Package trclib.sensor

Class TrcTriggerDigitalInput

java.lang.Object

trclib.sensor.TrcTriggerDigitalInput

All Implemented Interfaces:

TrcTrigger

public class TrcTriggerDigitalInput
extends Object
implements TrcTrigger

This class implements a trigger for a digital input device. A digital input trigger consists of a digital input device. It monitors the device state and notifies the callback handler if the state changes.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
private static class	TrcTriggerDigitalInput.TriggerState	This class encapsulates the trigger state.

Nested classes/interfaces inherited from interface trclib.sensor.TrcTrigger

TrcTrigger.TriggerMode

Field Summary

Fields

Modifier and Type	Field	Description
private final AtomicBoolean	callbackContext
private Thread	callbackThread
private final String	instanceName
private final TrcDigitalInput	sensor
private final TrcDbgTrace	tracer
private TrcEvent.Callback	triggerCallback
private TrcEvent	triggerEvent
private TrcTrigger.TriggerMode	triggerMode
private final TrcTriggerDigitalInput.TriggerState	triggerState
private final TrcTaskMgr.TaskObject	triggerTaskObj

Constructor Summary

Constructors

Constructor	Description
TrcTriggerDigitalInput(String instanceName, TrcDigitalInput sensor)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	disableTrigger()	This method disarms the trigger.
void	enableTrigger(TrcTrigger.TriggerMode triggerMode, TrcEvent event)	This method arms the trigger.
void	enableTrigger(TrcTrigger.TriggerMode triggerMode, TrcEvent.Callback callback)	This method arms the trigger.
boolean	getSensorState()	This method reads the current digital sensor state.
double	getSensorValue()	This method reads the current analog sensor value (not supported).
boolean	isEnabled()	This method checks if the trigger task is enabled.
private void	setEnabled(boolean enabled, TrcEvent event)	This method arms/disarms the trigger.
String	toString()	This method returns the instance name and its state.
private void	triggerTask(TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)	This method is called periodically to check the current sensor state.

Methods inherited from class java.lang.Object

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

Field Details

tracer

private final TrcDbgTrace tracer

instanceName

private final String instanceName

sensor

private final TrcDigitalInput sensor

triggerState

private final TrcTriggerDigitalInput.TriggerState triggerState

callbackContext

private final AtomicBoolean callbackContext

triggerTaskObj

private final TrcTaskMgr.TaskObject triggerTaskObj

triggerMode

private TrcTrigger.TriggerMode triggerMode

triggerEvent

private TrcEvent triggerEvent

triggerCallback

private TrcEvent.Callback triggerCallback

callbackThread

private Thread callbackThread

Constructor Details

TrcTriggerDigitalInput

public TrcTriggerDigitalInput(String instanceName,
 TrcDigitalInput sensor)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

sensor - specifies the digital input device.

Method Details

toString

public String toString()

This method returns the instance name and its state.

Overrides:

toString in class Object

Returns:

instance name and state.

setEnabled

private void setEnabled(boolean enabled,
 TrcEvent event)

This method arms/disarms the trigger. It enables/disables the task that monitors the sensor value.

Parameters:

enabled - specifies true to enable, false to disable.

event - specifies the event to signal when the trigger state changed, ignored if enabled is false.

enableTrigger

public void enableTrigger(TrcTrigger.TriggerMode triggerMode,
 TrcEvent event)

This method arms the trigger. It enables the task that monitors the sensor value.

Specified by:

enableTrigger in interface TrcTrigger

Parameters:

triggerMode - specifies the trigger mode that will signal the event.

event - specifies the event to signal when the trigger state changed.

enableTrigger

public void enableTrigger(TrcTrigger.TriggerMode triggerMode,
 TrcEvent.Callback callback)

This method arms the trigger. It enables the task that monitors the sensor value.

Specified by:

enableTrigger in interface TrcTrigger

Parameters:

triggerMode - specifies the trigger mode that will trigger a callback.

callback - specifies the callback handler to notify when the trigger state changed.

disableTrigger

public void disableTrigger()

This method disarms the trigger. It disables the task that monitors the sensor value.

Specified by:

disableTrigger in interface TrcTrigger

isEnabled

public boolean isEnabled()

This method checks if the trigger task is enabled.

Specified by:

isEnabled in interface TrcTrigger

Returns:

true if enabled, false otherwise.

getSensorValue

public double getSensorValue()

This method reads the current analog sensor value (not supported).

Specified by:

getSensorValue in interface TrcTrigger

Returns:

current sensor value.

getSensorState

public boolean getSensorState()

This method reads the current digital sensor state.

Specified by:

getSensorState in interface TrcTrigger

Returns:

current sensor state.

triggerTask

private void triggerTask(TrcTaskMgr.TaskType taskType,
 TrcRobot.RunMode runMode,
 boolean slowPeriodicLoop)

This method is called periodically to check the current sensor state. If it has changed from the previous state, the triggerCallback will be notified.

Parameters:

taskType - specifies the type of task being run.

runMode - specifies the competition mode that is running. (e.g. Autonomous, TeleOp, Test).

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