UserSelection

Async thread to ask for user input from a controller in order to determine a pre-determined set of instructions before a BunyipsOpMode starts (dynamic_init).

You really should only be running one of these threads at a time, preferably using the Threads class to start and manage it to allow for logging and OpMode management.

Keep in mind this thread runs in the background so it is not guaranteed to be ready during any specific phase of your init-cycle. It is recommended to check if this thread is running using Threads.isRunning(selector) in your onInitLoop() to ensure BOM knows it has to wait for the user to make a selection. Alternatively, you can set an init-task that is a WaitForTask. If you do not do this, the OpMode will assume it is ready to run regardless.

The result of this thread will be stored in the result property, which you can access yourself or you can attach a callback to the callback property to be run once the thread is complete. This callback will still be run if the OpMode moves to a running state without a selection. In the event a user does not make a selection, the callback result and result property will be null.

    // In Kotlin using a lambda function, String can be replaced with any type
    private val selector: UserSelection<String> = UserSelection(this, { if (it == "POV") initPOVDrive() else initFCDrive() }, "POV", "FIELD-CENTRIC")

    override fun onInit() {
      Threads.run(selector)
    }

    // In Java using a callback, String can be replaced with any type
    private UserSelection<String> selector = new UserSelection<>(this, this::callback, "POV", "FIELD-CENTRIC");

    @Override
    protected void onInit() {
      Threads.run(selector);
    }

    private void callback(@Nullable String res) {
      // Do something with res
    }

res will be null if the user did not make a selection.

Updated to use dynamic button mapping and generics 04/08/23. Updated to be async and removed time restriction 07/09/23.

Parameters