Task

A task that does not have an integrated timeout, and will rely on manual intervention and isTaskFinished.

Time in seconds since the task was started.

Convenience field to get a reference to FtcDashboard's field overlay for drawing on the field. Available as soon as init() has been called for this task.

Convenience field to get a reference to a TelemetryPacket for sending telemetry to the dashboard. Available as soon as init() has been called for this task.

Whether the task is finished or not via timeout or custom condition. Will be true regardless of the finisher being fired or not, as some tasks will handle this via finishNow().

Maximum timeout of the task. If set to 0 magnitude (or a timeout-less constructor) this will serve as an indefinite task, and will only finish when isTaskFinished() returns true, or this task is manually interrupted via finish.

Get a reference to the currently running BunyipsOpMode.

Composes a WaitTask to run before this task.

Compose this task into a SequentialTaskGroup with the supplied task to run before this one.

Implicitly run a SequentialTaskGroup with this supplied Runnable, queued to run before this task starts.

Compose this task into a SequentialTaskGroup with the supplied tasks to run before this one.

Compose this task into a DeadlineTaskGroup with the supplied task to run alongside this one until this task is done.

Compose this task into a DeadlineTaskGroup with the supplied tasks to run these extra tasks until this task is done.

Tell a task to finish on the next iteration.

Force a task to finish immediately, and fire the onFinish() method without waiting for the next polling loop. This method is useful when your task needs to die and needs to finish up immediately. If your finisher has already been fired, this method will do nothing but ensure that the task is marked as finished.

Composes a ParallelTaskGroup with a WaitTask to run before this task. This will ensure the task runs for at least the specified time, and no-ops until the duration if it finishes early.

Get the subsystem reference that this task has elected a dependency on. Will return an Optional where if it is not present, this task is not dependent on any subsystem.

Return whether this task has elected a dependency on a subsystem or not.

Define code to run once, when the task is started. Override to implement.

Query (but not update) the finished state of the task. This will return true if the task is finished and the finisher has been fired.

Return a boolean to this method to add custom criteria if a task should be considered finished.

Mute task reports from the Scheduler.

Set the name of this task to be displayed in the OpMode.

Set the subsystem you want to elect this task to run on, notifying the runner that this task should run there. This task is scheduled with default override behaviour.

Finalising function to run once the task is finished. This will always run regardless of whether the task was ended because of an interrupt or the task naturally finishing. Override to add your own callback.

Finalising function that will be called after onFinish in the event this task is finished via a call to finish or finishNow. Override to add your own callback.

Called when the task is resetting now. Override this method to add custom reset behaviour, such as resetting any internal state variables such as iterators or lists.

Set the subsystem you want to elect this task to run on, notifying the runner that this task should run there.

To run as an active loop during this task's duration.

Update and query the state of the task if it is finished. This will return true if the task is finished and the finisher has been fired.

RoadRunner Action implementation to preview the action on the field overlay. This method no-ops as previews are done via DualTelemetry and the Drawing util.

Compose this task into a RaceTaskGroup with the supplied task to run alongside this one until one finishes.

Compose this task into a RaceTaskGroup with the supplied tasks to run all of these tasks until one finishes.

Wrap this task in a RepeatTask where finish conditions are reset immediately.

Reset a task to an uninitialised and unfinished state. Will no-op if the task is already fully reset.

Should be called by your polling loop to run the task and manage all state properly.

RoadRunner Action implementation to run this Task.

Compose this task into a SequentialTaskGroup with the supplied task to follow after this one.

Implicitly run a SequentialTaskGroup with this supplied Runnable, queued to run when this task finishes.

Compose this task into a SequentialTaskGroup with the supplied tasks to follow after this one.

Set the timeout of this task dynamically and return the task.

Get the name of this task. By default, it will be the class simple name, but you can call withName to set a custom name.

Get a verbose string representation of this task, including all of its properties.

Compose this task into a RaceTaskGroup with a WaitUntilTask based on this condition.

Compose this task into a ParallelTaskGroup with the supplied task to run alongside this one.

Compose this task into a ParallelTaskGroup with the supplied tasks to run all of these tasks at once.

Set the name of this task to be displayed in the OpMode. You may override this method if required to enforce a naming convention/prefix.

Set the timeout of this task dynamically and return the task.

Null check consumer for the opMode field which will no-op the given consumer if an active BunyipsOpMode is not present (i.e. the opMode field is null). This method is the same to the BunyipsOpMode.ifRunning method, and is supplied here for convenience.

Null assertion for the opMode field which throws a NullPointerException if an active BunyipsOpMode is not present (i.e. the supplied field is null). This method replicates Objects.requireNonNull but has a built-in message to alert the user of a non-active OpMode.