Package trclib.robotcore

Class TrcAutoTask<T>

java.lang.Object
trclib.robotcore.TrcAutoTask<T>
public abstract class TrcAutoTask<T> extends Object
This class implements auto-assist task. It is intended to be extended by a specific auto-assist task that will implement the abstract methods performing the task.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected final TrcStateMachine<T>
    sm
     
    final TrcDbgTrace
    tracer
     

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
    protected
    TrcAutoTask(String instanceName, String owner, TrcTaskMgr.TaskType taskType)
    Constructor: Create an instance of the object.

  • Method Summary

    Modifier and Type
    Method
    Description
    protected abstract boolean
    acquireSubsystemsOwnership()
    This method is called to acquire ownership of all subsystems involved in the auto-assist operation.
    void
    cancel()
    This method cancels an in progress auto task operation if any.
    boolean
    isActive()
    This method checks if the auto task is active.
    protected abstract void
    releaseSubsystemsOwnership()
    This method is called to release ownership of all subsystems involved in the auto-assist operation.
    protected abstract void
    runTaskState(Object params, T state, TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)
    This methods is called periodically to run the auto-assist task state.
    protected void
    startAutoTask(T startState, Object taskParams, TrcEvent completionEvent)
    This method is called by the subclass to start the auto task.
    protected void
    stopAutoTask(boolean completed)
    This method is called by the subclass to cancel the auto-assist operation in progress if any.
    protected abstract void
    stopSubsystems()
    This method is called to stop all the subsystems.
    String
    toString()
    This method returns the instance name.

    Methods inherited from class java.lang.Object

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

  • Field Details

  • Constructor Details

    • TrcAutoTask

      protected TrcAutoTask(String instanceName, String owner, TrcTaskMgr.TaskType taskType)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the task name.
      owner - specifies the owner to acquire ownership, can be null if not requiring ownership.
      taskType - specifies the auto-assist task type (e.g. TaskType.FAST_POSTPERIODIC_TASK).

  • Method Details

    • acquireSubsystemsOwnership

      protected abstract boolean acquireSubsystemsOwnership()
      This method is called to acquire ownership of all subsystems involved in the auto-assist operation. This is typically done before starting an auto-assist operation.
      Returns:
      true if acquired all subsystems ownership, false otherwise. It releases all ownership if any acquire failed.

    • releaseSubsystemsOwnership

      protected abstract void releaseSubsystemsOwnership()
      This method is called to release ownership of all subsystems involved in the auto-assist operation. This is typically done if the auto-assist operation is completed or canceled.

    • stopSubsystems

      protected abstract void stopSubsystems()
      This method is called to stop all the subsystems.

    • runTaskState

      protected abstract void runTaskState(Object params, T state, TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)
      This methods is called periodically to run the auto-assist task state.
      Parameters:
      params - specifies the task parameters.
      state - specifies the current state of the task.
      taskType - specifies the type of task being run.
      runMode - specifies the competition mode (e.g. Autonomous, TeleOp, Test).
      slowPeriodicLoop - specifies true if it is running the slow periodic loop on the main robot thread, false otherwise.

    • toString

      public String toString()
      This method returns the instance name.
      Overrides:
      toString in class Object
      Returns:
      instance name.

    • cancel

      public void cancel()
      This method cancels an in progress auto task operation if any.

    • startAutoTask

      protected void startAutoTask(T startState, Object taskParams, TrcEvent completionEvent)
      This method is called by the subclass to start the auto task.
      Parameters:
      startState - specifies the state to start the state machine.
      taskParams - specifies the task parameters.
      completionEvent - specifies the event to signal when the task is completed, can be null if none provided.

    • stopAutoTask

      protected void stopAutoTask(boolean completed)
      This method is called by the subclass to cancel the auto-assist operation in progress if any.

    • isActive

      public boolean isActive()
      This method checks if the auto task is active.
      Returns:
      true if auto assist task is active, false otherwise.