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().

timeout

open var timeout: Measure<Time>

Functions

init

protected open fun init()

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

onFinish

protected open fun onFinish()

Finalising function to run once the task is finished.

periodic

protected open fun periodic()

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

Inherited functions

finish

fun finish()

Tell a task to finish on the next iteration.

finishNow

fun finishNow()

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.

getDeltaTime

fun getDeltaTime(): Measure<Time>

Time in seconds since the task was started.

getDependency

fun getDependency(): Optional<BunyipsSubsystem>

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.

hasDependency

fun hasDependency(): Boolean

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

isFinished

fun isFinished(): Boolean

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.

isMuted

fun isMuted(): Boolean

isOverriding

fun isOverriding(): Boolean

isRunning

fun isRunning(): Boolean

isTaskFinished

protected fun isTaskFinished(): Boolean

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

protected abstract fun isTaskFinished(): Boolean

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

onInterrupt

protected open fun onInterrupt()

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.

onReset

protected open fun onReset()

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.

onSubsystem

open fun onSubsystem(subsystem: BunyipsSubsystem, override: Boolean): Task

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

pollFinished

fun pollFinished(): Boolean

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.

reset

fun reset()

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

run

abstract fun run()

fun run()

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

toString

fun toString(): String

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.

toVerboseString

fun toVerboseString(): String

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

withMutedReports

fun withMutedReports(): Task

Mute task reports from the Scheduler.

withName

open fun withName(name: String): Task

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.

withTimeout

fun withTimeout(timeout: Measure<Time>): Task

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