Package trclib.robotcore

Class TrcPeriodicThread<T>

java.lang.Object
trclib.robotcore.TrcPeriodicThread<T>
Type Parameters:
T - specifies the data type that the periodic task will be acquiring/processing.
public class TrcPeriodicThread<T> extends Object
This class implements a platform independent periodic task by using a separate thread. When enabled, the thread periodically calls the runPeriodic method. Generally, this class is used by TrcTaskMgr to create a standalone thread that runs the periodic task when STANDALONE_TASK is registered. By doing so, the standalone task doesn't slow down the main robot thread even if it is performing something that may block for long period of time. In rare occasions, this class can also be used by a sensor that requires long period of time to acquire its data but arguably, one could just call TrcTaskMgr to create a STANDALONE_TASK instead. In other words, this class is mainly used by TrcTaskMgr, there is really no reason for others to use this class. One should always use TrcTaskMgr to create a STANDALONE_TASK.

  • Field Details

  • Constructor Details

    • TrcPeriodicThread

      public TrcPeriodicThread(String instanceName, TrcPeriodicThread.PeriodicTask task, Object context, int taskPriority)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      task - specifies the periodic task the thread is to execute.
      context - specifies the task context to be passed to the periodic thread.
      taskPriority - specifies the periodic thread priority.

    • TrcPeriodicThread

      public TrcPeriodicThread(String instanceName, TrcPeriodicThread.PeriodicTask task, Object context)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      task - specifies the periodic task the thread is to execute.
      context - specifies the task context to be passed to the periodic thread.

  • Method Details

    • toString

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

    • setRobotInitialized

      public static void setRobotInitialized(boolean init)
      This method is called by the framework scheduler to inform us whether robotInit has finished. Periodic threads won't be executing until robotInit has finished.
      Parameters:
      init - specifies true if robotInit has finished, false otherwise.

    • getNumActiveThreads

      public static int getNumActiveThreads()
      This method returns the number of active threads.
      Returns:
      number of active threads.

    • terminateTask

      public void terminateTask()
      This method is called to terminate the periodic task. Once this is called, no other method in this class should be called except for isTaskTerminated().

    • isTaskTerminated

      public boolean isTaskTerminated()
      This method checks if the periodic task has been terminated.
      Returns:
      true if periodic task is terminated, false otherwise.

    • setTaskEnabled

      public void setTaskEnabled(boolean enabled)
      This method enables/disables the periodic task. As long as the task is enabled, it will continue to acquire/process data.
      Parameters:
      enabled - specifies true to enable periodic task, false to disable.

    • isTaskEnabled

      public boolean isTaskEnabled()
      This method returns the state of the periodic task.
      Returns:
      true if the periodic task is enabled, false otherwise.

    • setProcessingInterval

      public void setProcessingInterval(long interval)
      This method sets the periodic task processing interval.
      Parameters:
      interval - specifies the processing interval in msec. If 0, process as fast as the CPU can run.

    • getProcessingInterval

      public long getProcessingInterval()
      This method returns the periodic task processing interval.
      Returns:
      periodic task processing interval in msec. If zero, the task is run as fast as the CPU can go.

    • setData

      public void setData(T data)
      This method is called to set new data after new data have been acquired/processed.
      Parameters:
      data - specifies newly acquired/processed data.

    • getData

      public T getData()
      This method returns the acquired/processed data. If nothing found, it returns null.
      Returns:
      acquired/processed data, null if nothing found.

    • run

      public void run()
      This method runs the periodic processing task.