예제 #1
0
  /**
   * Writes a debug message to the respective loggers.
   *
   * @param tag the log tag
   * @param mess the message to send
   * @see RobotLog#setGlobalErrorMsg(String)
   * @see Log#wtf(String, String)
   */
  public static synchronized void wtf(String tag, String mess, Exception ex) {
    tag = checkNotNull(tag);
    mess = checkNotNull(mess);
    ex = checkNotNull(ex);

    Log.wtf(tag, mess, ex);
    RobotLog.setGlobalErrorMsg(mess);
  }
예제 #2
0
 /**
  * Set a global error message
  *
  * <p>Sets the global error message, with the exceptions message appended. Then it rethrows the
  * given exception.
  *
  * @param message error message
  * @param e a RobotCoreException
  * @throws RobotCoreException
  */
 public static void setGlobalErrorMsgAndThrow(String message, RobotCoreException e)
     throws RobotCoreException {
   setGlobalErrorMsg(message + "\n" + e.getMessage());
   throw e;
 }
예제 #3
0
    public void run() {
      RobotLog.v("EventLoopRunnable has started");

      try {
        ElapsedTime elapsedEventLoop = new ElapsedTime();
        double sMinLoopInterval = 0.001D;
        long msLoopIntervalStep = 5L;

        while (!Thread.interrupted()) {
          while (elapsedEventLoop.time() < sMinLoopInterval) {
            Thread.sleep(msLoopIntervalStep);
          }

          elapsedEventLoop.reset();
          if (RobotLog.hasGlobalErrorMsg()) {
            EventLoopManager.this.buildAndSendTelemetry(
                "SYSTEM_TELEMETRY", RobotLog.getGlobalErrorMsg());
          }

          if (EventLoopManager.this.elapsedSinceHeartbeatReceived.startTime() == 0.0D) {
            Thread.sleep(500L);
          } else if (EventLoopManager.this.elapsedSinceHeartbeatReceived.time() > 2.0D) {
            EventLoopManager.this.handleDroppedConnection();
            EventLoopManager.this.currentPeerAddressAndPort = null;
            EventLoopManager.this.elapsedSinceHeartbeatReceived = new ElapsedTime(0L);
          }

          Iterator syncdDeviceIterator = EventLoopManager.this.syncdDevices.iterator();
          SyncdDevice syncdDevice;
          while (syncdDeviceIterator.hasNext()) {
            syncdDevice = (SyncdDevice) syncdDeviceIterator.next();
            syncdDevice.blockUntilReady();
          }

          boolean unblockOnException = false;

          try {
            unblockOnException = true;
            EventLoopManager.this.eventLoop.loop();
            unblockOnException = false;
          } catch (Exception e) {
            RobotLog.e("Event loop threw an exception");
            RobotLog.logStacktrace(e);
            String exceptionMessage =
                e.getClass().getSimpleName()
                    + (e.getMessage() != null ? " - " + e.getMessage() : "");
            RobotLog.setGlobalErrorMsg(
                "User code threw an uncaught exception: " + exceptionMessage);
            EventLoopManager.this.buildAndSendTelemetry(
                "SYSTEM_TELEMETRY", RobotLog.getGlobalErrorMsg());
            throw new RobotCoreException("EventLoop Exception in loop()");
          } finally {
            if (unblockOnException) {
              Iterator var9 = EventLoopManager.this.syncdDevices.iterator();

              while (var9.hasNext()) {
                SyncdDevice var10 = (SyncdDevice) var9.next();
                var10.startBlockingWork();
              }
            }
          }

          syncdDeviceIterator = EventLoopManager.this.syncdDevices.iterator();

          while (syncdDeviceIterator.hasNext()) {
            syncdDevice = (SyncdDevice) syncdDeviceIterator.next();
            syncdDevice.startBlockingWork();
          }
        }
      } catch (InterruptedException var20) {
        RobotLog.v("EventLoopRunnable interrupted");
        EventLoopManager.this.reportRobotStatus(RobotState.STOPPED);
      } catch (RobotCoreException var21) {
        RobotLog.v("RobotCoreException in EventLoopManager: " + var21.getMessage());
        EventLoopManager.this.reportRobotStatus(RobotState.EMERGENCY_STOP);
        EventLoopManager.this.buildAndSendTelemetry(
            "SYSTEM_TELEMETRY", RobotLog.getGlobalErrorMsg());
      }

      try {
        EventLoopManager.this.eventLoop.teardown();
      } catch (Exception var17) {
        RobotLog.w("Caught exception during looper teardown: " + var17.toString());
        RobotLog.logStacktrace(var17);
        if (RobotLog.hasGlobalErrorMsg()) {
          EventLoopManager.this.buildAndSendTelemetry(
              "SYSTEM_TELEMETRY", RobotLog.getGlobalErrorMsg());
        }
      }

      RobotLog.v("EventLoopRunnable has exited");
    }