EventLoop

All Known Implementing Classes:

FtcEventLoop, FtcEventLoopBase, FtcEventLoopIdle
```
public interface EventLoop
```
Event loop interface
Event loops need to implement this interface. Contains methods for managing the life cycle of your robot.

Field Summary

Fields
Modifier and Type	Field and Description
`static double`	`TELEMETRY_DEFAULT_INTERVAL` The value to pass to `refreshUserTelemetry(TelemetryMessage, double)` as the time interval parameter in order to cause a system default interval to be used.

Method Summary

Methods
Modifier and Type	Method and Description
`OpModeManagerImpl`	`getOpModeManager()` Returns the OpModeManager associated with this event loop
`void`	`handleUsbModuleDetach(RobotUsbModule module)` Process the fact that a usb module has now become detached from the system.
`void`	`init(EventLoopManager eventLoopManager)` Init method, this will be called before the first call to loop.
`void`	`loop()` This method will be repeatedly called by the event loop manager.
`void`	`onUsbDeviceAttached(UsbDevice usbDevice)` Notifies the event loop that a UsbDevice has just been attached to the system.
`CallbackResult`	`processCommand(Command command)` Process command method, this will be called if the event loop manager receives a user defined command.
`void`	`processedRecentlyAttachedUsbDevices()` Process the batch of newly arrived USB devices.
`void`	`refreshUserTelemetry(TelemetryMessage telemetry, double sInterval)` Update's the user portion of the driver station screen with the contents of the telemetry object here provided if a sufficiently long duration has passed since the last update.
`void`	`requestOpModeStop(OpMode opModeToStopIfActive)` Requests that an OpMode be stopped if it's the currently active one
`void`	`teardown()` Teardown method, this will be called after the last call to loop.

- Field Detail
  - TELEMETRY_DEFAULT_INTERVAL
```
static final double TELEMETRY_DEFAULT_INTERVAL
```
    The value to pass to refreshUserTelemetry(TelemetryMessage, double) as the time interval parameter in order to cause a system default interval to be used.
    
    See Also:
    Constant Field Values
- Method Detail
  - init
```
void init(EventLoopManager eventLoopManager)
          throws RobotCoreException,
                 java.lang.InterruptedException
```
    Init method, this will be called before the first call to loop. You should set up your hardware in this method. Threading: called on the RobotSetupRunnable.run() thread, before the EventLoopRunnable.run() thread is created.
    
    Parameters:
    eventLoopManager - event loop manager that is responsible for this event loop
    
    Throws:
    
    RobotCoreException - if a RobotCoreException is thrown, it will be handled by the event loop manager. The manager will report that the robot failed to start.
    
    java.lang.InterruptedException
  - loop
```
void loop()
          throws RobotCoreException,
                 java.lang.InterruptedException
```
    This method will be repeatedly called by the event loop manager. Threading: called on the EventLoopRunnable.run() thread.
    
    Throws:
    
    RobotCoreException - if a RobotCoreException is thrown, it will be handled by the event loop manager. The manager may decide to either stop processing this iteration of the loop, or it may decide to shut down the robot.
    
    java.lang.InterruptedException
  - refreshUserTelemetry
```
void refreshUserTelemetry(TelemetryMessage telemetry,
                        double sInterval)
```
    Update's the user portion of the driver station screen with the contents of the telemetry object here provided if a sufficiently long duration has passed since the last update.
    
    Parameters:
    telemetry - the telemetry object to send
    sInterval - the required minimum interval. NaN indicates that a system default interval should be used.
  - teardown
```
void teardown()
              throws RobotCoreException,
                     java.lang.InterruptedException
```
    Teardown method, this will be called after the last call to loop. You should place your robot into a safe state before this method exits, since there will be no more changes to communicate with your robot. Threading: called on the EventLoopRunnable.run() thread.
    
    Throws:
    
    RobotCoreException - if a RobotCoreException is thrown, it will be handled by the event loop manager. The manager will then attempt to shut down the robot without the benefit of the teardown method.
    
    java.lang.InterruptedException
  - onUsbDeviceAttached
```
void onUsbDeviceAttached(UsbDevice usbDevice)
```
    Notifies the event loop that a UsbDevice has just been attached to the system. User interface activities that receive UsbManager.ACTION_USB_DEVICE_ATTACHED notifications should retrieve the UsbDevice using intent.getParcelableExtra(UsbManager.EXTRA_DEVICE) then pass that along to this method in their event loop for processing.
    Implementations of this method should avoid doing significant processing during this notification. Rather, they should squirrel the device away for processing during a later processedRecentlyAttachedUsbDevices call.
    
    Parameters:
    usbDevice - the newly arrived device
    See Also:
    processedRecentlyAttachedUsbDevices()
  - processedRecentlyAttachedUsbDevices
```
void processedRecentlyAttachedUsbDevices()
                                         throws RobotCoreException,
                                                java.lang.InterruptedException
```
    Process the batch of newly arrived USB devices. This is called on the EventLoop thread by the EventLoopManager; there is sufficient time and correct context to, e.g., fully arm the associated module software to make the device operational within the app.
    
    Throws:
    
    RobotCoreException
    
    java.lang.InterruptedException
    See Also:
    handleUsbModuleDetach(RobotUsbModule), onUsbDeviceAttached(UsbDevice)
  - handleUsbModuleDetach
```
void handleUsbModuleDetach(RobotUsbModule module)
                           throws RobotCoreException,
                                  java.lang.InterruptedException
```
    Process the fact that a usb module has now become detached from the system. This is called on the EventLoop thread by the EventLoopManager; there is sufficient time and correct context to, e.g., fully disarm and 'pretend' the associated module.
    
    Parameters:
    module -
    
    Throws:
    
    RobotCoreException
    
    java.lang.InterruptedException
    See Also:
    processedRecentlyAttachedUsbDevices()
  - processCommand
```
CallbackResult processCommand(Command command)
                              throws java.lang.InterruptedException,
                                     RobotCoreException
```
    Process command method, this will be called if the event loop manager receives a user defined command. How this command is handled is up to the event loop implementation. Threading: called on the RecvRunnable.run() thread.
    
    Parameters:
    command - command to process
    
    Throws:
    
    java.lang.InterruptedException
    
    RobotCoreException
  - getOpModeManager
```
OpModeManagerImpl getOpModeManager()
```
    Returns the OpModeManager associated with this event loop
    
    Returns:
    the OpModeManager associated with this event loop
  - requestOpModeStop
```
void requestOpModeStop(OpMode opModeToStopIfActive)
```
    Requests that an OpMode be stopped if it's the currently active one
    
    Parameters:
    opModeToStopIfActive - the OpMode to stop if it's currently active

Interface EventLoop

Field Summary

Method Summary

Field Detail

TELEMETRY_DEFAULT_INTERVAL

Method Detail

init

loop

refreshUserTelemetry

teardown

onUsbDeviceAttached

processedRecentlyAttachedUsbDevices

handleUsbModuleDetach

processCommand

getOpModeManager

requestOpModeStop