TurnTask

Timeout value for an infinite task that will run forever.

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().

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

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.

Time in seconds since the task was started.

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.

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.

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.

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.

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.

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

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 tasks to run all of these tasks at once.

Mute task reports from the Scheduler.

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.