/** This is the heart of the event manager, which processes the events for a robot. */
public void processEvents() {
// Remove old events
eventQueue.clear(getTime() - MAX_EVENT_STACK);
// Process custom events
for (Condition customEvent : customEvents) {
boolean conditionSatisfied = callUserCode(customEvent);
if (conditionSatisfied) {
addImpl(new CustomEvent(customEvent));
}
}
// Sort the events based on the time and priority of the events
eventQueue.sort();
// Process event queue here
Event currentEvent;
while ((currentEvent = (eventQueue.size() > 0) ? eventQueue.get(0) : null) != null
&& currentEvent.getPriority() >= currentTopEventPriority) {
if (currentEvent.getPriority() == currentTopEventPriority) {
if (currentTopEventPriority > Integer.MIN_VALUE
&& isInterruptible(currentTopEventPriority)) {
setInterruptible(currentTopEventPriority, false); // we're going to restart it, so reset.
// We are already in an event handler, took action, and a new event was generated.
// So we want to break out of the old handler to process it here.
throw new EventInterruptedException(currentEvent.getPriority());
}
break;
}
int oldTopEventPriority = currentTopEventPriority;
currentTopEventPriority = currentEvent.getPriority();
currentTopEvent = currentEvent;
eventQueue.remove(currentEvent);
try {
dispatch(currentEvent);
setInterruptible(currentTopEventPriority, false);
} catch (EventInterruptedException e) {
currentTopEvent = null;
} catch (RuntimeException e) {
currentTopEvent = null;
throw e;
} catch (Error e) {
currentTopEvent = null;
throw e;
} finally {
currentTopEventPriority = oldTopEventPriority;
}
}
}
