/**
* 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);
}
/**
* 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");
}