public List<ControllerConfiguration> parse(InputStream is) throws RobotCoreException {
this.parser = null;
try {
XmlPullParserFactory newInstance = XmlPullParserFactory.newInstance();
newInstance.setNamespaceAware(true);
this.parser = newInstance.newPullParser();
this.parser.setInput(is, null);
int next = this.parser.getEventType();
while (next != XmlPullParser.END_DOCUMENT) {
ConfigurationType type = getConfigurationType(this.parser.getName());
if (next == XmlPullParser.START_TAG) {
if (type == ConfigurationType.MOTOR_CONTROLLER) {
this.controllerConfigurations.add(parseMotorController(true));
}
if (type == ConfigurationType.SERVO_CONTROLLER) {
this.controllerConfigurations.add(parseServoController(true));
}
if (type == ConfigurationType.LEGACY_MODULE_CONTROLLER) {
this.controllerConfigurations.add(parseLegacyModuleController());
}
if (type == ConfigurationType.DEVICE_INTERFACE_MODULE) {
this.controllerConfigurations.add(parseDeviceInterfaceModule());
}
}
next = this.parser.next();
}
} catch (XmlPullParserException e) {
RobotLog.w("XmlPullParserException");
e.printStackTrace();
} catch (IOException e2) {
RobotLog.w("IOException");
e2.printStackTrace();
}
return this.controllerConfigurations;
}
public void run() {
while (!Thread.interrupted()) {
Iterator iterator = EventLoopManager.this.commandsToSend.iterator();
while (iterator.hasNext()) {
Command command = (Command) iterator.next();
if (command.getAttempts() > 10) {
RobotLog.w("Failed to send command, too many attempts: " + command.toString());
this.completedCommands.add(command);
} else if (command.isAcknowledged()) {
RobotLog.v("Command " + command.getName() + " has been acknowledged by remote device");
this.completedCommands.add(command);
} else {
try {
RobotLog.v(
"Sending command: " + command.getName() + ", attempt " + command.getAttempts());
EventLoopManager.this.socket.send(new RobocolDatagram(command.toByteArray()));
} catch (RobotCoreException e) {
RobotLog.w("Failed to send command " + command.getName());
RobotLog.logStacktrace(e);
}
}
}
EventLoopManager.this.commandsToSend.removeAll(this.completedCommands);
this.completedCommands.clear();
try {
Thread.sleep(100L);
} catch (InterruptedException e) {
return;
}
}
}
/**
* Writes a warning message to the respective loggers.
*
* @param tag the log tag
* @param mess the message to send
* @see RobotLog#w(String)
* @see RobotStatus#log(Level, String, String)
* @see Level#WARNING
*/
public static synchronized void w(String tag, String mess) {
tag = checkNotNull(tag);
mess = checkNotNull(mess);
RobotLog.w(mess);
getInstance().context.status().log(Level.WARNING, tag, mess);
}
private void startEventLoopThread() throws RobotCoreException {
try {
this.reportRobotStatus(RobotState.INIT);
this.eventLoop.init(this);
Iterator var1 = this.syncdDevices.iterator();
while (var1.hasNext()) {
SyncdDevice var2 = (SyncdDevice) var1.next();
var2.startBlockingWork();
}
} catch (Exception var3) {
RobotLog.w("Caught exception during looper init: " + var3.toString());
RobotLog.logStacktrace(var3);
this.reportRobotStatus(RobotState.EMERGENCY_STOP);
if (RobotLog.hasGlobalErrorMsg()) {
this.buildAndSendTelemetry("SYSTEM_TELEMETRY", RobotLog.getGlobalErrorMsg());
}
throw new RobotCoreException("Robot failed to start: " + var3.getMessage());
}
this.elapsedSinceHeartbeatReceived = new ElapsedTime(0L);
this.reportRobotStatus(RobotState.RUNNING);
this.eventLoopThread =
new Thread(new EventLoopRunnable((EventLoopManager.SyntheticClass_1) null), "Event Loop");
this.eventLoopThread.start();
}
/**
* observation: this is may be thread-safe; it could be called concurrently (with different
* telemetry objects). The core remaining issue is concurrent use of socket.send(). You would have
* thought that that would have been thread-safe, but I forgot it's a local thing here not a
* system thing.
*/
public void sendTelemetryData(Telemetry telemetry) {
try {
this.socket.send(new RobocolDatagram(telemetry.toByteArray()));
} catch (RobotCoreException var3) {
RobotLog.w("Failed to send telemetry data");
RobotLog.logStacktrace(var3);
}
telemetry.clearData();
}
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());
}
}
}
}
public static void logAndThrow(String errMsg) throws RobotCoreException {
w(errMsg);
throw new RobotCoreException(errMsg);
}
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");
}
public void processCommand(Command command) {
RobotLog.w("Dropping command " + command.getName() + ", no active event loop");
}
private void onUnknownDatagram(RobocolDatagram var1) {
RobotLog.w("RobotCore event loop received unknown event type: " + var1.getMsgType().name());
}