@Override
protected void onNewIntent(Intent intent) {
super.onNewIntent(intent);
if (UsbManager.ACTION_USB_DEVICE_ATTACHED.equals(intent.getAction())) {
UsbDevice usbDevice = intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
if (usbDevice != null) { // paranoia
// We might get attachment notifications before the event loop is set up, so
// we hold on to them and pass them along only when we're good and ready.
if (receivedUsbAttachmentNotifications != null) { // *total* paranoia
receivedUsbAttachmentNotifications.add(usbDevice);
passReceivedUsbAttachmentsToEventLoop();
}
}
}
}
private void requestRobotSetup() {
if (controllerService == null) return;
FileInputStream fis = fileSetup();
// if we can't find the file, don't try and build the robot.
if (fis == null) {
return;
}
HardwareFactory factory;
// Modern Robotics Factory for use with Modern Robotics hardware
HardwareFactory modernRoboticsFactory = new HardwareFactory(context);
modernRoboticsFactory.setXmlInputStream(fis);
factory = modernRoboticsFactory;
eventLoop = new FtcEventLoop(factory, new FtcOpModeRegister(), callback, this);
controllerService.setCallback(callback);
controllerService.setupRobot(eventLoop);
passReceivedUsbAttachmentsToEventLoop();
}