among other things, helps remote toasts to continue to function correctly. Thus, we must be aware of that possibility here as we start.

Throws:

RobotCoreException

See Also:

shutdown()

shutdown

public void shutdown()

Performs the logical inverse of start(EventLoop).

See Also:

start(EventLoop)

close

public void close()

registerSyncdDevice

public void registerSyncdDevice(SyncdDevice device)

Register a sync'd device

Specified by:

registerSyncdDevice in interface SyncdDevice.Manager

Parameters:

device - sync'd device

See Also:

unregisterSyncdDevice(SyncdDevice)

unregisterSyncdDevice

public void unregisterSyncdDevice(SyncdDevice device)

Unregisters a device from this event loop. It is specifically permitted to unregister a device which is not currently registered; such an operation has no effect.

Specified by:

unregisterSyncdDevice in interface SyncdDevice.Manager

Parameters:

device - the device to be unregistered. May not be null.

See Also:

registerSyncdDevice(SyncdDevice)

setEventLoop

public void setEventLoop(EventLoop eventLoop)
                  throws RobotCoreException

Replace the current event loop with a new event loop

Parameters:

eventLoop - new event loop

Throws:

RobotCoreException - if event loop fails to init

sendTelemetryData

public void sendTelemetryData(TelemetryMessage telemetry)

Send telemetry data

Send the telemetry data, and then clear the sent data

Parameters:

telemetry - telemetry data

gamepadEvent

public CallbackResult gamepadEvent(RobocolDatagram packet)
                            throws RobotCoreException

Throws:

RobotCoreException

heartbeatEvent

public CallbackResult heartbeatEvent(RobocolDatagram packet,
                                     long tReceived)
                              throws RobotCoreException

Throws:

RobotCoreException

onPeerConnected

public void onPeerConnected()

onPeerDisconnected

public void onPeerDisconnected()

peerDiscoveryEvent

public CallbackResult peerDiscoveryEvent(RobocolDatagram packet)
                                  throws RobotCoreException

Throws:

RobotCoreException

commandEvent

public CallbackResult commandEvent(Command command)
                            throws RobotCoreException

Throws:

RobotCoreException

emptyEvent

public CallbackResult emptyEvent(RobocolDatagram packet)

buildAndSendTelemetry

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