- Generated by
1.18.0
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RobotCore 1.0
WPILib port to raspberry Pi
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Classes | |
| class | ForkResult |
| enum | WaitResult |
Public Member Functions | |
| void | setCancelOnForkFailure (boolean cancelOnForkFailure) |
| boolean | isCancelOnForkFailure () |
| void | requestCancellation () |
| boolean | yield () |
| void | park () |
| ForkResult | fork (Command... commands) |
| ForkResult | fork (Collection<? extends Command > commands) |
| ForkResult | await (Command command) |
| ForkResult | awaitAll (Collection<? extends Command > commands) |
| ForkResult | awaitAll (Command... commands) |
| ForkResult | awaitAny (Collection<? extends Command > commands) |
| ForkResult | awaitAny (Command... commands) |
| void | wait (Time duration) |
| WaitResult | waitUntil (BooleanSupplier condition) |
| WaitResult | waitUntil (BooleanSupplier condition, Time timeout) |
| Scheduler | scheduler () |
A coroutine object is injected into command's Command#run(Coroutine) method to allow commands to yield and compositions to run other commands. Commands are considered bound to a coroutine while they're scheduled; attempting to use a coroutine outside the command bound to it will result in an IllegalStateException being thrown.
Definition at line 35 of file Coroutine.java.
| ForkResult org.wpilib.command3.Coroutine.await | ( | Command | command | ) |
Awaits completion of a command. If the command is not currently scheduled or running, it will be scheduled automatically. This is a blocking operation and will not return until the command completes or has been interrupted by another command scheduled by the same parent.
If the child command is unable to be scheduled per the contract of Scheduler#isSchedulable(Command), then it will not be scheduled and the method call will return a ForkResult containing the command. If the coroutine is configured to cancel on fork failure, then the coroutine will be canceled and user code will not get a chance to handle the failure result.
| command | the command to await |
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 450 of file Coroutine.java.
| ForkResult org.wpilib.command3.Coroutine.awaitAll | ( | Collection<? extends Command > | commands | ) |
Awaits completion of all given commands. If any command is not currently scheduled or running, it will be scheduled.
If any child command is unable to be scheduled per the contract of Scheduler#isSchedulable(Command), then none of the commands will be scheduled and the method call will return a ForkResult containing the unschedulable commands. If the coroutine is configured to cancel on fork failure, then the coroutine will be canceled and user code will not get a chance to handle the failure result.
| commands | the commands to await |
| IllegalArgumentException | if any of the commands conflict with each other |
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 502 of file Coroutine.java.
| ForkResult org.wpilib.command3.Coroutine.awaitAll | ( | Command... | commands | ) |
Awaits completion of all given commands. If any command is not currently scheduled or running, it will be scheduled.
If any child command is unable to be scheduled per the contract of Scheduler#isSchedulable(Command), then none of the commands will be scheduled and the method call will return a ForkResult containing the unschedulable commands. If the coroutine is configured to cancel on fork failure, then the coroutine will be canceled and user code will not get a chance to handle the failure result.
| commands | the commands to await |
| IllegalArgumentException | if any of the commands conflict with each other |
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 549 of file Coroutine.java.
| ForkResult org.wpilib.command3.Coroutine.awaitAny | ( | Collection<? extends Command > | commands | ) |
Awaits completion of any given commands. Any command that's not already scheduled or running will be scheduled. After any of the given commands complete, the rest will be canceled.
If any child command is unable to be scheduled per the contract of Scheduler#isSchedulable(Command), then none of the commands will be scheduled and the method call will return a ForkResult containing the unschedulable commands. If the coroutine is configured to cancel on fork failure, then the coroutine will be canceled and user code will not get a chance to handle the failure result.
| commands | the commands to await |
| IllegalArgumentException | if any of the commands conflict with each other |
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 570 of file Coroutine.java.
| ForkResult org.wpilib.command3.Coroutine.awaitAny | ( | Command... | commands | ) |
Awaits completion of any given commands. Any command that's not already scheduled or running will be scheduled. After any of the given commands completes, the rest will be canceled.
If any child command is unable to be scheduled per the contract of Scheduler#isSchedulable(Command), then none of the commands will be scheduled and the method call will return a ForkResult containing the unschedulable commands. If the coroutine is configured to cancel on fork failure, then the coroutine will be canceled and user code will not get a chance to handle the failure result.
| commands | the commands to await |
| IllegalArgumentException | if any of the commands conflict with each other |
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 633 of file Coroutine.java.
| ForkResult org.wpilib.command3.Coroutine.fork | ( | Collection<? extends Command > | commands | ) |
Forks off some commands. Each command will run until its natural completion, the parent command exits, or the parent command cancels it. The parent command will continue executing while the forked commands run, and can resync with the forked commands using awaitAll(Collection).
If any child command is unable to be scheduled per the contract of Scheduler#isSchedulable(Command), then none of the commands will be scheduled and the method call will return a ForkResult containing the unschedulable commands. If the coroutine is configured to cancel on fork failure, then the coroutine will be canceled and user code will not get a chance to handle the failure result.
Command example() {
return Command.noRequirements(coroutine -> {
Collection<Command> innerCommands = ...;
ForkResult childTask = coroutine.fork(innerCommands);
// ... do more things
// then sync back up with the inner commands
if (childTask.successful()) {
childTask.awaitCompletion();
}
}).named("Example");
}
| commands | The commands to fork. |
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 428 of file Coroutine.java.
| ForkResult org.wpilib.command3.Coroutine.fork | ( | Command... | commands | ) |
Schedules child commands and then immediately returns. The child commands will run until their natural completion, the parent command exits, or the parent command cancels it.
If any child command is unable to be scheduled per the contract of Scheduler#isSchedulable(Command), then none of the commands will be scheduled and the method call will return a ForkResult containing the unschedulable commands. If the coroutine is configured to cancel on fork failure, then the coroutine will be canceled and user code will not get a chance to handle the failure result.
This is a nonblocking operation. To fork and then wait for the child command to complete, use await(Command).
The parent command will continue executing while the child command runs, and can resync with the child command using await(Command).
Command example() {
return Command.noRequirements(coroutine -> {
Command child = ...;
ForkResult childTask = coroutine.fork(child);
// ... do more things
// then sync back up with the child command
if (childTask.successful()) {
childTask.awaitCompletion();
}
}).named("Example");
}
| commands | The commands to fork. |
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 380 of file Coroutine.java.
| boolean org.wpilib.command3.Coroutine.isCancelOnForkFailure | ( | ) |
Checks if the coroutine is currently configured to cancel itself if a child command couldn't be forked.
Definition at line 91 of file Coroutine.java.
| void org.wpilib.command3.Coroutine.park | ( | ) |
Parks the current command. No code in a command declared after calling park() will be executed. A parked command will never complete naturally and must be interrupted or canceled.
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 157 of file Coroutine.java.
| void org.wpilib.command3.Coroutine.requestCancellation | ( | ) |
Requests early cancellation of the coroutine and the command bound to it. Any child commands will be canceled as well, as commands can never outlive their parent, but the parent command will not be canceled.
Team code shouldn't need to use this; instead, use a return statement in your command's function body to exit early. This method is primarily to be used by internal APIs that don't have access to the command's function body.
Definition at line 112 of file Coroutine.java.
| Scheduler org.wpilib.command3.Coroutine.scheduler | ( | ) |
Advanced users only: this permits access to the backing command scheduler to run custom logic not provided by the standard coroutine methods. Any commands manually scheduled through this will be canceled when the parent command exits - it's not possible to "fork" a command that lives longer than the command that scheduled it.
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 806 of file Coroutine.java.
| void org.wpilib.command3.Coroutine.setCancelOnForkFailure | ( | boolean | cancelOnForkFailure | ) |
Configures the coroutine to cancel itself if a child command couldn't be forked. This setting defaults to true, but can be changed to allow the coroutine to continue running after a fork failure.
This setting only affects commands forked by using the coroutine methods fork, await, awaitAll, or awaitAny. Commands scheduled directly with Scheduler#schedule(Command) or via inner trigger bindings will not be affected.
| cancelOnForkFailure | true to make the coroutine cancel itself if a child command couldn't be forked, false to allow the coroutine to continue running after a fork failure |
Definition at line 79 of file Coroutine.java.
| void org.wpilib.command3.Coroutine.wait | ( | Time | duration | ) |
Waits for some duration of time to elapse. Returns immediately if the given duration is zero or negative. Call this within a command or command composition to introduce a simple delay.
For example, a basic autonomous routine that drives straight for 5 seconds:
Command timedDrive() {
return drivebase.run(coroutine -> {
drivebase.tankDrive(1, 1);
coroutine.wait(Seconds.of(5));
drivebase.stop();
}).named("Timed Drive");
}
Note that the resolution of the wait period is equal to the period at which Scheduler#run() is called by the robot program. If using a 20 millisecond update period, the wait will be rounded up to the nearest 20 millisecond interval; in this scenario, calling wait(Milliseconds.of(1)) and wait(Milliseconds.of(19)) would have identical effects.
Very small loop times near the loop period are sensitive to the order in which commands are executed. If a command waits for 10 ms at the end of a scheduler cycle, and then all the commands that ran before it complete or exit, and then the next cycle starts immediately, the wait will be evaluated at the start of that next cycle, which occurred less than 10 ms later. Therefore, the wait will see not enough time has passed and only exit after an additional cycle elapses, adding an unexpected extra 20 ms to the wait time. This becomes less of a problem with smaller loop periods, as the extra 1-loop delay becomes smaller.
| duration | the duration of time to wait |
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 670 of file Coroutine.java.
| WaitResult org.wpilib.command3.Coroutine.waitUntil | ( | BooleanSupplier | condition | ) |
Yields until a condition is met. This method will only return once the condition is met; if the condition never becomes true or is delayed longer than you expect, this method will block indefinitely. waitUntil(BooleanSupplier, Time) is an alternative that will only wait up until a maximum duration before exiting.
| condition | The condition to wait for |
WaitResult#CONDITION_MET | IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 722 of file Coroutine.java.
| WaitResult org.wpilib.command3.Coroutine.waitUntil | ( | BooleanSupplier | condition, |
| Time | timeout ) |
Yields until a condition is met, waiting for up to a specified duration. If the condition is not met before the timeout duration elapses, this method stops waiting and returns WaitResult#TIMED_OUT.
Teams may use this method for waiting for conditions in autonomous or automated routines to be resilient to hardware faults (e.g., a mechanism not reaching a target state or a faulty sensor).
Command.noRequirements(coroutine -> {
coroutine.fork(elevator.up());
Coroutine.WaitResult upResult = coroutine.waitUntil(elevator::atTop, Seconds.of(1.25));
if (upResult.timedOut()) {
// We've waited 1.25 seconds and the elevator still has not reached the top. It may have
// jammed or there may be a fault with the sensors. In this example, we set a driverstation
// alert and exit early - team code may want to take other approaches like retrying the
// command or falling back to a secondary behavior that doesn't need the elevator to be up.
elevator.setJamAlert();
return;
}
// The elevator reached the top within 1.25 seconds. Clear the alert and continue.
elevator.clearJamAlert();
// ... more commands ...
})
| condition | The condition to wait for |
| timeout | The maximum duration to wait |
WaitResult#CONDITION_MET if the condition was met within the specified timeout, or WaitResult#TIMED_OUT if the timeout duration elapsed before the condition was met. Definition at line 772 of file Coroutine.java.
| boolean org.wpilib.command3.Coroutine.yield | ( | ) |
Yields control back to the scheduler to allow other commands to execute. This can be thought of as "pausing" the currently executing command.
| IllegalStateException | if called anywhere other than the coroutine's running command |
Definition at line 140 of file Coroutine.java.
1.18.0