BunyipsLib/org.murraybridgebunyips.bunyipslib/BunyipsSubsystem

BunyipsSubsystem

abstract class BunyipsSubsystem : BunyipsComponent

Base class for all robot subsystems. Integrates with the Task system to allow for task-based command scheduling, where a subsystem is able to hook a Task to execute it until completion.

Author

Lucas Bubner, 2024

Since

1.0.0-pre

See also

Inheritors

HoldableActuator

CartesianMecanumDrive

Constructors

BunyipsSubsystem

protected constructor()

Properties

open var currentTask: Task

protected open var name: String

Inherited properties

protected val opMode: BunyipsOpMode

Functions

assertParamsNotNull

protected fun assertParamsNotNull(parameters: Array<Any>): Boolean

Utility function to run NullSafety.assertComponentArgs() on the given parameters, usually on the motors/hardware/critical objects passed into the constructor.

cancelCurrentTask

fun cancelCurrentTask()

Cancel the current task immediately and return to the default task, if available.

Prevent a subsystem from running.

fun enable()

Re-enable a subsystem if it was previously disabled via a disable() call.

fun isDefaultName(): Boolean

fun isDisabled(): Boolean

fun isIdle(): Boolean

Determine if the subsystem is idle, meaning an IdleTask is running.

protected open fun onDisable()

User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.

protected open fun onEnable()

User callback that runs once when this subsystem is enabled by a call to enable or the first active call to periodic.

protected abstract fun periodic()

To be updated periodically on every hardware loop.

fun setDefaultTask(defaultTask: Task)

Set the default task for this subsystem, which will be run when no other task is running.

setHighPriorityCurrentTask

fun setHighPriorityCurrentTask(currentTask: Task)

Set the current task to the given task, overriding any current task.

fun startThread()

fun startThread(loopSleepDuration: Measure<Time>)

Call to delegate all updates of this subsystem to a thread that will begin execution on this method call.

fun stopThread()

Call to stop delegating updates of this subsystem to a thread.

fun toString(): String

toVerboseString

fun toVerboseString(): String

fun update()

Update the subsystem and run the current task, if tasks are not set up this will just call periodic.

open fun updateAll()

Update all instances of BunyipsSubsystem that has been constructed since the last clearing.

fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T

Set the name of this subsystem that will be used in telemetry and references.