private void doStart() {
if (!started.get()) {
try {
dataRecorderDriver.start();
} finally {
try {
strictExecutor.start();
} finally {
try {
dsPacketExecutor.start();
} finally {
started.set(true);
}
}
}
}
}
private void doRestart() {
if (started.get()) {
// Kill any remaining commands ...
scheduler.killAll();
} else {
try {
dataRecorderDriver.start();
} finally {
try {
strictExecutor.start();
} finally {
try {
dsPacketExecutor.start();
} finally {
started.set(true);
}
}
}
}
}
private void doShutdown() {
try {
// First stop executing immediately; at this point, no Executables
// will run ...
strictExecutor.stop();
} finally {
try {
dsPacketExecutor.stop();
} finally {
try {
// Kill any remaining commands ...
scheduler.killAll();
} finally {
try {
// Finally flush the data recorder ...
dataRecorderDriver.stop();
} finally {
started.set(false);
}
}
}
}
}
private Strongback(Configurator config, Strongback previousInstance) {
boolean start = false;
if (previousInstance != null) {
start = previousInstance.started.get();
// Terminates all currently-scheduled commands and stops the executor's thread (if running)
// ...
previousInstance.doShutdown();
strictExecutables = previousInstance.strictExecutables;
executables = previousInstance.executables;
switchReactor = previousInstance.switchReactor;
executables.unregister(previousInstance.dataRecorderDriver);
executables.unregister(previousInstance.eventRecorder);
executables.unregister(previousInstance.scheduler);
dataRecorderChannels = previousInstance.dataRecorderChannels;
excessiveExecutionHandler = previousInstance.excessiveExecutionHandler;
} else {
executables = new Executables();
strictExecutables = new Executables();
switchReactor = new AsyncSwitchReactor();
executables.register(switchReactor);
dataRecorderChannels = new DataRecorderChannels();
excessiveExecutionHandler = config.excessiveExecutorDelayHandler;
}
loggers = config.loggersSupplier.get();
clock = config.timeSystemSupplier.get();
// Create a new executor ...
strictExecutor =
PeriodicExecutor.roboRIONotifierWithFallback(
"strictExecutor",
config.executionPeriodInMilliseconds,
TimeUnit.MILLISECONDS,
strictExecutables,
clock,
loggers.apply("strictExecutor"),
monitorDelay("strictExecutor", 100, TimeUnit.MILLISECONDS));
dsPacketExecutor =
PeriodicExecutor.waitForDSPacketWithFallback(
"dsPacketExecutor",
config.driverstationExecutorTimeoutInMilliseconds,
TimeUnit.MILLISECONDS,
executables,
clock,
loggers.apply("dsPacketExecutor"),
monitorDelay("dsPacketExecutor", 100, TimeUnit.MILLISECONDS));
// Create a new event recorder ...
if (config.eventWriterFactory != null) {
eventRecorder = new AsyncEventRecorder(config.eventWriterFactory.get(), clock);
executables.register(eventRecorder);
} else {
eventRecorder = EventRecorder.noOp();
}
// Create a new scheduler that optionally records command state
// transitions. Note that we ignore everything in
// the previous instance's scheduler, since all commands would have been
// terminated (as intended) ...
CommandListener commandListener =
config.recordCommandStateChanges ? this::recordCommand : this::recordNoCommands;
scheduler = new Scheduler(loggers.apply("scheduler"), commandListener);
executables.register(scheduler);
// Create a new data recorder driver ...
dataRecorderDriver = new DataRecorderDriver(dataRecorderChannels, config.dataWriterFactory);
executables.register(dataRecorderDriver);
// Start this if the previous was already started ...
if (previousInstance != null && start) {
doStart();
}
}
