com.qualcomm.robotcore.eventloop

Class EventLoopManager

java.lang.Object

com.qualcomm.robotcore.eventloop.EventLoopManager

public class EventLoopManager
extends java.lang.Object

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
static class	EventLoopManager.State

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	RC_BATTERY_LEVEL_KEY
static java.lang.String	ROBOT_BATTERY_LEVEL_KEY
RobotState	state
static java.lang.String	SYSTEM_TELEMETRY

Constructor Summary

Constructors

Constructor and Description
EventLoopManager(RobocolDatagramSocket socket) Constructor

Method Summary

Methods

Modifier and Type	Method and Description
void	buildAndSendTelemetry(java.lang.String tag, java.lang.String msg)
EventLoop	getEventLoop() Get the current event loop
Gamepad	getGamepad() Get the current gamepad state
Gamepad	getGamepad(int port) Get the gamepad connected to a particular user
Gamepad[]	getGamepads() Get the gamepads
Heartbeat	getHeartbeat() Get the current heartbeat state
void	handleDroppedConnection()
void	registerSyncdDevice(SyncdDevice device) Register a sync'd device
void	resetGamepads()
void	sendCommand(Command command)
void	sendTelemetryData(Telemetry 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
void	shutdown() Shut down the event processor
void	start(EventLoop eventLoop) Start the event processor
void	unregisterSyncdDevice(SyncdDevice device) Unregister a sync'd device

Methods inherited from class java.lang.Object

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

Field Detail

SYSTEM_TELEMETRY

public static final java.lang.String SYSTEM_TELEMETRY

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_LEVEL_KEY

public static final java.lang.String RC_BATTERY_LEVEL_KEY

See Also:

Constant Field Values

state

public RobotState state

Constructor Detail

EventLoopManager

public EventLoopManager(RobocolDatagramSocket socket)

Constructor

Parameters:

socket - socket for IO with remote device

Method Detail

handleDroppedConnection

public void handleDroppedConnection()

setMonitor

public void setMonitor(EventLoopManager.EventLoopMonitor monitor)

Set a monitor for this event loop

Parameters:

monitor - event loop monitor

start

public void start(EventLoop eventLoop)
           throws RobotCoreException

Start the event processor

Parameters:

eventLoop - set initial event loop

Throws:

RobotCoreException - if event loop fails to init

shutdown

public void shutdown()

Shut down the event processor

registerSyncdDevice

public void registerSyncdDevice(SyncdDevice device)

Register a sync'd device

Parameters:

device - sync'd device

unregisterSyncdDevice

public void unregisterSyncdDevice(SyncdDevice device)

Unregister a sync'd device

Parameters:

device - sync'd device

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

getEventLoop

public EventLoop getEventLoop()

Get the current event loop

Returns:

current event loop

getGamepad

public Gamepad getGamepad()

Get the current gamepad state

Port 0 is assumed

Returns:

gamepad

See Also:

getGamepad(int)

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

resetGamepads

public void resetGamepads()

getHeartbeat

public Heartbeat getHeartbeat()

Get the current heartbeat state

Returns:

heartbeat

sendTelemetryData

public void sendTelemetryData(Telemetry telemetry)

Send telemetry data

Send the telemetry data, and then clear the sent data

Parameters:

telemetry - telemetry data

sendCommand

public void sendCommand(Command command)

buildAndSendTelemetry

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