/// <summary>
/// Runs a single iteration of the scheduler loop.
/// </summary>
/// <remarks>This method should be called often in order to have a functioning
/// <see cref="Command"/> system. The loop has 5 stages
/// <list type="ordered">
/// <listItem><para>Poll the buttons.</para></listItem>
/// <listItem><para>Execute/Remove the commands.</para></listItem>
/// <listItem><para>Send values to the <see cref="SmartDashboard.SmartDashboard"/>.</para></listItem>
/// <listItem><para>Add Commands.</para></listItem>
/// <listItem><para>Add Defaults.</para></listItem>
/// </list></remarks>
public void Run()
{
m_runningCommandsChanged = false;
if (!m_enabled)
{
return;
}
if (m_buttons != null)
{
for (int i = m_buttons.Count - 1; i >= 0; i--)
{
m_buttons[i].Execute();
}
}
LinkedListElement e = m_firstCommand;
while (e != null)
{
Command c = e.GetData();
e = e.GetNext();
if (!c.Run())
{
Remove(c);
m_runningCommandsChanged = true;
}
}
foreach (Command t in m_additions)
{
_Add(t);
}
m_additions.Clear();
foreach (var subsystem in m_subsystems)
{
if (subsystem.GetCurrentCommand() == null)
{
_Add(subsystem.GetDefaultCommand());
}
subsystem.ConfirmCommand();
}
UpdateTable();
}
/// <inheritdoc/>
internal override void _Execute()
{
Entry entry = null;
Command cmd = null;
bool firstRun = false;
if (m_currentCommandIndex == -1)
{
firstRun = true;
m_currentCommandIndex = 0;
}
while (m_currentCommandIndex < m_commands.Count())
{
if (cmd != null)
{
if (entry.IsTimedOut())
{
cmd._Cancel();
}
if (cmd.Run())
{
break;
}
else
{
cmd.Removed();
m_currentCommandIndex++;
firstRun = true;
cmd = null;
continue;
}
}
entry = m_commands[m_currentCommandIndex];
cmd = null;
switch (entry.state)
{
case Entry.IN_SEQUENCE:
cmd = entry.command;
if (firstRun)
{
cmd.StartRunning();
CancelConflicts(cmd);
}
firstRun = false;
break;
case Entry.BRANCH_PEER:
m_currentCommandIndex++;
entry.command.Start();
break;
case Entry.BRANCH_CHILD:
m_currentCommandIndex++;
CancelConflicts(entry.command);
entry.command.StartRunning();
m_children.Add(entry);
break;
}
}
for (int i = 0; i < m_children.Count; i++)
{
entry = m_children[i];
Command child = entry.command;
if (entry.IsTimedOut())
{
child._Cancel();
}
if (!child.Run())
{
child.Removed();
m_children.RemoveAt(i--);
}
}
}