Java 类edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler 实例源码

/**
 * Adds a button to the {@link Scheduler}. The {@link Scheduler} will poll the button during its
 * {@link Scheduler#run()}.
 *
 * @param button the button to add
 */
public void addButton(ButtonScheduler button) {
  if (m_buttons == null) {
    m_buttons = new Vector();
  }
  m_buttons.addElement(button);
}

/**
 * Adds a button to the {@link Scheduler}. The {@link Scheduler} will poll
 * the button during its {@link Scheduler#run()}.
 *
 * @param button the button to add
 */
public void addButton(ButtonScheduler button) {
    if (buttons == null) {
        buttons = new Vector();
    }
    buttons.addElement(button);
}

/**
 * Adds a button to the {@link Scheduler}. The {@link Scheduler} will poll
 * the button during its {@link Scheduler#run()}.
 *
 * @param button the button to add
 */
public void addButton(ButtonScheduler button) {
    if (buttons == null) {
        buttons = new Vector();
    }
    buttons.addElement(button);
}

/**
 * Runs a single iteration of the loop. This method should be called often in order to have a
 * functioning {@link Command} system. The loop has five stages:
 *
 * <ol> <li>Poll the Buttons</li> <li>Execute/Remove the Commands</li> <li>Send values to
 * SmartDashboard</li> <li>Add Commands</li> <li>Add Defaults</li> </ol>
 */
public void run() {

  m_runningCommandsChanged = false;

  if (m_disabled) {
    return;
  } // Don't run when m_disabled

  // Get button input (going backwards preserves button priority)
  if (m_buttons != null) {
    for (int i = m_buttons.size() - 1; i >= 0; i--) {
      ((ButtonScheduler) m_buttons.elementAt(i)).execute();
    }
  }
  // Loop through the commands
  LinkedListElement element = m_firstCommand;
  while (element != null) {
    Command command = element.getData();
    element = element.getNext();
    if (!command.run()) {
      remove(command);
      m_runningCommandsChanged = true;
    }
  }

  // Add the new things
  for (int i = 0; i < m_additions.size(); i++) {
    _add((Command) m_additions.elementAt(i));
  }
  m_additions.removeAllElements();

  // Add in the defaults
  Enumeration locks = m_subsystems.getElements();
  while (locks.hasMoreElements()) {
    Subsystem lock = (Subsystem) locks.nextElement();
    if (lock.getCurrentCommand() == null) {
      _add(lock.getDefaultCommand());
    }
    lock.confirmCommand();
  }

  updateTable();
}

/**
 * Runs a single iteration of the loop. This method should be called often
 * in order to have a functioning {@link Command} system. The loop has five
 * stages:
 *
 * <ol> <li> Poll the Buttons </li> <li> Execute/Remove the Commands </li>
 * <li> Send values to SmartDashboard </li> <li> Add Commands </li> <li> Add
 * Defaults </li> </ol>
 */
public void run() {

    m_runningCommandsChanged = false;

    if (disabled) {
        return;
    } // Don't run when disabled

    // Get button input (going backwards preserves button priority)
    if (buttons != null) {
        for (int i = buttons.size() - 1; i >= 0; i--) {
            ((ButtonScheduler) buttons.elementAt(i)).execute();
        }
    }
    // Loop through the commands
    LinkedListElement e = firstCommand;
    while (e != null) {
        Command c = e.getData();
        e = e.getNext();
        if (!c.run()) {
            remove(c);
            m_runningCommandsChanged = true;
        }
    }

    // Add the new things
    for (int i = 0; i < additions.size(); i++) {
        _add((Command) additions.elementAt(i));
    }
    additions.removeAllElements();

    // Add in the defaults
    Enumeration locks = subsystems.getElements();
    while (locks.hasMoreElements()) {
        Subsystem lock = (Subsystem) locks.nextElement();
        if (lock.getCurrentCommand() == null) {
            _add(lock.getDefaultCommand());
        }
        lock.confirmCommand();
    }

    updateTable();
}

/**
 * Runs a single iteration of the loop. This method should be called often
 * in order to have a functioning {@link Command} system. The loop has five
 * stages:
 *
 * <ol> <li> Poll the Buttons </li> <li> Execute/Remove the Commands </li>
 * <li> Send values to SmartDashboard </li> <li> Add Commands </li> <li> Add
 * Defaults </li> </ol>
 */
public void run() {

    m_runningCommandsChanged = false;

    if (disabled) {
        return;
    } // Don't run when disabled

    // Get button input (going backwards preserves button priority)
    if (buttons != null) {
        for (int i = buttons.size() - 1; i >= 0; i--) {
            ((ButtonScheduler) buttons.elementAt(i)).execute();
        }
    }
    // Loop through the commands
    LinkedListElement e = firstCommand;
    while (e != null) {
        Command c = e.getData();
        e = e.getNext();
        if (!c.run()) {
            remove(c);
            m_runningCommandsChanged = true;
        }
    }

    // Add the new things
    for (int i = 0; i < additions.size(); i++) {
        _add((Command) additions.elementAt(i));
    }
    additions.removeAllElements();

    // Add in the defaults
    Enumeration locks = subsystems.getElements();
    while (locks.hasMoreElements()) {
        Subsystem lock = (Subsystem) locks.nextElement();
        if (lock.getCurrentCommand() == null) {
            _add(lock.getDefaultCommand());
        }
        lock.confirmCommand();
    }

    updateTable();
}