Package trclib.robotcore

Class TrcTaskMgr

java.lang.Object

trclib.robotcore.TrcTaskMgr

public class TrcTaskMgr
extends Object

This class provides methods for the callers to register/unregister cooperative multi-tasking tasks. It manages these tasks and will work with the cooperative multi-tasking scheduler to run these tasks.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
private static class	TrcTaskMgr.IoLoopCallbacks
static interface	TrcTaskMgr.IoTaskCallback	This interface can be provided by the platform dependent task scheduler who will be called before and after each IO task loop.
static interface	TrcTaskMgr.Task	Any class that is registering a task must implement this interface.
static class	TrcTaskMgr.TaskObject	This class implements TaskObject that will be created whenever a class is registered as a cooperative multi-tasking task.
static enum	TrcTaskMgr.TaskType	These are the task type TrcTaskMgr supports:

Field Summary

Fields

Modifier and Type	Field	Description
static final long	IO_INTERVAL_MS
private static final ArrayList<TrcTaskMgr.IoLoopCallbacks>	ioLoopCallbackList
private static final HashMap<String,TrcTaskMgr.IoLoopCallbacks>	ioLoopCallbackMap
private static TrcPeriodicThread<Object>	ioThread
private static final String	moduleName
static long	PERIODIC_INTERVAL_MS
private static final List<TrcTaskMgr.TaskObject>	taskList
static final long	TASKTIME_THRESHOLD_MS
private static final TrcDbgTrace	tracer

Constructor Summary

Constructors

Constructor	Description
TrcTaskMgr()

Method Summary

Modifier and Type	Method	Description
static TrcTaskMgr.TaskObject	createTask(String taskName, TrcTaskMgr.Task task)	This method creates a TRC task.
static void	executeTaskType(TrcTaskMgr.TaskType type, TrcRobot.RunMode mode, boolean slowPeriodicLoop)	This method is called by the main robot thread to enumerate the task list and calls all the tasks that matches the given task type.
private static void	ioTask(Object context)	This method runs the periodic an IO task loop.
static void	printAllRegisteredTasks()	This method prints all registered tasks.
static void	printTaskPerformanceMetrics()	This method prints the performance metrics of all tasks.
static void	registerIoTaskLoopCallback(String callerId, TrcTaskMgr.IoTaskCallback ioLoopBeginCallback, TrcTaskMgr.IoTaskCallback ioLoopEndCallback)	This method registers callbacks at the beginning and ending of the IO task loop.
static void	shutdown()	This method is called at the end of the robot program (FtcOpMode in FTC or FrcRobotBase in FRC) to terminate all threads if any and remove all task from the task list.
static void	terminateAllThreads()	This method is mainly for FtcOpMode to call at the end of the opMode loop because runOpMode could be terminated before shutdown can be called especially if stopMode code is doing logging I/O (e.g.
static void	unregisterIoTaskLoopCallback(String callerId)	This method unregisters callbacks at the beginning and ending of the IO task loop.
private static void	unregisterIoTaskLoopCallback(TrcTaskMgr.IoLoopCallbacks ioCallbacks)	This method unregisters callbacks at the beginning and ending of the IO task loop.

Methods inherited from class java.lang.Object

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

Field Details

moduleName

private static final String moduleName

tracer

private static final TrcDbgTrace tracer

PERIODIC_INTERVAL_MS

public static long PERIODIC_INTERVAL_MS

IO_INTERVAL_MS

public static final long IO_INTERVAL_MS

See Also:

• Constant Field Values

TASKTIME_THRESHOLD_MS

public static final long TASKTIME_THRESHOLD_MS

taskList

private static final List<TrcTaskMgr.TaskObject> taskList

ioThread

private static TrcPeriodicThread<Object> ioThread

ioLoopCallbackList

private static final ArrayList<TrcTaskMgr.IoLoopCallbacks> ioLoopCallbackList

ioLoopCallbackMap

private static final HashMap<String,TrcTaskMgr.IoLoopCallbacks> ioLoopCallbackMap

Constructor Details

TrcTaskMgr

public TrcTaskMgr()

Method Details

createTask

public static TrcTaskMgr.TaskObject createTask(String taskName,
 TrcTaskMgr.Task task)

This method creates a TRC task. If the TRC task is registered as a STANDALONE task, it is run on a separately created thread. Otherwise, it is run on the main robot thread as a cooperative multi-tasking task.

Parameters:

taskName - specifies the task name.

task - specifies the Task interface for this task.

Returns:

created task object.

terminateAllThreads

public static void terminateAllThreads()

This method is mainly for FtcOpMode to call at the end of the opMode loop because runOpMode could be terminated before shutdown can be called especially if stopMode code is doing logging I/O (e.g. printPerformanceMetrics). This provides an earlier chance for us to stop all task threads before it's too late.

shutdown

public static void shutdown()

This method is called at the end of the robot program (FtcOpMode in FTC or FrcRobotBase in FRC) to terminate all threads if any and remove all task from the task list.

executeTaskType

public static void executeTaskType(TrcTaskMgr.TaskType type,
 TrcRobot.RunMode mode,
 boolean slowPeriodicLoop)

This method is called by the main robot thread to enumerate the task list and calls all the tasks that matches the given task type.

Parameters:

type - specifies the task type to be executed.

mode - specifies the robot run mode.

slowPeriodicLoop - specifies true if it is running the slow periodic loop on the main robot thread, false otherwise.

registerIoTaskLoopCallback

public static void registerIoTaskLoopCallback(String callerId,
 TrcTaskMgr.IoTaskCallback ioLoopBeginCallback,
 TrcTaskMgr.IoTaskCallback ioLoopEndCallback)

This method registers callbacks at the beginning and ending of the IO task loop.

Parameters:

callerId - specifies the caller that registers the IO Task Loop callback.

ioLoopBeginCallback - specifies the IO task loop begin callback, null if not provided.

ioLoopEndCallback - specifies the IO task loop end callback, null if not provided.

unregisterIoTaskLoopCallback

private static void unregisterIoTaskLoopCallback(TrcTaskMgr.IoLoopCallbacks ioCallbacks)

This method unregisters callbacks at the beginning and ending of the IO task loop.

Parameters:

ioCallbacks - specifies the IoLoopCallbacks object to be unregistered.

unregisterIoTaskLoopCallback

public static void unregisterIoTaskLoopCallback(String callerId)

This method unregisters callbacks at the beginning and ending of the IO task loop.

Parameters:

callerId - specifies the caller that registered the IoLoopCallbacks object and unregister it.

ioTask

private static void ioTask(Object context)

This method runs the periodic an IO task loop.

Parameters:

context - specifies the context (not used).

printTaskPerformanceMetrics

public static void printTaskPerformanceMetrics()

This method prints the performance metrics of all tasks.

printAllRegisteredTasks

public static void printAllRegisteredTasks()

This method prints all registered tasks.