protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
this.f97a = this;
setContentView(R.layout.activity_autoconfigure);
this.f103g = new Utility(this);
this.f98b = (Button) findViewById(R.id.configureLegacy);
this.f99c = (Button) findViewById(R.id.configureUSB);
try {
this.f100d = new HardwareDeviceManager(this.f97a, null);
} catch (RobotCoreException e) {
this.f103g.complainToast("Failed to open the Device Manager", this.f97a);
DbgLog.error("Failed to open deviceManager: " + e.toString());
DbgLog.logStacktrace(e);
}
}
private void m55a(String str) {
this.f103g.writeXML(this.f101e);
try {
this.f103g.writeToFile(str + ".xml");
this.f103g.saveToPreferences(str, R.string.pref_hardware_config_filename);
this.f103g.updateHeader(
str, R.string.pref_hardware_config_filename, R.id.active_filename, R.id.included_header);
Toast.makeText(this.f97a, "AutoConfigure " + str + " Successful", 0).show();
} catch (RobotCoreException e) {
this.f103g.complainToast(e.getMessage(), this.f97a);
DbgLog.error(e.getMessage());
} catch (IOException e2) {
this.f103g.complainToast("Found " + e2.getMessage() + "\n Please fix and re-save", this.f97a);
DbgLog.error(e2.getMessage());
}
}
public void run() {
while (true) {
RobocolDatagram datagram = EventLoopManager.this.socket.recv(); // what's the timeout?
if (EventLoopManager.this.receivingProhibited || EventLoopManager.this.socket.isClosed()) {
return;
}
if (datagram == null) {
Thread.yield();
} else {
if (RobotLog.hasGlobalErrorMsg()) {
EventLoopManager.this.buildAndSendTelemetry(
"SYSTEM_TELEMETRY", RobotLog.getGlobalErrorMsg());
}
try {
switch (EventLoopManager.SyntheticClass_1.a[datagram.getMsgType().ordinal()]) {
case 1:
EventLoopManager.this.onGamepadDatagram(datagram);
break;
case 2:
EventLoopManager.this.onHeartbeatDatagramReceived(datagram);
break;
case 3:
EventLoopManager.this.onConnectionDatagram(datagram);
break;
case 4:
EventLoopManager.this.onCommandDatagram(datagram);
break;
case 5:
EventLoopManager.this.onEmptyDatagram();
break;
default:
EventLoopManager.this.onUnknownDatagram(datagram);
}
} catch (RobotCoreException var3) {
RobotLog.w("RobotCore event loop cannot process event: " + var3.toString());
}
}
}
}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_ftc_configuration);
RobotLog.writeLogcatToDisk(this, 1024);
this.context = this;
utility = new Utility(this);
scanButton = (Button) findViewById(R.id.scanButton);
buildInfoButtons();
try {
deviceManager = new ModernRoboticsDeviceManager(context, null);
// deviceManager = new MockDeviceManager(context, null);
} catch (RobotCoreException e) {
utility.complainToast("Failed to open the Device Manager", context);
DbgLog.error("Failed to open deviceManager: " + e.toString());
DbgLog.logStacktrace(e);
}
preferences = PreferenceManager.getDefaultSharedPreferences(this);
}
public static void logStacktrace(RobotCoreException e) {
RobotLog.e(e.toString());
for (StackTraceElement el : e.getStackTrace()) {
RobotLog.e(el.toString());
}
if (e.isChainedException()) {
RobotLog.e("Exception chained from:");
if (e.getChainedException() instanceof RobotCoreException) {
logStacktrace((RobotCoreException) e.getChainedException());
} else {
logStacktrace(e.getChainedException());
}
}
}
/**
* 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;
}
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");
}